Add bullet thirdparty library

2021-03-15 17:11:19 -05:00
parent a41fcbe7f4
commit 43d2daa899
1538 changed files with 2164827 additions and 9 deletions
--- a/thirdparty/bullet/build3/Android/jni/Android.mk
+++ b/thirdparty/bullet/build3/Android/jni/Android.mk
@@ -0,0 +1,49 @@
+LOCAL_PATH := ../../..
+
+include $(CLEAR_VARS)
+
+LOCAL_CFLAGS := $(LOCAL_C_INCLUDES:%=-I%) -DUSE_PTHREADS -mfpu=neon -mfloat-abi=softfp -pthread -DSCE_PFX_USE_SIMD_VECTORMATH
+
+# apply these flags if needed 
+# -ffast-math -funsafe-math-optimizations
+
+# apply this to disable optimization
+# TARGET_CFLAGS := $(TARGET_CFLAGS) -O0
+
+# apply these 2 to turn on assembly output (*.c/*.cpp to *.s file)
+#compile-cpp-source = $(eval $(call ev-compile-cpp-source,$1,$(1:%$(LOCAL_CPP_EXTENSION)=%.s)))
+#TARGET_CFLAGS := $(TARGET_CFLAGS) -S
+
+# Enable or disable NEON. Don't forget to apply, or not apply, -mfpu=neon and -mfloat-abi=softfp
+# flags in addition, e.g., if this is true both of those need to be included in LOCAL_CFLAGS
+# to avoid the possibility that ndk-build will "forget" to add them on some files
+LOCAL_ARM_NEON := true
+
+TARGET_CFLAGS := $(filter-out -ffpu=vfp,$(TARGET_CFLAGS))
+
+# setup to build static library
+LOCAL_MODULE := libBullet
+
+LOCAL_C_INCLUDES :=  $(LOCAL_PATH)/src
+
+#find all the file recursively under jni/
+FILE_LIST := $(wildcard \
+		$(LOCAL_PATH)/src/LinearMath/*.cpp \
+		$(LOCAL_PATH)/src/Bullet3Common/*.cpp \
+		$(LOCAL_PATH)/src/BulletCollision/BroadphaseCollision/*.cpp \
+		$(LOCAL_PATH)/src/BulletCollision/CollisionDispatch/*.cpp \
+		$(LOCAL_PATH)/src/BulletCollision/CollisionShapes/*.cpp \
+		$(LOCAL_PATH)/src/BulletCollision/NarrowPhaseCollision/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/ConstraintSolver/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/Dynamics/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/Featherstone/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/MLCPSolvers/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/Vehicle/*.cpp \
+		$(LOCAL_PATH)/src/BulletDynamics/Character/*.cpp \
+		$(LOCAL_PATH)/src/BulletSoftBody/*.cpp \
+		$(LOCAL_PATH)/src/BulletInverseDynamics/*.cpp \
+		$(LOCAL_PATH)/src/BulletInverseDynamics/details/*.cpp \
+		)
+LOCAL_SRC_FILES := $(FILE_LIST:$(LOCAL_PATH)/%=%)
+
+include $(BUILD_STATIC_LIBRARY)
--- a/thirdparty/bullet/build3/Android/jni/Application.mk
+++ b/thirdparty/bullet/build3/Android/jni/Application.mk
@@ -0,0 +1,7 @@
+APP_MODULES := libBullet
+APP_ABI := armeabi-v7a
+APP_OPTIM := release
+
+#We only need STL for placement new (#include <new>) 
+#We don't use STL in Bullet
+APP_STL                 := stlport_static
--- a/thirdparty/bullet/build3/bin2cpp.bat
+++ b/thirdparty/bullet/build3/bin2cpp.bat
@@ -0,0 +1,7 @@
+
+rem @echo off
+
+
+premake4 --file=bin2cpp.lua --binfile="../btgui/OpenGLWindow/OpenSans.ttf" --cppfile="../btgui/OpenGLWindow/OpenSans.cpp" --stringname="OpenSansData" bin2cpp
+
+pause
--- a/thirdparty/bullet/build3/bin2cpp.lua
+++ b/thirdparty/bullet/build3/bin2cpp.lua
@@ -0,0 +1,48 @@
+function convertFile(filenameIn, filenameOut, stringname)
+	print("\nfilenameOut = " .. filenameOut)
+		local f = assert(io.open(filenameIn, "rb"))
+		
+		local fw = io.open(filenameOut,"w")
+		fw:write(string.format("char %s[]={", stringname))
+    local block = 10
+    while true do
+      local bytes = f:read(block)
+      if not bytes then break end
+      for b in string.gfind(bytes, ".") do
+        fw:write(string.format("%u,", string.byte(b)))
+      end
+      --io.write(string.rep("   ", block - string.len(bytes) + 1))
+      --io.write(string.gsub(bytes, "%c", "."), "\n")
+      fw:write(string.format("\n"))
+    end
+    fw:write(string.format("\n};"))
+	
+end
+
+
+ newoption {
+    trigger     = "binfile",
+    value				=	"binpath",
+    description = "full path to the binary input file"
+  }
+  
+   newoption {
+    trigger     = "cppfile",
+    value				=	"path",
+    description = "full path to the cpp output file"
+  }
+  
+  newoption {
+    trigger     = "stringname",
+    value				=	"var",
+    description = "name of the variable name in the cppfile that contains the binary data"
+  }
+  
+   newaction {
+   trigger     = "bin2cpp",
+   description = "convert binary file into cpp source",
+   execute = function ()
+    convertFile( _OPTIONS["binfile"] , _OPTIONS["cppfile"], _OPTIONS["stringname"])    
+ 
+   end
+}
--- a/thirdparty/bullet/build3/bullet.rc
+++ b/thirdparty/bullet/build3/bullet.rc
@@ -0,0 +1,17 @@
+// This file is generated automatically.
+
+1 VERSIONINFO
+FILEFLAGS 0x0
+{
+  BLOCK "StringFileInfo"
+  {
+    BLOCK "040904E4"
+    {
+      VALUE "ProductName", "Bullet Physics Library"
+      VALUE "LegalCopyright", "Copyright (c) 2005-2014  Erwin Coumans"
+      VALUE "Comments", "Test build"
+      VALUE "WWW", "http://www.bulletphysics.org"
+    }
+  }
+}
+1 ICON "bullet_ico.ico"
--- a/thirdparty/bullet/build3/bullet_ico.ico
+++ b/thirdparty/bullet/build3/bullet_ico.ico
--- a/thirdparty/bullet/build3/cmake/FindLibPython.py
+++ b/thirdparty/bullet/build3/cmake/FindLibPython.py
@@ -0,0 +1,25 @@
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# FindLibPython.py
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+import sys
+import distutils.sysconfig
+
+print("exec_prefix:%s" % sys.exec_prefix)
+print("major_version:%s" % str(sys.version_info[0]))
+print("minor_version:%s" % str(sys.version_info[1]))
+print("patch_version:%s" % str(sys.version_info[2]))
+print("short_version:%s" % '.'.join(map(lambda x: str(x), sys.version_info[0:2])))
+print("long_version:%s" % '.'.join(map(lambda x: str(x), sys.version_info[0:3])))
+print("py_inc_dir:%s" % distutils.sysconfig.get_python_inc())
+print("site_packages_dir:%s" % distutils.sysconfig.get_python_lib(plat_specific=1))
+for e in distutils.sysconfig.get_config_vars('LIBDIR'):
+  if e != None:
+    print("py_lib_dir:%s" % e)
+    break
--- a/thirdparty/bullet/build3/cmake/FindNumPy.cmake
+++ b/thirdparty/bullet/build3/cmake/FindNumPy.cmake
@@ -0,0 +1,59 @@
+# - Find the NumPy libraries
+# This module finds if NumPy is installed, and sets the following variables
+# indicating where it is.
+#
+# TODO: Update to provide the libraries and paths for linking npymath lib.
+#
+#  PYTHON_NUMPY_FOUND               - was NumPy found
+#  PYTHON_NUMPY_VERSION             - the version of NumPy found as a string
+#  PYTHON_NUMPY_VERSION_MAJOR       - the major version number of NumPy
+#  PYTHON_NUMPY_VERSION_MINOR       - the minor version number of NumPy
+#  PYTHON_NUMPY_VERSION_PATCH       - the patch version number of NumPy
+#  PYTHON_NUMPY_VERSION_DECIMAL     - e.g. version 1.6.1 is 10601
+#  PYTHON_NUMPY_INCLUDE_DIR         - path to the NumPy include files
+
+unset(PYTHON_NUMPY_VERSION)
+unset(PYTHON_NUMPY_INCLUDE_DIR)
+
+if(PYTHONINTERP_FOUND)
+  execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
+    "import numpy as n; print(n.__version__); print(n.get_include());"
+    RESULT_VARIABLE __result
+    OUTPUT_VARIABLE __output
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  if(__result MATCHES 0)
+    string(REGEX REPLACE ";" "\\\\;" __values ${__output})
+    string(REGEX REPLACE "\r?\n" ";"    __values ${__values})
+    list(GET __values 0 PYTHON_NUMPY_VERSION)
+    list(GET __values 1 PYTHON_NUMPY_INCLUDE_DIR)
+
+    string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${PYTHON_NUMPY_VERSION}")
+    if(NOT "${__ver_check}" STREQUAL "")
+      set(PYTHON_NUMPY_VERSION_MAJOR ${CMAKE_MATCH_1})
+      set(PYTHON_NUMPY_VERSION_MINOR ${CMAKE_MATCH_2})
+      set(PYTHON_NUMPY_VERSION_PATCH ${CMAKE_MATCH_3})
+      math(EXPR PYTHON_NUMPY_VERSION_DECIMAL
+        "(${PYTHON_NUMPY_VERSION_MAJOR} * 10000) + (${PYTHON_NUMPY_VERSION_MINOR} * 100) + ${PYTHON_NUMPY_VERSION_PATCH}")
+      string(REGEX REPLACE "\\\\" "/"  PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_DIR})
+    else()
+     unset(PYTHON_NUMPY_VERSION)
+     unset(PYTHON_NUMPY_INCLUDE_DIR)
+     message(STATUS "Requested NumPy version and include path, but got instead:\n${__output}\n")
+    endif()
+  endif()
+else()
+  message(STATUS "To find NumPy Python interpretor is required to be found.")
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
+                                        VERSION_VAR   PYTHON_NUMPY_VERSION)
+
+if(NUMPY_FOUND)
+  set(PYTHON_NUMPY_FOUND TRUE)
+  message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
+endif()
+
+# caffe_clear_vars(__result __output __error_value __values __ver_check __error_value)
+
--- a/thirdparty/bullet/build3/cmake/FindPythonLibs.cmake
+++ b/thirdparty/bullet/build3/cmake/FindPythonLibs.cmake
@@ -0,0 +1,358 @@
+# - Find python libraries
+# This module finds if Python is installed and determines where the
+# include files and libraries are. It also determines what the name of
+# the library is. This code sets the following variables:
+#
+#  PYTHONLIBS_FOUND           - have the Python libs been found
+#  PYTHON_LIBRARIES           - path to the python library
+#  PYTHON_INCLUDE_PATH        - path to where Python.h is found (deprecated)
+#  PYTHON_INCLUDE_DIRS        - path to where Python.h is found
+#  PYTHON_DEBUG_LIBRARIES     - path to the debug library (deprecated)
+#  PYTHONLIBS_VERSION_STRING  - version of the Python libs found (since CMake 2.8.8)
+#
+# The Python_ADDITIONAL_VERSIONS variable can be used to specify a list of
+# version numbers that should be taken into account when searching for Python.
+# You need to set this variable before calling find_package(PythonLibs).
+#
+# If you'd like to specify the installation of Python to use, you should modify
+# the following cache variables:
+#  PYTHON_LIBRARY             - path to the python library
+#  PYTHON_INCLUDE_DIR         - path to where Python.h is found
+
+#=============================================================================
+# Copyright 2001-2009 Kitware, Inc.
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+
+if(NOT DEFINED PYTHON_INCLUDE_DIR)
+  if(DEFINED PYTHON_INCLUDE_PATH)
+    # For backward compatibility, repect PYTHON_INCLUDE_PATH.
+    set(PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_PATH}" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  else()
+    set(PYTHON_INCLUDE_DIR "" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  endif()
+endif()
+
+if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
+  if(EXISTS "${PYTHON_INCLUDE_DIR}/patchlevel.h")
+    file(STRINGS "${PYTHON_INCLUDE_DIR}/patchlevel.h" _PYTHON_VERSION_STR
+      REGEX "^#define[ \t]+PY_VERSION[ \t]+\"[^\"]+\"")
+    string(REGEX REPLACE "^#define[ \t]+PY_VERSION[ \t]+\"([^\"]+)\".*" "\\1"
+      PYTHONLIBS_VERSION_STRING "${_PYTHON_VERSION_STR}")
+    unset(_PYTHON_VERSION_STR)
+  endif()
+else()
+  set(_PYTHON1_VERSIONS 1.6 1.5)
+  set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
+  set(_PYTHON3_VERSIONS 3.6 3.5 3.4 3.3 3.2 3.1 3.0)
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+  if(PythonLibs_FIND_VERSION)
+    if(PythonLibs_FIND_VERSION_COUNT GREATER 1)
+      set(_PYTHON_FIND_MAJ_MIN "${PythonLibs_FIND_VERSION_MAJOR}.${PythonLibs_FIND_VERSION_MINOR}")
+      if(NOT PythonLibs_FIND_VERSION_EXACT)
+        foreach(_PYTHON_V ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+          if(NOT _PYTHON_V VERSION_LESS _PYTHON_FIND_MAJ_MIN)
+            if(NOT _PYTHON_V STREQUAL PythonLibs_FIND_VERSION)
+              list(APPEND _PYTHON_FIND_OTHER_VERSIONS ${_PYTHON_V})
+            endif()
+          endif()
+        endforeach()
+      endif()
+      unset(_PYTHON_FIND_MAJ_MIN)
+    else()
+      set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+    endif()
+  else()
+    # add an empty version to check the `python` executable first in case no version is requested
+    set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON3_VERSIONS} ${_PYTHON2_VERSIONS} ${_PYTHON1_VERSIONS})
+  endif()
+
+  unset(_PYTHON1_VERSIONS)
+  unset(_PYTHON2_VERSIONS)
+  unset(_PYTHON3_VERSIONS)
+
+  # Set up the versions we know about, in the order we will search. Always add
+  # the user supplied additional versions to the front.
+  # If FindPythonInterp has already found the major and minor version,
+  # insert that version between the user supplied versions and the stock
+  # version list.
+  # If no specific version is requested or suggested by PythonInterp, always look
+  # for "python" executable first
+  set(_PYTHON_VERSIONS ${PythonLibs_FIND_VERSION} ${PythonLibs_ADDITIONAL_VERSIONS} )
+  if(DEFINED PYTHON_VERSION_MAJOR AND DEFINED PYTHON_VERSION_MINOR)
+    list(APPEND _PYTHON_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
+  endif()
+  if (NOT _PYTHON_VERSIONS)
+    set(_PYTHON_VERSIONS ";") # empty entry at the front makeing sure we search for "python" first
+  endif()
+  list(APPEND _PYTHON_VERSIONS ${_PYTHON_FIND_OTHER_VERSIONS})
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+
+  message(STATUS "Looking for versions: ${_PYTHON_VERSIONS}")
+
+  FIND_FILE(_FIND_LIB_PYTHON_PY FindLibPython.py PATHS ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
+
+  if(NOT _FIND_LIB_PYTHON_PY)
+    message(FATAL_ERROR "Could not find required file 'FindLibPython.py'")
+  endif()
+
+  unset(PYTHONLIBS_VERSION_STRING)
+  foreach(_CURRENT_VERSION IN LISTS _PYTHON_VERSIONS)
+
+    STRING(REGEX REPLACE "^([0-9]+).*$"          "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
+    STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
+
+    set(_PYTHON_NAMES ${PYTHON_EXECUTABLE} python)
+
+    if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
+      list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
+      if (_CURRENT_VERSION MATCHES "^[0-9]+\\.[0-9].*$")
+        list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}.${_VERSION_MINOR}")
+      endif()
+    endif()
+
+    message(STATUS "Looking for python version '${_CURRENT_VERSION}' by checking executables: ${_PYTHON_NAMES}.")
+
+    foreach(_CURRENT_PYTHON_NAME IN LISTS _PYTHON_NAMES)
+
+      unset(_PYTHON_EXECUTABLE CACHE)
+      find_program(_PYTHON_EXECUTABLE ${_CURRENT_PYTHON_NAME}
+        PATHS [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath])
+
+      if(_PYTHON_EXECUTABLE)
+
+        EXECUTE_PROCESS(
+          COMMAND "${_PYTHON_EXECUTABLE}" "${_FIND_LIB_PYTHON_PY}"
+          OUTPUT_VARIABLE _PYTHON_CONFIG
+          RESULT_VARIABLE _PYTHON_CONFIG_RESULT
+          ERROR_QUIET)
+
+        if(NOT ${_PYTHON_CONFIG_RESULT} AND (NOT ${_PYTHON_CONFIG} STREQUAL ""))
+          STRING(REGEX REPLACE ".*\nmajor_version:([0-9]+).*$" "\\1" _PYTHON_MAJOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nminor_version:([0-9]+).*$" "\\1" _PYTHON_MINOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npatch_version:([0-9]+).*$" "\\1" _PYTHON_PATCH_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nshort_version:([^\n]+).*$" "\\1" _PYTHON_SHORT_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nlong_version:([^\n]+).*$"  "\\1" _PYTHON_LONG_VERSION  ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_inc_dir:([^\n]+).*$"    "\\1" _PYTHON_INCLUDE_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_lib_dir:([^\n]+).*$"    "\\1" _PYTHON_LIBRARY_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nexec_prefix:(^\n+).*$"     "\\1" _PYTHON_PREFIX        ${_PYTHON_CONFIG})
+
+          if ("${_CURRENT_VERSION}" STREQUAL ""                         OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_MAJOR_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_SHORT_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_LONG_VERSION}")
+
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with suitable version ${_PYTHON_LONG_VERSION}")
+
+            if(NOT EXISTS "${PYTHON_INCLUDE_DIR}")
+              set(PYTHON_INCLUDE_DIR "${_PYTHON_INCLUDE_DIR}")
+            endif()
+
+            if(NOT EXISTS "${PYTHON_LIBRARY}")
+              set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
+              set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT} python${_PYTHON_SHORT_VERSION}m python${_PYTHON_SHORT_VERSION_NO_DOT}m)
+              FIND_LIBRARY(PYTHON_LIBRARY
+                NAMES ${_PYTHON_LIBRARY_NAMES}
+                PATH_SUFFIXES
+                "python${_PYTHON_SHORT_VERSION}/config"
+                "python${_PYTHON_SHORT_VERSION_NO_DOT}/config"
+                PATHS
+                ${_PYTHON_LIBRARY_DIR}
+                ${_PYTHON_PREFIX}/lib
+                ${_PYTHON_PREFIX}/libs
+                ${_PYTHON_LIBRARY_DIR}/x86_64-linux-gnu/
+                NO_DEFAULT_PATH)
+
+              if(WIN32)
+                find_library(PYTHON_DEBUG_LIBRARY
+                  NAMES python${_PYTHON_SHORT_VERSION_NO_DOT}_d python
+                  PATHS
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  )
+              endif()
+            endif()
+
+            set(PYTHONLIBS_VERSION_STRING ${_PYTHON_LONG_VERSION})
+            if(_PYTHON_PATCH_VERSION STREQUAL "0")
+              # it's called "Python 2.7", not "2.7.0"
+              string(REGEX REPLACE "\\.0$" "" PYTHONLIBS_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}")
+            endif()
+
+            break()
+          else()
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with UNsuitable version ${_PYTHON_LONG_VERSION}")
+          endif() # version ok
+        else()
+          message(WARNING "Found executable ${_PYTHON_EXECUTABLE}, but could not extract version info.")
+        endif() # could extract config
+      endif() # found executable
+    endforeach() # python names
+    if (PYTHONLIBS_VERSION_STRING)
+      break()
+    endif()
+  endforeach() # python versions
+endif()
+
+unset(_PYTHON_NAMES)
+unset(_PYTHON_VERSIONS)
+unset(_PYTHON_EXECUTABLE CACHE)
+unset(_PYTHON_MAJOR_VERSION)
+unset(_PYTHON_MINOR_VERSION)
+unset(_PYTHON_PATCH_VERSION)
+unset(_PYTHON_SHORT_VERSION)
+unset(_PYTHON_LONG_VERSION)
+unset(_PYTHON_LIBRARY_DIR)
+unset(_PYTHON_INCLUDE_DIR)
+unset(_PYTHON_PREFIX)
+unset(_PYTHON_SHORT_VERSION_NO_DOT)
+unset(_PYTHON_LIBRARY_NAMES)
+
+
+# For backward compatibility, set PYTHON_INCLUDE_PATH.
+set(PYTHON_INCLUDE_PATH "${PYTHON_INCLUDE_DIR}")
+
+mark_as_advanced(
+  PYTHON_DEBUG_LIBRARY
+  PYTHON_LIBRARY
+  PYTHON_INCLUDE_DIR
+)
+
+# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
+# cache entries because they are meant to specify the location of a single
+# library. We now set the variables listed by the documentation for this
+# module.
+set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
+set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
+
+# These variables have been historically named in this module different from
+# what SELECT_LIBRARY_CONFIGURATIONS() expects.
+set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
+set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
+include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
+SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
+
+if(PYTHON_LIBRARY AND NOT PYTHON_LIBRARIES)
+  set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
+endif()
+# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
+# Unset this, this prefix doesn't match the module prefix, they are different
+# for historical reasons.
+unset(PYTHON_FOUND)
+
+# include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonLibs
+                                  REQUIRED_VARS PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS
+                                  VERSION_VAR PYTHONLIBS_VERSION_STRING)
+
+# PYTHON_ADD_MODULE(<name> src1 src2 ... srcN) is used to build modules for python.
+# PYTHON_WRITE_MODULES_HEADER(<filename>) writes a header file you can include
+# in your sources to initialize the static python modules
+function(PYTHON_ADD_MODULE _NAME )
+  get_property(_TARGET_SUPPORTS_SHARED_LIBS
+    GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
+  option(PYTHON_ENABLE_MODULE_${_NAME} "Add module ${_NAME}" TRUE)
+  option(PYTHON_MODULE_${_NAME}_BUILD_SHARED
+    "Add module ${_NAME} shared" ${_TARGET_SUPPORTS_SHARED_LIBS})
+
+  # Mark these options as advanced
+  mark_as_advanced(PYTHON_ENABLE_MODULE_${_NAME}
+    PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+
+  if(PYTHON_ENABLE_MODULE_${_NAME})
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set(PY_MODULE_TYPE MODULE)
+    else()
+      set(PY_MODULE_TYPE STATIC)
+      set_property(GLOBAL  APPEND  PROPERTY  PY_STATIC_MODULES_LIST ${_NAME})
+    endif()
+
+    set_property(GLOBAL  APPEND  PROPERTY  PY_MODULES_LIST ${_NAME})
+    add_library(${_NAME} ${PY_MODULE_TYPE} ${ARGN})
+#    target_link_libraries(${_NAME} ${PYTHON_LIBRARIES})
+
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set_target_properties(${_NAME} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
+      if(WIN32 AND NOT CYGWIN)
+        set_target_properties(${_NAME} PROPERTIES SUFFIX ".pyd")
+      endif()
+    endif()
+
+  endif()
+endfunction()
+
+function(PYTHON_WRITE_MODULES_HEADER _filename)
+
+  get_property(PY_STATIC_MODULES_LIST  GLOBAL  PROPERTY PY_STATIC_MODULES_LIST)
+
+  get_filename_component(_name "${_filename}" NAME)
+  string(REPLACE "." "_" _name "${_name}")
+  string(TOUPPER ${_name} _nameUpper)
+  set(_filename ${CMAKE_CURRENT_BINARY_DIR}/${_filename})
+
+  set(_filenameTmp "${_filename}.in")
+  file(WRITE ${_filenameTmp} "/*Created by cmake, do not edit, changes will be lost*/\n")
+  file(APPEND ${_filenameTmp}
+"#ifndef ${_nameUpper}
+#define ${_nameUpper}
+
+#include <Python.h>
+
+#ifdef __cplusplus
+extern \"C\" {
+#endif /* __cplusplus */
+
+")
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "extern void init${PYTHON_MODULE_PREFIX}${_currentModule}(void);\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp}
+"#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+")
+
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "int ${_name}_${_currentModule}(void) \n{\n  static char name[]=\"${PYTHON_MODULE_PREFIX}${_currentModule}\"; return PyImport_AppendInittab(name, init${PYTHON_MODULE_PREFIX}${_currentModule});\n}\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp} "void ${_name}_LoadAllPythonModules(void)\n{\n")
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "  ${_name}_${_currentModule}();\n")
+  endforeach()
+  file(APPEND ${_filenameTmp} "}\n\n")
+  file(APPEND ${_filenameTmp} "#ifndef EXCLUDE_LOAD_ALL_FUNCTION\nvoid CMakeLoadAllPythonModules(void)\n{\n  ${_name}_LoadAllPythonModules();\n}\n#endif\n\n#endif\n")
+
+# with configure_file() cmake complains that you may not use a file created using file(WRITE) as input file for configure_file()
+  execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_filenameTmp}" "${_filename}" OUTPUT_QUIET ERROR_QUIET)
+
+endfunction()
--- a/thirdparty/bullet/build3/cmake/SelectLibraryConfigurations.cmake
+++ b/thirdparty/bullet/build3/cmake/SelectLibraryConfigurations.cmake
@@ -0,0 +1,70 @@
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#.rst:
+# SelectLibraryConfigurations
+# ---------------------------
+#
+#
+#
+# select_library_configurations( basename )
+#
+# This macro takes a library base name as an argument, and will choose
+# good values for basename_LIBRARY, basename_LIBRARIES,
+# basename_LIBRARY_DEBUG, and basename_LIBRARY_RELEASE depending on what
+# has been found and set.  If only basename_LIBRARY_RELEASE is defined,
+# basename_LIBRARY will be set to the release value, and
+# basename_LIBRARY_DEBUG will be set to basename_LIBRARY_DEBUG-NOTFOUND.
+# If only basename_LIBRARY_DEBUG is defined, then basename_LIBRARY will
+# take the debug value, and basename_LIBRARY_RELEASE will be set to
+# basename_LIBRARY_RELEASE-NOTFOUND.
+#
+# If the generator supports configuration types, then basename_LIBRARY
+# and basename_LIBRARIES will be set with debug and optimized flags
+# specifying the library to be used for the given configuration.  If no
+# build type has been set or the generator in use does not support
+# configuration types, then basename_LIBRARY and basename_LIBRARIES will
+# take only the release value, or the debug value if the release one is
+# not set.
+
+# This macro was adapted from the FindQt4 CMake module and is maintained by Will
+# Dicharry <wdicharry@stellarscience.com>.
+
+macro( select_library_configurations basename )
+    if(NOT ${basename}_LIBRARY_RELEASE)
+        set(${basename}_LIBRARY_RELEASE "${basename}_LIBRARY_RELEASE-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+    if(NOT ${basename}_LIBRARY_DEBUG)
+        set(${basename}_LIBRARY_DEBUG "${basename}_LIBRARY_DEBUG-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+
+    if( ${basename}_LIBRARY_DEBUG AND ${basename}_LIBRARY_RELEASE AND
+           NOT ${basename}_LIBRARY_DEBUG STREQUAL ${basename}_LIBRARY_RELEASE AND
+           ( CMAKE_CONFIGURATION_TYPES OR CMAKE_BUILD_TYPE ) )
+        # if the generator supports configuration types or CMAKE_BUILD_TYPE
+        # is set, then set optimized and debug options.
+        set( ${basename}_LIBRARY "" )
+        foreach( _libname IN LISTS ${basename}_LIBRARY_RELEASE )
+            list( APPEND ${basename}_LIBRARY optimized "${_libname}" )
+        endforeach()
+        foreach( _libname IN LISTS ${basename}_LIBRARY_DEBUG )
+            list( APPEND ${basename}_LIBRARY debug "${_libname}" )
+        endforeach()
+    elseif( ${basename}_LIBRARY_RELEASE )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_RELEASE} )
+    elseif( ${basename}_LIBRARY_DEBUG )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_DEBUG} )
+    else()
+        set( ${basename}_LIBRARY "${basename}_LIBRARY-NOTFOUND")
+    endif()
+
+    set( ${basename}_LIBRARIES "${${basename}_LIBRARY}" )
+
+    if( ${basename}_LIBRARY )
+        set( ${basename}_FOUND TRUE )
+    endif()
+
+    mark_as_advanced( ${basename}_LIBRARY_RELEASE
+        ${basename}_LIBRARY_DEBUG
+    )
+endmacro()
--- a/thirdparty/bullet/build3/findDirectX11.lua
+++ b/thirdparty/bullet/build3/findDirectX11.lua
@@ -0,0 +1,36 @@
+function findDirectX11()
+		local dx11path = os.getenv("DXSDK_DIR")
+		if (dx11path) then
+			local filepath = string.format("%s%s",dx11path,"Include/D3D11.h")
+			headerdx11 = io.open(filepath, "r")
+			if (headerdx11) then
+				 printf("Found DX11: '%s'", filepath)
+				return true
+			end
+		end
+		return false
+	end
+
+function initDirectX11()
+	configuration {}
+	
+	local dx11path = os.getenv("DXSDK_DIR")
+			defines { "ADL_ENABLE_DX11"}
+			includedirs {"$(DXSDK_DIR)/include"}
+	
+		configuration "x32"
+			libdirs {"$(DXSDK_DIR)/Lib/x86"}
+		configuration "x64"
+			libdirs {"$(DXSDK_DIR)/Lib/x64"}
+		configuration {}
+		links {"d3dcompiler",
+					"dxerr",
+					"dxguid",
+					"d3dx9",
+					"d3d9",
+					"winmm",
+					"comctl32",
+					"d3dx11"
+		}
+		return true
+end
--- a/thirdparty/bullet/build3/findOpenCL.lua
+++ b/thirdparty/bullet/build3/findOpenCL.lua
@@ -0,0 +1,175 @@
+
+	function findOpenCL_clew()
+		return true;
+	end
+
+	function findOpenCL_Apple()
+--		if os.is("macosx") then
+--			return true	
+--		else
+			return false
+--		end
+	end
+
+	
+	function findOpenCL_AMD()
+--		local amdopenclpath = os.getenv("AMDAPPSDKROOT")
+--		if (amdopenclpath) then
+--			return true
+--		end
+		return false
+	end
+
+	function findOpenCL_NVIDIA()
+--		local nvidiaopenclpath = os.getenv("CUDA_PATH")
+--		if (nvidiaopenclpath) then
+--			return true
+--		end
+		return false
+	end
+
+	function findOpenCL_Intel()
+--		if os.is("Windows") then
+--			local intelopenclpath = os.getenv("INTELOCLSDKROOT")
+--			if (intelopenclpath) then
+--			return true
+--			end
+--		end
+--		if os.is("Linux") then
+--			local intelsdk = io.open("/usr/include/CL/opencl.h","r")
+--			if (intelsdk) then
+--				return true;
+--			end
+--		end
+		return false
+	end
+		
+	function initOpenCL_clew()
+		configuration{}
+		includedirs {
+			projectRootDir .. "src/clew"
+		}
+		defines {"B3_USE_CLEW"}
+		files {
+			projectRootDir .. "src/clew/clew.c",
+			projectRootDir .. "src/clew/clew.h"
+		}
+		 if os.is("Linux") then
+        	        links {"dl"}
+        	end
+	end
+
+	function initOpenCL_Apple()
+		configuration{}
+		includedirs {
+			"/System/Library/Frameworks/OpenCL.framework"
+		}
+		libdirs "/System/Library/Frameworks/OpenCL.framework"
+		links
+		{
+			"OpenCL.framework"
+		}
+	end
+	
+	function initOpenCL_AMD()
+		configuration {}
+		local amdopenclpath = os.getenv("AMDAPPSDKROOT")
+		if (amdopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_AMD"}
+			includedirs {
+				"$(AMDAPPSDKROOT)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(AMDAPPSDKROOT)/lib/x86"}
+			configuration "x64"
+				libdirs {"$(AMDAPPSDKROOT)/lib/x86_64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		return false
+	end
+
+
+	function initOpenCL_NVIDIA()
+		configuration {}
+		local nvidiaopenclpath = os.getenv("CUDA_PATH")
+		if (nvidiaopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_NVIDIA"}
+			includedirs {
+				"$(CUDA_PATH)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(CUDA_PATH)/lib/Win32"}
+			configuration "x64"
+				libdirs {"$(CUDA_PATH)/lib/x64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		return false
+	end
+
+	function initOpenCL_Intel()
+		configuration {}
+		if os.is("Windows") then
+		local intelopenclpath = os.getenv("INTELOCLSDKROOT")
+		if (intelopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_INTEL"}
+			includedirs {
+				"$(INTELOCLSDKROOT)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(INTELOCLSDKROOT)/lib/x86"}
+			configuration "x64"
+				libdirs {"$(INTELOCLSDKROOT)/lib/x64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		end
+		if os.is("Linux") then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_INTEL"}
+                        configuration {}
+                        links {"OpenCL"}
+		end
+		return false
+	end
+	
+	function findOpenCL (vendor )
+		if vendor=="clew" then
+			return findOpenCL_clew()
+		end
+		if vendor=="AMD" then
+			return findOpenCL_AMD()
+		end
+		if vendor=="NVIDIA" then
+			return findOpenCL_NVIDIA()
+		end
+			if vendor=="Intel" then
+			return findOpenCL_Intel()
+		end
+		if vendor=="Apple" then
+			return findOpenCL_Apple()
+		end
+		return false
+	end
+	
+	function initOpenCL ( vendor )
+		if vendor=="clew" then
+			initOpenCL_clew()
+		end
+		if vendor=="AMD" then
+			initOpenCL_AMD()
+		end
+		if vendor=="NVIDIA" then
+			return initOpenCL_NVIDIA()
+		end
+		if vendor=="Intel" then
+			initOpenCL_Intel()
+		end
+		if vendor=="Apple" then
+			return initOpenCL_Apple()
+		end
+	end
+	
--- a/thirdparty/bullet/build3/findOpenGLGlewGlut.lua
+++ b/thirdparty/bullet/build3/findOpenGLGlewGlut.lua
@@ -0,0 +1,121 @@
+
+	function findOpenGL()
+		configuration{}
+		if os.is("Linux") then
+			return true
+		end
+		--assume OpenGL is available on Mac OSX, Windows etc
+		return true
+	end
+
+      function findOpenGL3()
+                configuration{}
+                if os.is("MacOSX") then
+                        local osversion = os.getversion()
+		--Mac OSX 10.9 and above supports OpenGL 3, below doesn't, so ...
+                        if osversion.majorversion > 10 or (osversion.majorversion == 10 and osversion.minorversion >=9) then
+                                return findOpenGL()
+                        else
+                                return false
+                        end
+                else
+                        return findOpenGL()
+                end
+        end
+
+
+	function initOpenGL()
+		configuration {}
+		configuration {"Windows"}
+			links {"opengl32","glu32"}
+		configuration {"MacOSX"}
+ 			links { "OpenGL.framework"} 
+		configuration {"not Windows", "not MacOSX"}
+		if os.is("Linux") then	
+			if  _OPTIONS["enable_system_opengl"] and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/gl.h")) then
+				links {"GL"}
+			else
+				print("No GL/gl.h found, using dynamic loading of GL using glad")
+				defines {"GLEW_INIT_OPENGL11_FUNCTIONS=1"}
+				links {"dl"}
+			end
+		end
+		configuration{}
+	end
+
+	function initX11()
+		if os.is("Linux") then
+			if _OPTIONS["enable_system_x11"] and (os.isdir("/usr/include") and os.isfile("/usr/include/X11/X.h")) then
+				links{"X11","pthread"}
+			else
+				print("No X11/X.h found, using dynamic loading of X11")
+				includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/optionalX11"
+                                }
+				defines {"DYNAMIC_LOAD_X11_FUNCTIONS"}	
+				links {"dl","pthread"}
+			end
+		end
+	end
+
+
+	function initX11()
+		if os.is("Linux") then
+			if _OPTIONS["enable_system_x11"] and (os.isdir("/usr/include") and os.isfile("/usr/include/X11/X.h")) then
+				links{"X11","pthread"}
+			else
+				print("No X11/X.h found, using dynamic loading of X11")
+				includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/optionalX11"
+                                }
+				defines {"DYNAMIC_LOAD_X11_FUNCTIONS"}	
+				links {"dl","pthread"}
+			end
+		end
+	end
+
+
+	function initGlew()
+		configuration {}
+		if os.is("Windows") then
+			configuration {"Windows"}
+			defines { "GLEW_STATIC"}
+			includedirs {
+					projectRootDir .. "examples/ThirdPartyLibs/glad"
+			}
+			files { projectRootDir .. "examples/ThirdPartyLibs/glad/gl.c"}
+		end
+		if os.is("MacOSX") then
+			 includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/glad"
+                                }
+                                files { projectRootDir .. "examples/ThirdPartyLibs/glad/gl.c"}
+		end
+
+		if os.is("Linux") then
+			configuration{"Linux"}
+			  initX11()
+				if  _OPTIONS["enable_system_glx"] then --# and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/glx.h")) then
+                                	links{"pthread"}
+					print("Using system GL/glx.h")
+                        	else
+					print("Using glad_glx")
+				 	defines { "GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1"}	
+				 	files { 
+					projectRootDir .. "examples/ThirdPartyLibs/glad/glx.c"}
+				end
+
+				print("Using glad and dynamic loading of GL functions")
+			 	defines { "GLEW_STATIC"}
+                        	includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/glad"
+                        	}
+                        	files { projectRootDir .. "examples/ThirdPartyLibs/glad/gl.c",
+					projectRootDir .. "examples/ThirdPartyLibs/glad/glx.c"}
+				links {"dl"}
+
+		end
+		configuration{}
+	end
+
+
--- a/thirdparty/bullet/build3/lcpp.lua
+++ b/thirdparty/bullet/build3/lcpp.lua
@@ -0,0 +1,939 @@
+----------------------------------------------------------------------------
+--## lcpp - a C-PreProcessor in Lua 5.1 for LuaJIT ffi
+-- 
+-- Copyright (C) 2012-2013 Michael Schmoock <michael@willigens.de>
+--
+--### Links
+-- * GitHub page:   [http://github.com/willsteel/lcpp](http://github.com/willsteel/lcpp)
+-- * Project page:  [http://lcpp.schmoock.net](http://lcpp.schmoock.net)
+-- * Lua:           [http://www.lua.org](http://www.lua.org)
+-- * LuaJIT:        [http://luajit.org](http://luajit.org)
+-- * Sponsored by:  [http://mmbbq.org](http://mmbbq.org)
+-- 
+-- It can be used to pre-process LuaJIT ffi C header file input. 
+-- It can also be used to preprocess any other code (i.e. Lua itself)
+--
+-- 	git clone https://github.com/willsteel/lcpp.git
+----------------------------------------------------------------------------
+--## USAGE
+--	-- load lcpp
+--	local lcpp = require("lcpp")
+--
+--	-- use LuaJIT ffi and lcpp to parse cpp code
+--	ffi.cdef("#include <your_header.h>")
+--
+--	-- compile some input
+--	local out = lcpp.compile([[
+--		#include "myheader.h"
+--		#define MAXPATH 260
+--		typedef struct somestruct_t {
+--			void*          base;
+--			size_t         size;
+--			wchar_t        path[MAXPATH];
+--		} t_exe;
+--	]])
+--
+--	-- the result should be
+--	out = [[
+--		// <preprocessed content of file "myheader.h">
+--		typedef struct somestruct_t {
+--			void*          base;
+--			size_t         size;
+--			wchar_t        path[260];
+--		} t_exe;
+--	]]
+--
+--## This CPPs BNF:
+--	RULES:
+--	CODE              := {LINE}
+--	LINE              := {STUFF NEWML} STUFF  NEWL
+--	STUFF             := DIRECTIVE | IGNORED_CONTENT
+--	DIRECTIVE         := OPTSPACES CMD OPTSPACES DIRECTIVE_NAME WHITESPACES DIRECTIVE_CONTENT WHITESPACES NEWL
+--
+--	LEAVES:
+--	NEWL              := "\n"
+--	NEWL_ESC          := "\\n"
+--	WHITESPACES       := "[ \t]+"
+--	OPTSPACES         := "[ \t]*"
+--	COMMENT           := "//(.-)$"
+--	MLCOMMENT         := "/[*](.-)[*]/"
+--	IGNORED_CONTENT   := "[^#].*"
+--	CMD               := "#"
+--	DIRECTIVE_NAME    := "include"|"define"|"undef"|"if"|"else"|"elif"|"else if"|"endif"|"ifdef"|"ifndef"|"pragma"|"version"
+--	DIRECTIVE_CONTENT := ".*?"
+--
+--## TODOs:
+--	- lcpp.LCPP_LUA for: load, loadfile
+--	- "#" operator for stringification
+--	- literal concatenation: "foo" "bar" -> "foobar"
+--
+--## License (MIT)
+-- -----------------------------------------------------------------------------
+-- Permission is hereby granted, free of charge, to any person obtaining a copy
+-- of this software and associated documentation files (the "Software"), to deal
+-- in the Software without restriction, including without limitation the rights
+-- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+-- copies of the Software, and to permit persons to whom the Software is
+-- furnished to do so, subject to the following conditions:
+-- 
+-- The above copyright notice and this permission notice shall be included in
+-- all copies or substantial portions of the Software.
+-- 
+-- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+-- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+-- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+-- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+-- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+-- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+-- THE SOFTWARE.
+-- 
+-- MIT license: http://www.opensource.org/licenses/mit-license.php
+-- -----------------------------------------------------------------------------
+--
+-- @module lcpp
+local lcpp = {}
+
+-- CONFIG
+lcpp.LCPP_LUA         = false   -- whether to use lcpp to preprocess Lua code (load, loadfile, loadstring...)
+lcpp.LCPP_FFI         = true    -- whether to use lcpp as LuaJIT ffi PreProcessor (if used in luaJIT)
+lcpp.LCPP_TEST        = false   -- whether to run lcpp unit tests when loading lcpp module
+lcpp.ENV              = {}      -- static predefines (env-like)
+lcpp.FAST             = true		-- perf. tweaks when enabled. con: breaks minor stuff like __LINE__ macros
+lcpp.DEBUG            = false
+
+-- PREDEFINES
+local __FILE__        = "__FILE__"
+local __LINE__        = "__LINE__"
+local __DATE__        = "__DATE__"
+local __TIME__        = "__TIME__"
+local __LCPP_INDENT__ = "__LCPP_INDENT__"
+local __LCPP_INSIDE_HEADERFILE__ = "__LCPP_INSIDE_HEADERFILE__"
+
+-- BNF LEAVES
+local ENDL            = "$"
+local STARTL          = "^"
+local NEWL            = "\n"
+local NEWL_BYTE       = NEWL:byte(1)
+local NEWL_ESC        = "\\"
+local NEWML           = "\\\n"
+local CMD             = "#"
+local CMD_BYTE        = CMD:byte(1)
+local COMMENT         = "^(.-)//.-$"
+local MLCOMMENT       = "/[*].-[*]/"
+local WHITESPACES     = "%s+"
+local OPTSPACES       = "%s*"
+local IDENTIFIER      = "[_%a][_%w]*"
+local NOIDENTIFIER    = "[^%w_]+"
+local FILENAME        = "[0-9a-zA-Z.-_/\\]+"
+local TEXT            = ".+"
+
+-- BNF WORDS
+local _INCLUDE        = "include"
+local _DEFINE         = "define"
+local _IFDEF          = "ifdef"
+local _IFNDEF         = "ifndef"
+local _ENDIF          = "endif"
+local _UNDEF          = "undef"
+local _IF             = "if"
+local _ELSE           = "else"
+local _ELIF           = "elif"
+local _NOT            = "!"
+local _ERROR          = "error"
+local _PRAGMA         = "pragma"
+local _VERSION				= "version"
+
+-- BNF RULES
+local INCLUDE         = STARTL.._INCLUDE..WHITESPACES.."[\"<]("..FILENAME..")[\">]"..OPTSPACES..ENDL
+local DEFINE          = STARTL.._DEFINE
+local IFDEF           = STARTL.._IFDEF..WHITESPACES.."("..IDENTIFIER..")"..OPTSPACES..ENDL
+local IFNDEF          = STARTL.._IFNDEF..WHITESPACES.."("..IDENTIFIER..")"..OPTSPACES..ENDL
+local ENDIF           = STARTL.._ENDIF..OPTSPACES.."(.*)"..ENDL
+local UNDEF           = STARTL.._UNDEF..WHITESPACES.."("..IDENTIFIER..")"..OPTSPACES..ENDL
+local IF              = STARTL.._IF..WHITESPACES.."(.*)"..ENDL
+local ELSE            = STARTL.._ELSE..OPTSPACES.."(.*)"..ENDL
+local ELIF            = STARTL.._ELIF..WHITESPACES.."(.*)"..ENDL
+local ELSEIF          = STARTL.._ELSE..WHITESPACES.._IF..WHITESPACES.."(.*)"..ENDL
+local ERROR           = STARTL.._ERROR..WHITESPACES.."("..TEXT..")"..OPTSPACES..ENDL
+local ERROR_NOTEXT    = STARTL.._ERROR..OPTSPACES..ENDL	--> not required when we have POSIX regex
+local PRAGMA          = STARTL.._PRAGMA
+local VERSION         = STARTL.._VERSION
+
+
+
+-- speedups
+local TRUEMACRO = STARTL.."("..IDENTIFIER..")%s*$"
+local REPLMACRO = STARTL.."("..IDENTIFIER..")"..WHITESPACES.."(.+)$"
+local FUNCMACRO = STARTL.."("..IDENTIFIER..")%s*%(([%s%w,]*)%)%s*(.*)"
+
+
+-- ------------
+-- LOCAL UTILS
+-- ------------
+lcpp.STATE = {lineno = 0} -- current state for debugging the last operation
+local function error(msg) _G.print(debug.traceback()); _G.error(string.format("lcpp ERR [%04i] %s", lcpp.STATE.lineno, msg)) end
+local function print(msg) _G.print(string.format("lcpp INF [%04i] %s", lcpp.STATE.lineno, msg)) end
+
+-- splits a string using a pattern into a table of substrings
+local function gsplit(str, pat)
+	local function _split(str, pat)
+		local t = {}  -- NOTE: use {n = 0} in Lua-5.0
+		local fpat = "(.-)"..pat
+		local last_end = 1
+		local s, e, cap = str:find(fpat, 1)
+		while s do
+			if s ~= 1 or cap ~= "" then
+				coroutine.yield(cap)
+			end
+			last_end = e + 1
+			s, e, cap = str:find(fpat, last_end)
+		end
+		if last_end <= #str then
+			cap = str:sub(last_end)
+			coroutine.yield(cap)
+		end
+	end
+	return coroutine.wrap(function() _split(str, pat) end)
+end
+local function split(str, pat)
+	local t = {}
+	for str in gsplit(str, pat) do table.insert(t, str) end
+	return t
+end
+
+-- Checks whether a string starts with a given substring
+-- offset is optional
+local function strsw(str, pat, offset)
+	if not str then return false end
+	if not offset then offset = 0 end
+	return string.sub(str, 1+offset, string.len(pat)+offset) == pat
+end
+
+-- Checks whether a string ends with a given substring
+local function strew(str, pat)
+	if not str then return false end
+	return pat=='' or string.sub(str,-string.len(pat)) == pat
+end
+
+-- string trim12 from lua wiki
+local function trim(str)
+	local from = str:match"^%s*()"
+	return from > #str and "" or str:match(".*%S", from)
+end
+
+-- returns the number of string occurrences
+local function findn(input, what)
+	local count = 0
+	local offset = 0
+	while true do 
+			_, offset = string.find(input, what, offset+1, true)
+			if not offset then return count end
+			count = count + 1
+	end
+end
+
+-- a lightweight and flexible tokenizer
+local function _tokenizer(str, setup)
+		local defsetup = {
+			-- EXAMPLE patterns have to be pretended with "^" for the tokenizer
+			["identifier"] = '^[_%a][_%w]*',
+			["number"] = '^[%+%-]?%d+[%.]?%d*',
+			["ignore"] = '^%s+', 
+			["string"] = true,
+			["keywords"] = { 
+				-- ["NAME"] = '^pattern',
+				-- ...
+			},
+		}
+	if not setup then
+		setup = defsetup
+	end
+	setup.identifier = setup.identifier or defsetup.identifier
+	setup.number = setup.number or defsetup.number
+	setup.ignore = setup.number or defsetup.ignore
+	if nil == setup.string then setup.string = true end
+	setup.keywords = setup.keywords or {}
+
+	local strlen = #str
+	local i = 1
+	local i1, i2
+	local keyword
+	
+	local function find(pat)
+		i1, i2 = str:find(pat,i)
+		return i1 ~= nil
+	end
+	
+	local function cut()
+		return str:sub(i, i2)
+	end
+	
+	local function findKeyword()
+		for name, pat in pairs(setup.keywords) do
+			local result = find(pat)
+			if result then
+				keyword = name 
+				return true 
+			end
+		end
+	end
+
+	while true do
+		if i > strlen then return 'eof', nil, strlen, strlen end
+		if find(setup.ignore) then	
+			coroutine.yield("ignore", cut(), i1, i2)
+		elseif findKeyword() then
+			coroutine.yield(keyword, cut(), i1, i2)
+		elseif find(setup.number) then
+			coroutine.yield('number', tonumber(cut()), i1, i2)
+		elseif find(setup.identifier) then
+			coroutine.yield('identifier', cut(), i1, i2)
+		elseif setup.string and (find('^"[^"]*"') or find("^'[^']*'")) then
+			-- strip the quotes
+			coroutine.yield('string', cut():sub(2,-2), i1, i2)
+		else -- any other unknown character
+			i1 = i
+			i2 = i
+			coroutine.yield('unknown', cut(), i1, i2)
+		end
+		i = i2+1
+	end
+end
+local function tokenizer(str, setup)
+	return coroutine.wrap(function() _tokenizer(str, setup) end)
+end
+
+
+-- ------------
+-- PARSER
+-- ------------
+
+-- hint: LuaJIT ffi does not rely on us to remove the comments, but maybe other usecases
+local function removeComments(input)
+		input = string.gsub(input, "//.-\n", "\n") -- remove sl comments
+		-- remove multiline comments in a way that it does not break __LINE__ macro
+		if lcpp.FAST then
+			input = string.gsub(input, "/%*.-%*/", "") -- remove ml comments (stupid method)
+		else
+			local offset = 0
+			local output = {}
+			local starti, endi, match, lastendi
+			while offset do
+				starti, endi, match = input:find("/%*(.-)%*/", offset, false)
+				if starti then
+					lastendi = endi
+					local newlineCount = findn(match, "\n")
+					local newlines = string.rep("\n", newlineCount)
+					table.insert(output, input:sub(offset+1, starti-1))
+					table.insert(output, newlines)
+					offset = endi
+				else
+					offset = nil
+					table.insert(output, input:sub((lastendi or 0) + 1))
+				end
+			end
+			input = table.concat(output)
+			--error(input)
+		end
+
+		return input
+end
+
+-- screener: revmoce comments, trim, ml concat...
+-- it only splits to cpp input lines and removes comments. it does not tokenize. 
+local function screener(input)
+	local function _screener(input)
+		--input = removeComments(input)
+
+		-- concat mulit-line input.
+		local count = 1
+		while count > 0 do input, count = string.gsub(input, "^(.-)\\\n(.-)$", "%1 %2\n") end
+
+		-- trim and join blocks not starting with "#"
+		local buffer = {}
+		for line in gsplit(input, NEWL) do
+			--line = trim(line)
+			if #line > 0 then
+				if line:byte(1) == CMD_BYTE then 
+					--line = line:gsub("#%s*(.*)", "#%1")	-- remove optinal whitespaces after "#". reduce triming later.
+					if #buffer > 0 then 
+						coroutine.yield(table.concat(buffer, NEWL))
+						buffer = {} 
+					end
+					coroutine.yield(line) 
+				else
+					if lcpp.FAST then
+						table.insert(buffer, line) 
+					else
+						coroutine.yield(line) 
+					end
+				end
+			elseif not lcpp.FAST then
+				coroutine.yield(line) 
+			end
+		end
+		if #buffer > 0 then 
+			coroutine.yield(table.concat(buffer, NEWL))
+		end
+	end
+	
+	return coroutine.wrap(function() _screener(input) end)
+end
+
+-- apply currently known macros to input (and returns it)
+local function apply(state, input)
+	local out = {}
+	local functions = {}
+
+	for k, v, start, end_ in tokenizer(input) do
+		if k == "identifier" then 
+			local repl = v
+			local macro = state.defines[v] 
+			if macro then
+				if type(macro)     == "boolean" then
+					repl = ""
+				elseif type(macro) == "string" then
+					repl = macro
+				elseif type(macro) == "number" then
+					repl = tostring(macro)
+				elseif type(macro) == "function" then
+					table.insert(functions, macro)	-- we apply functions in a later step
+				end
+			end
+			table.insert(out, repl)
+		else
+			table.insert(out, input:sub(start, end_))
+		end
+	end
+	input = table.concat(out)
+	for _, func in pairs(functions) do	-- TODO: looks sucky (but works quite nice)
+		input = func(input)
+	end
+
+	return input
+end
+
+-- processes an input line. called from lcpp doWork loop
+local function processLine(state, line)
+	if not line or #line == 0 then return line end
+	local cmd = nil 
+	if line:byte(1) == CMD_BYTE then cmd = line:sub(2) end
+	--print("processLine(): "..line)
+
+
+	--[[ SKIPPING ]]-- 
+	if state:skip() then return end
+	
+
+	--[[ READ NEW DIRECTIVES ]]--
+	if cmd then
+		-- handle #include ...
+		local filename = cmd:match(INCLUDE)
+		if filename then
+			print("processing header  " .. filename)
+			return state:includeFile(filename)
+		end
+	
+		return line
+	end
+
+	
+	--[[ APPLY MACROS ]]--
+	--line = state:apply(line);
+	
+	return line
+end
+
+
+local function processLine2(state, line)
+	if not line or #line == 0 then return line end
+	local cmd = nil 
+	if line:byte(1) == CMD_BYTE then cmd = line:sub(2) end
+	--print("processLine(): "..line)
+
+	if state:defined(__LCPP_INSIDE_HEADERFILE__) then
+		--[[ IF/THEN/ELSE STRUCTURAL BLOCKS ]]--
+		if cmd then
+			local ifdef   = cmd:match(IFDEF)
+			local ifexp   = cmd:match(IF)
+			local ifndef  = cmd:match(IFNDEF)
+			local elif    = cmd:match(ELIF)
+			local elseif_ = cmd:match(ELSEIF)
+			local else_   = cmd:match(ELSE)
+			local endif   = cmd:match(ENDIF)
+			local struct  = ifdef or ifexp or ifndef or elif or elseif_ or else_ or endif
+			
+			if struct then 
+				if ifdef   then state:openBlock(state:defined(ifdef))      end
+				if ifexp   then state:openBlock(state:parseExpr(ifexp))    end
+				if ifndef  then state:openBlock(not state:defined(ifndef)) end
+				if elif    then state:elseBlock(state:parseExpr(elif))     end
+				if elseif_ then state:elseBlock(state:parseExpr(elseif_))  end
+				if else_   then state:elseBlock(true)                      end
+				if endif   then state:closeBlock()                         end
+				return line
+			end
+		end
+	end
+
+
+	--[[ SKIPPING ]]-- 
+	if state:skip() then return end
+	
+
+	--[[ READ NEW DIRECTIVES ]]--
+	if cmd then
+		-- handle #include ...
+		local filename = cmd:match(INCLUDE)
+		if filename then
+			print("processing header  " .. filename)
+			return state:includeFile(filename)
+		end
+	
+		if state:defined(__LCPP_INSIDE_HEADERFILE__) then
+			-- handle #undef ...
+			local key = cmd:match(UNDEF)
+			if type(key) == "string" then
+				state:undefine(key)
+				return
+			end
+			
+			-- read "#define >FooBar...<" directives
+			if cmd:match(DEFINE) then
+				local define = trim(cmd:sub(DEFINE:len()+1))
+				local macroname, replacement
+				
+				-- simple "true" defines
+				macroname = define:match(TRUEMACRO)
+				if macroname then
+					state:define(macroname, true)
+				end
+		
+				-- replace macro defines
+				macroname, replacement = define:match(REPLMACRO)
+				if macroname and replacement then
+					state:define(macroname, replacement)
+				end
+		
+				-- read functional macros
+				macroname, replacement = state:parseFunction(define)
+				if macroname and replacement then
+					state:define(macroname, replacement)
+				end
+				
+				return line
+			end
+			
+			-- ignore, because we dont have any pragma directives yet
+			if cmd:match(PRAGMA) then 
+				return line
+			end
+			
+			-- abort on unknown keywords
+			error("unknown directive: "..line)
+		else
+			return line
+		end
+	end
+
+	
+	--[[ APPLY MACROS ]]--
+	--line = state:apply(line);
+	
+	return line
+end
+
+
+local function doWork(state)
+	local function _doWork(state)
+		if not state:defined(__FILE__) then state:define(__FILE__, "<USER_CHUNK>", true) end
+		local oldIndent = state:getIndent()
+		while true do
+			local input = state:getLine()
+			if not input then break end
+			local output = processLine(state, input)
+			if not lcpp.FAST and not output then 
+				output = "" end -- output empty skipped lines
+				
+			if lcpp.DEBUG then output = output.." -- "..input end -- input as comment when DEBUG
+			
+			if output then coroutine.yield(output) end
+		end
+		if (oldIndent ~= state:getIndent()) then error("indentation level must be balanced within a file. was:"..oldIndent.." is:"..state:getIndent()) end
+	end
+	return coroutine.wrap(function() _doWork(state) end)
+end
+
+local function doWork2(state)
+	local function _doWork2(state)
+		if not state:defined(__FILE__) then state:define(__FILE__, "<USER_CHUNK>", true) end
+		local oldIndent = state:getIndent()
+		while true do
+			local input = state:getLine()
+			if not input then break end
+			local output = processLine2(state, input)
+			if not lcpp.FAST and not output then output = "" end -- output empty skipped lines
+			if lcpp.DEBUG then output = output.." -- "..input end -- input as comment when DEBUG
+			if output then coroutine.yield(output) end
+		end
+		if (oldIndent ~= state:getIndent()) then error("indentation level must be balanced within a file. was:"..oldIndent.." is:"..state:getIndent()) end
+	end
+	return coroutine.wrap(function() _doWork2(state) end)
+end
+
+local function includeFile(state, filename)
+	local result, result_state = lcpp.compileHeaderFile("../src/" .. filename, state.defines)
+	-- now, we take the define table of the sub file for further processing
+	state.defines = result_state.defines
+	-- and return the compiled result	
+	return result
+end
+
+-- sets a global define
+local function define(state, key, value, override)
+	--print("define:"..key.." type:"..type(value))
+	--if value and not override and state:defined(key) then error("already defined: "..key) end
+	value = state:prepareMacro(value)
+	state.defines[key] = value
+end
+
+-- parses CPP exressions
+-- i.e.: #if !defined(_UNICODE) && !defined(UNICODE)
+--
+--BNF:
+--  EXPR     -> (BRACKET_OPEN)(EXPR)(BRACKET_CLOSE)
+--  EXPR     -> (EXPR)(OR)(EXPR)
+--  EXPR     -> (EXPR)(AND)(EXPR)
+--  EXPR     -> (NOT)(EXPR)
+--  EXPR     -> (FUNCTION)
+--  FUNCTION -> (IDENTIFIER)(BRACKET_OPEN)(ARGS)(BRACKET_CLOSE)
+--  ARGS     -> ((IDENTIFIER)[(COMMA)(IDENTIFIER)])?
+--LEAVES:
+--  IGNORE -> " \t"
+--  BRACKET_OPEN  -> "("
+--  BRACKET_CLOSE -> ")"
+--  OR -> "||"
+--  AND -> "&&"
+--  NOT -> "!"
+--  IDENTIFIER -> "[0-9a-zA-Z_]"
+--
+
+local LCPP_TOKENIZE_MACRO = {
+	string = true,
+	keywords = { 
+		CONCAT = "^##",
+	},
+}
+local LCPP_TOKENIZE_EXPR = {
+	string = false,
+	keywords = { 
+		NOT = '^!', 
+		DEFINED = '^defined', 
+		BROPEN = '^[(]', 
+		BRCLOSE = '^[)]', 
+		AND = '^&&', 
+		OR = '^||',
+	},
+}
+
+local function parseDefined(state, input)
+	local result = false
+	local bropen = false
+	local brclose = false
+	local ident = nil
+	
+	for key, value in input do
+		if key == "BROPEN" then
+			bropen = true
+		end
+		if key == "identifier" then
+			 ident = value
+			 if not bropen then break end
+		end
+		if key == "BRCLOSE" and ident then
+			brclose = true
+			break
+		end
+	end
+	
+	-- wiht and w/o brackets allowed
+	if ident and ((bropen and brclose) or (not bropen and not brclose)) then
+		return state:defined(ident)
+	end
+	
+	error("expression parse error: defined(ident)")
+end
+
+local function parseExpr(state, input) 
+	-- first call gets string input. rest uses tokenizer
+	if type(input) == "string" then input = tokenizer(input, LCPP_TOKENIZE_EXPR) end
+	local result = false
+	local _not = false
+	
+	for type, value in input do
+--		print("type:"..type.." value:"..value)
+		if type == "NOT" then
+			_not = true
+		end
+		if type == "BROPEN" then
+			return state:parseExpr(input)
+		end
+		if type == "BRCLOSE" then
+			return result
+		end
+		if type == "AND" then
+			return result and state:parseExpr(input)
+		end
+		if type == "OR" then
+			return result or state:parseExpr(input)
+		end
+		
+		if type == "DEFINED" then
+			if _not then
+				result = not parseDefined(state, input) 
+			else
+				result = parseDefined(state, input) 
+			end
+		end
+	end
+	
+	return result
+end
+
+-- apply macros chaining and string ops "##" and "#"
+local function prepareMacro(state, input)
+	if type(input) ~= "string" then return input end
+	input = state:apply(input)
+	local out = {}
+	for k, v, start, end_ in tokenizer(input, LCPP_TOKENIZE_MACRO) do
+		if k == "CONCAT" then
+			-- remove concat op "##"
+		else
+			table.insert(out, input:sub(start, end_))
+		end
+	end
+	return table.concat(out)
+end
+
+-- i.e.: "MAX(x, y) (((x) > (y)) ? (x) : (y))"
+local function parseFunction(state, input)
+	if not input then return end
+	local name, argsstr, repl = input:match(FUNCMACRO)
+	if not name or not argsstr or not repl then return end
+	repl = state:prepareMacro(repl)
+
+	-- rename args to %1,%2... for later gsub
+	local noargs = 0
+	for argname in argsstr:gmatch(IDENTIFIER) do
+		noargs = noargs + 1
+		repl = repl:gsub(argname, "%%"..noargs)
+	end
+	
+	-- build pattern string:  name(arg, arg, ...)
+	local pattern
+	if     noargs == 0 then pattern = name.."%s*%(%s*%)"                             -- quick 0 arg version
+	elseif noargs == 1 then pattern = name.."%s*%(%s*([^,%)]*)%s*%)"                 -- quick 1 arg version
+	elseif noargs == 2 then pattern = name.."%s*%(%s*([^,%)]*)%s*,%s*([^,%)]*)%s*%)" -- quick 2 arg version
+	else -- arbitrary arg version
+		local buf = {}
+		table.insert(buf, name)
+		table.insert(buf, "%s*%(%s*")
+		for i = 1, noargs do
+			table.insert(buf, "([^,%)]*)%s*")
+			if i < noargs then
+				table.insert(buf, ",%s*")
+			end
+		end
+		table.insert(buf, "%)")
+		pattern = table.concat(buf)
+	end
+	
+	-- build macro funcion
+	local func = function(input)
+		return input:gsub(pattern, repl)
+	end
+	
+	return name, func
+end
+
+
+-- ------------
+-- LCPP INTERFACE
+-- ------------
+
+--- initialies a lcpp state. not needed manually. handy for testing
+function lcpp.init(input, predefines)
+	-- create sate var
+	local state     = {}              -- init the state object
+	state.defines   = {}              -- the table of known defines and replacements
+	state.screener  = screener(input)
+	state.lineno    = 0               -- the current line number
+	state.stack     = {}              -- stores wether the current stack level is to be included
+	state.once      = {}              -- stack level was once true (first if that evals to true)
+	
+	-- funcs
+	state.define = define
+	state.undefine = function(state, key)
+		state:define(key, nil)
+	end
+	state.defined = function(state, key)
+		return state.defines[key] ~= nil
+	end
+	state.apply = apply
+	state.includeFile = includeFile
+	state.doWork = doWork
+	state.doWork2 = doWork2
+	state.getIndent = function(state)
+		return #state.stack
+	end
+	state.openBlock = function(state, bool)
+		state.stack[#state.stack+1] = bool
+		state.once [#state.once+1]  = bool
+		state:define(__LCPP_INDENT__, state:getIndent(), true)
+	end
+	state.elseBlock = function(state, bool)
+		if state.once[#state.once] then
+			state.stack[#state.stack] = false
+		else
+			state.stack[#state.stack] = bool
+			if bool then state.once[#state.once] = true end
+		end
+	end
+	state.closeBlock = function(state)
+		state.stack[#state.stack] = nil
+		state.once [#state.once]  = nil
+		state:define(__LCPP_INDENT__, state:getIndent(), true)
+		if state:getIndent() < 0 then error("Unopened block detected. Indentaion problem.") end
+	end
+	state.skip = function(state)
+		for i = 1, #state.stack do
+			if not state.stack[i] then return true end
+		end
+		return false
+	end
+	state.getLine = function(state)
+		state.lineno = state.lineno + 1
+		state:define(__LINE__, state.lineno, true)
+		return state.screener()
+	end
+	state.prepareMacro = prepareMacro
+	state.parseExpr = parseExpr
+	state.parseFunction = parseFunction
+	
+	-- predefines
+	state:define(__DATE__, os.date("%B %d %Y"), true)
+	state:define(__TIME__, os.date("%H:%M:%S"), true)
+	state:define(__LINE__, state.lineno, true)
+	state:define(__LCPP_INDENT__, state:getIndent(), true)
+	predefines = predefines or {}
+	for k,v in pairs(lcpp.ENV) do	state:define(k, v, true) end	-- static ones
+	for k,v in pairs(predefines) do	state:define(k, v, true) end
+	
+	if lcpp.LCPP_TEST then lcpp.STATE = state end -- activate static state debugging
+
+	return state
+end
+
+--- the preprocessors main function.
+-- returns the preprocessed output as a string.
+-- @param code data as string
+-- @param predefines OPTIONAL a table of predefined variables
+-- @usage lcpp.compile("#define bar 0x1337\nstatic const int foo = bar;")
+-- @usage lcpp.compile("#define bar 0x1337\nstatic const int foo = bar;", {["bar"] = "0x1338"})
+function lcpp.compile(code, predefines)
+	local state = lcpp.init(code, predefines)
+	local buf = {}
+	for output in state:doWork() do
+		table.insert(buf, output)
+	end
+	local output = table.concat(buf, NEWL)
+	if lcpp.DEBUG then print(output) end
+	return output, state
+end
+
+function lcpp.compile2(code, predefines)
+	local state = lcpp.init(code, predefines)
+	state:define(__LCPP_INSIDE_HEADERFILE__,true)
+	local buf = {}
+	for output in state:doWork2() do
+		table.insert(buf, output)
+	end
+	local output = table.concat(buf, NEWL)
+	if lcpp.DEBUG then print(output) end
+	return output, state
+end
+
+--- preprocesses a file
+-- @param filename the file to read
+-- @param predefines OPTIONAL a table of predefined variables
+-- @usage out, state = lcpp.compileFile("../odbg/plugin.h", {["MAXPATH"]=260, ["UNICODE"]=true})
+function lcpp.compileFile(filename, predefines)
+	if not filename then error("processFile() arg1 has to be a string") end
+	local file = io.open(filename, 'r')
+	if not file then error("file not found: "..filename) end
+	local code = file:read('*a')
+	predefines = predefines or {}
+	predefines[__FILE__] = filename
+	return lcpp.compile(code, predefines)
+end
+
+function lcpp.compileHeaderFile(filename, predefines)
+	if not filename then error("processFile() arg1 has to be a string") end
+	local file = io.open(filename, 'r')
+	if not file then error("file not found: "..filename) end
+	local code = file:read('*a')
+	predefines = predefines or {}
+	predefines[__FILE__] = filename
+	return lcpp.compile2(code, predefines)
+end
+
+
+
+-- ------------
+-- REGISTER LCPP
+-- ------------
+
+--- disable lcpp processing for ffi, loadstring and such
+lcpp.disable = function()
+	if lcpp.LCPP_LUA then
+		-- activate LCPP_LUA actually does anything useful
+		-- _G.loadstring = _G.loadstring_lcpp_backup
+	end	
+	
+	if lcpp.LCPP_FFI and pcall(require, "ffi") then
+		ffi = require("ffi")
+		if ffi.lcpp_cdef_backup then
+			ffi.cdef = ffi.lcpp_cdef_backup
+			ffi.lcpp_cdef_backup = nil
+		end
+	end
+end
+
+--- (re)enable lcpp processing for ffi, loadstring and such
+lcpp.enable = function()
+	-- Use LCPP to process Lua code (load, loadfile, loadstring...)
+	if lcpp.LCPP_LUA then
+		-- TODO: make it properly work on all functions
+		error("lcpp.LCPP_LUA = true -- not properly implemented yet");
+		_G.loadstring_lcpp_backup = _G.loadstring
+		_G.loadstring = function(str, chunk) 
+			return loadstring_lcpp_backup(lcpp.compile(str), chunk) 
+		end
+	end
+	-- Use LCPP as LuaJIT PreProcessor if used inside LuaJIT. i.e. Hook ffi.cdef
+	if lcpp.LCPP_FFI and pcall(require, "ffi") then
+		ffi = require("ffi")
+		if not ffi.lcpp_cdef_backup then
+			if not ffi.lcpp_defs then ffi.lcpp_defs = {} end -- defs are stored and reused
+			ffi.lcpp = function(input) 
+				local output, state = lcpp.compile(input, ffi.lcpp_defs)
+				ffi.lcpp_defs = state.defines
+				return output	
+			end
+			ffi.lcpp_cdef_backup = ffi.cdef
+			ffi.cdef = function(input) return ffi.lcpp_cdef_backup(ffi.lcpp(input)) end
+		end
+	end
+end
+
+lcpp.enable()
+return lcpp
--- a/thirdparty/bullet/build3/premake4.exe
+++ b/thirdparty/bullet/build3/premake4.exe
--- a/thirdparty/bullet/build3/premake4.lua
+++ b/thirdparty/bullet/build3/premake4.lua
@@ -0,0 +1,677 @@
+
+	solution "0_Bullet3Solution"
+
+	local osversion = os.getversion()
+	print(string.format(" %d.%d.%d (%s)",
+   		osversion.majorversion, osversion.minorversion, osversion.revision,
+   		osversion.description))
+
+	if _ACTION == "vs2010" or _ACTION=="vs2008" then
+		buildoptions
+		{
+			-- Multithreaded compiling
+			"/MP",
+			-- Disable a few useless warnings
+			"/wd4244",
+			"/wd4267"
+		}
+	end
+
+	act = ""
+
+	if _ACTION then
+		act = _ACTION
+	end
+
+	projectRootDir = os.getcwd() .. "/../"
+	print("Project root directory: " .. projectRootDir);
+	
+	newoption {
+		trigger     = "ios",
+		description = "Enable iOS target (requires xcode4)"
+	}
+
+	newoption
+	{
+		trigger = "enable_system_glx",
+		description = "Try to link against system glx instead of using glad_glx (default)"
+	}
+
+	newoption
+	{
+		trigger = "enable_system_opengl",
+		description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)"
+	}
+
+	newoption
+	{
+		trigger = "enable_openvr",
+		description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift"
+	}
+	newoption
+	{
+		trigger = "enable_system_x11",
+		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
+	}
+
+	newoption
+	{
+		trigger = "enable_stable_pd",
+		description = "Enable Stable PD control in PyBullet"
+	}
+
+
+	newoption
+	{
+		trigger = "enable_static_vr_plugin",
+		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
+	}
+	
+	newoption
+	{
+		trigger = "enable_physx",
+		description = "Allow optional PhysX backend for PyBullet, use pybullet.connect(pybullet.PhysX)."
+	}
+
+	newoption
+	{
+		trigger = "noopengl3",
+		description = "Don't compile any OpenGL3+ code"
+	}
+
+	newoption
+	{
+		trigger = "midi",
+		description = "Use Midi controller to control parameters"
+	}
+	
+	
+	newoption
+	{
+		trigger = "enable_egl",
+		value       = false,
+		description = "Build an experimental eglPlugin"
+	}
+
+	
+	newoption
+	{
+		trigger = "enable_grpc",
+		description = "Build GRPC server/client features for PyBullet/BulletRobotics"
+	
+	}
+
+	if os.is("Linux") then
+                default_grpc_include_dir = "usr/local/include/GRPC"
+                default_grpc_lib_dir = "/usr/local/lib"
+                default_protobuf_include_dir = "/usr/local/include/protobuf"
+                default_protobuf_lib_dir = "/usr/local/lib"
+	end
+
+	if os.is("macosx") then
+                default_grpc_include_dir = "/usr/local/Cellar/grpc/1.14.1/include"
+                default_grpc_lib_dir = "/usr/local/Cellar/grpc/1.14.1/lib"
+								default_protobuf_include_dir = "/usr/local/Cellar/protobuf/3.6.0/include"
+                default_protobuf_lib_dir = "/usr/local/Cellar/protobuf/3.6.0/lib"
+	end
+
+	if os.is("Windows") then
+                default_grpc_include_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
+                default_grpc_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
+                default_protobuf_include_dir =projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
+                default_protobuf_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
+	end
+	
+	newoption
+	{
+                        trigger     = "grpc_include_dir",
+                        value       = default_grpc_include_dir,
+                        description = "(optional) GRPC include directory"
+	}
+
+	newoption
+	{
+                        trigger     = "grpc_lib_dir",
+                        value       = default_grpc_lib_dir,
+                        description = "(optional) GRPC library directory "
+	}
+
+
+	newoption
+        {
+                        trigger     = "protobuf_include_dir",
+                        value       = default_protobuf_include_dir,
+                        description = "(optional) protobuf include directory"
+        }
+
+        newoption
+        {
+                        trigger     = "protobuf_lib_dir",
+                        value       = default_protobuf_lib_dir,
+                        description = "(optional) protobuf library directory "
+        }
+
+
+	if not _OPTIONS["grpc_lib_dir"] then
+		_OPTIONS["grpc_lib_dir"] = default_grpc_lib_dir
+	end
+	if not _OPTIONS["grpc_include_dir"] then
+		_OPTIONS["grpc_include_dir"] = default_grpc_include_dir
+	end
+	if not _OPTIONS["protobuf_include_dir"] then
+		_OPTIONS["protobuf_include_dir"] = default_protobuf_include_dir
+	end	
+	
+	if not _OPTIONS["protobuf_lib_dir"] then
+		_OPTIONS["protobuf_lib_dir"] = default_protobuf_lib_dir
+	end	
+	
+
+	if _OPTIONS["enable_egl"] then
+		function initEGL()
+			defines {"BT_USE_EGL"}
+		end
+	end	
+	
+	
+	if _OPTIONS["enable_grpc"] then
+	function initGRPC()
+	
+
+			print "BT_ENABLE_GRPC"
+
+			print("grpc_include_dir=")
+			print(_OPTIONS["grpc_include_dir"])
+			print("grpc_lib_dir=")
+			print(_OPTIONS["grpc_lib_dir"])
+			print("protobuf_include_dir=")
+			print(_OPTIONS["protobuf_include_dir"])
+			print("protobuf_lib_dir=")
+			print(_OPTIONS["protobuf_lib_dir"])
+			
+			defines {"BT_ENABLE_GRPC"}
+			
+				if os.is("macosx") then
+			 buildoptions { "-std=c++11" }
+			 links{ "dl"}
+			end
+			
+			if os.is("Linux") then
+			 		buildoptions { "-std=c++11" }
+					links{ "dl"}
+			end
+			
+			if os.is("Windows") then
+					defines {"_WIN32_WINNT=0x0600"}
+					links{ "zlibstatic","ssl","crypto"}
+			end
+
+      includedirs {
+             projectRootDir .. "examples", _OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"],
+      }
+
+			if os.is("Windows") then
+				configuration {"x64", "debug"}			
+						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_debug" , _OPTIONS["protobuf_lib_dir"] .. "win64_debug",}
+				configuration {"x86", "debug"}
+						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_debug" , _OPTIONS["protobuf_lib_dir"] .. "win32_debug",}
+				configuration {"x64", "release"}
+						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_release", _OPTIONS["protobuf_lib_dir"] .. "win64_release",}
+				configuration {"x86", "release"}
+						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_release" , _OPTIONS["protobuf_lib_dir"] .. "win32_release",}
+				configuration{}
+				
+				else
+				libdirs {_OPTIONS["grpc_lib_dir"], _OPTIONS["protobuf_lib_dir"],}
+			end
+      
+      links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"}
+      files { 
+      projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
+			projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.cpp",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.h",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.cpp",
+			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.h", }
+		end
+
+	end
+
+-- _OPTIONS["midi"] = "1";
+
+	newoption
+	{
+		trigger = "no-demos",
+		description = "Don't build demos"
+	}
+
+	newoption
+	{
+		trigger = "no-extras",
+		description = "Don't build Extras"
+	}
+
+	newoption
+	{
+		trigger = "standalone-examples",
+		description = "Build standalone examples with reduced dependencies."
+	}
+
+	newoption
+	{
+		trigger = "no-clsocket",
+		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
+	}
+
+
+	newoption
+	{
+		trigger = "no-enet",
+		description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
+	}
+
+	newoption
+	{
+		trigger = "lua",
+		description = "Enable Lua scipting support in Example Browser"
+	}
+
+	newoption
+        {
+                trigger = "enable_pybullet",
+                description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
+        }
+
+if os.is("Linux") then
+ 		default_python_include_dir = "/usr/include/python2.7"
+ 		default_python_lib_dir = "/usr/local/lib/"
+end
+
+		
+if os.is("Windows") then
+ 		default_python_include_dir = "C:/Python-3.5.2/include"
+ 		default_python_lib_dir = "C:/Python-3.5.2/libs"
+end
+
+		newoption
+    {
+			trigger     = "python_include_dir",
+			value       = default_python_include_dir,
+			description = "Python (2.x or 3.x) include directory"
+    }
+    
+    newoption
+    {
+			trigger     = "python_lib_dir",
+			value       = default_python_lib_dir,
+			description = "Python (2.x or 3.x) library directory "
+    }
+
+	
+	newoption {
+		trigger     = "targetdir",
+		value       = "path such as ../bin",
+		description = "Set the output location for the generated project files"
+	}
+
+	newoption
+	{
+		trigger = "no-test",
+		description = "Disable all tests"
+	}
+
+	newoption
+	{
+		trigger = "no-gtest",
+		description = "Disable unit tests using gtest"
+	}
+
+	newoption
+	{
+		trigger = "no-bullet3",
+		description = "Do not build bullet3 libs"
+	}
+
+	newoption
+	{
+		trigger = "double",
+		description = "Double precision version of Bullet"
+	}
+
+	newoption
+	{
+		trigger = "clamp-velocities",
+		description = "Limit maximum velocities to reduce FP exception risk"
+	}
+	
+	newoption
+	{
+		trigger = "serial",
+		description = "Enable serial, for testing the VR glove in C++"
+	}
+	
+	newoption
+	{
+		trigger = "audio",
+		description = "Enable audio"
+	}
+	newoption
+	{
+		trigger = "enable_multithreading",
+		description = "enable CPU multithreading for bullet2 libs"
+	}
+	if _OPTIONS["enable_multithreading"] then
+		defines {"BT_THREADSAFE=1"}
+	end
+	if _OPTIONS["double"] then
+		defines {"BT_USE_DOUBLE_PRECISION"}
+	end
+	if _OPTIONS["clamp-velocities"] then
+		defines {"BT_CLAMP_VELOCITY_TO=9999"}
+	end
+
+	newoption
+	{
+		trigger = "dynamic-runtime",
+		description = "Enable dynamic DLL CRT runtime"
+	}
+	configurations {"Release", "Debug"}
+	configuration "Release"
+		flags { "Optimize", "EnableSSE2", "NoMinimalRebuild", "FloatFast"}
+		if not _OPTIONS["dynamic-runtime"] then
+			flags { "StaticRuntime" } 
+		end
+	configuration "Debug"
+		defines {"_DEBUG=1"}
+		flags { "Symbols" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
+		if not _OPTIONS["dynamic-runtime"] then
+			flags { "StaticRuntime" } 
+		end
+
+
+	if os.is("Linux") or os.is("macosx") then
+		if os.is64bit() then
+			platforms {"x64"}
+		else
+			platforms {"x32"}
+		end
+	else
+		platforms {"x32","x64"}
+	end
+
+	configuration {"x32"}
+		targetsuffix ("_" .. act)
+	configuration "x64"
+		targetsuffix ("_" .. act .. "_64" )
+	configuration {"x64", "debug"}
+		targetsuffix ("_" .. act .. "_x64_debug")
+	configuration {"x64", "release"}
+		targetsuffix ("_" .. act .. "_x64_release" )
+	configuration {"x32", "debug"}
+		targetsuffix ("_" .. act .. "_debug" )
+
+	configuration{}
+
+	postfix=""
+
+	if _ACTION == "xcode4" then
+		if _OPTIONS["ios"] then
+			_OPTIONS["no-bullet3"] = "1"
+			_OPTIONS["no-gtest"] = "1"
+
+			postfix = "ios";
+			xcodebuildsettings
+			{
+				'INFOPLIST_FILE = "../../test/Bullet2/Info.plist"',
+				'CODE_SIGN_IDENTITY = "iPhone Developer"',
+				"SDKROOT = iphoneos",
+				'ARCHS = "armv7"',
+				'TARGETED_DEVICE_FAMILY = "1,2"',
+				'VALID_ARCHS = "armv7"',
+			}
+		else
+			xcodebuildsettings
+			{
+				'ARCHS = "$(ARCHS_STANDARD_64_BIT)"',
+				'VALID_ARCHS = "x86_64"',
+--			'SDKROOT = "macosx10.9"',
+			}
+		end
+	end
+
+-- comment-out for now, URDF reader needs exceptions
+--	flags { "NoRTTI", "NoExceptions"}
+--	defines { "_HAS_EXCEPTIONS=0" }
+--printf ( _OPTIONS["targetdir"] )
+
+	targetdir( _OPTIONS["targetdir"] or "../bin" )
+	location("./" .. act .. postfix)
+
+	
+	
+	if not _OPTIONS["python_include_dir"] then
+			_OPTIONS["python_include_dir"] = default_python_include_dir
+	end
+	
+	if not _OPTIONS["python_lib_dir"] then
+			_OPTIONS["python_lib_dir"] = default_python_lib_dir
+	end
+
+if os.is("Linux") then
+                default_glfw_include_dir = "usr/local/include/GLFW"
+                default_glfw_lib_dir = "/usr/local/lib/"
+		default_glfw_lib_name = "glfw3"
+end
+
+if os.is("macosx") then
+		default_glfw_include_dir = "/usr/local/Cellar/glfw/3.2.1/include"
+		default_glfw_lib_dir = "/usr/local/Cellar/glfw/3.2.1/lib"
+		default_glfw_lib_name = "glfw"
+end
+
+if os.is("Windows") then
+                default_glfw_include_dir = "c:/glfw/include"
+                default_glfw_lib_dir = "c:/glfw/lib"
+		default_glfw_lib_name = "glfw3"
+end
+
+	
+
+	
+	if not _OPTIONS["glfw_lib_dir"] then
+		_OPTIONS["glfw_lib_dir"] = default_glfw_lib_dir
+	end
+	if not _OPTIONS["glfw_include_dir"] then
+		_OPTIONS["glfw_include_dir"] = default_glfw_include_dir
+	end
+	if not _OPTIONS["glfw_lib_name"] then
+		_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
+	end	
+
+	
+
+	newoption
+    {
+			trigger     = "glfw_include_dir",
+			value       = default_glfw_include_dir,
+			description = "GLFW 3.x include directory"
+    }
+   
+	 newoption
+    {
+                        trigger     = "glfw_lib_name",
+                        value       = default_glfw_lib_name,
+                        description = "GLFW 3.x library name (glfw, glfw3)"
+    }
+ 
+    newoption
+    {
+			trigger     = "glfw_lib_dir",
+			value       = default_glfw_lib_dir,
+			description = "(optional) GLFW 3.x library directory "
+    }
+    
+    newoption
+    {
+			trigger     = "enable_glfw",
+			value       = false,
+			description = "(optional) use GLFW 3.x library"
+    }
+    
+	if _OPTIONS["enable_glfw"] then
+		defines {"B3_USE_GLFW"}
+		
+		function initOpenGL()
+		includedirs {
+					projectRootDir .. "examples/ThirdPartyLibs/glad"
+			}
+		
+			includedirs {
+				_OPTIONS["glfw_include_dir"],
+			}
+			
+			libdirs {
+				_OPTIONS["glfw_lib_dir"]
+			}
+			links { _OPTIONS["glfw_lib_name"]}
+			files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c" }
+		end
+		function findOpenGL3()
+			return true
+		end
+		function initGlew()
+		end
+		function initX11()
+		links {"X11", "dl","pthread"}
+
+		end
+		
+	else
+		dofile ("findOpenGLGlewGlut.lua")
+		if (not findOpenGL3()) then
+			defines {"NO_OPENGL3"}
+		end
+	end
+
+	
+
+	dofile ("findOpenCL.lua")
+	dofile ("findDirectX11.lua")
+	
+	
+	
+	language "C++"
+
+
+	
+	
+	
+
+	if _OPTIONS["audio"] then
+		include "../examples/TinyAudio"
+	end
+
+	if _OPTIONS["serial"] then
+		include "../examples/ThirdPartyLibs/serial"
+	end
+
+	if not _OPTIONS["no-demos"] then
+		include "../examples/ExampleBrowser"
+		include "../examples/RobotSimulator"
+		include "../examples/OpenGLWindow"
+		include "../examples/ThirdPartyLibs/Gwen"
+		include "../examples/HelloWorld"
+		include "../examples/SharedMemory"
+		include "../examples/ThirdPartyLibs/BussIK"
+
+		if _OPTIONS["lua"] then
+		   include "../examples/ThirdPartyLibs/lua-5.2.3"
+		end
+		if _OPTIONS["enable_pybullet"] then
+		  include "../examples/pybullet"
+		end
+		include "../examples/SimpleOpenGL3"
+
+		if _OPTIONS["standalone-examples"] then
+			
+			include "../examples/TinyRenderer"
+			include "../examples/BasicDemo"
+			include "../examples/InverseDynamics"
+			include "../examples/ExtendedTutorials"
+			include "../examples/MultiThreading"
+		end
+
+		if not _OPTIONS["no-test"] then
+			include "../test/SharedMemory"
+		end
+	end
+
+	if _OPTIONS["midi"] then
+		include "../examples/ThirdPartyLibs/midi"
+	end
+	
+	if not _OPTIONS["no-clsocket"] then
+		defines {"BT_ENABLE_CLSOCKET"}
+		include "../examples/ThirdPartyLibs/clsocket"		
+		include "../test/clsocket"
+	end
+
+	if not _OPTIONS["no-enet"] then
+				defines {"BT_ENABLE_ENET"}
+
+				include "../examples/ThirdPartyLibs/enet"
+				include "../test/enet/nat_punchthrough/client"
+				include "../test/enet/nat_punchthrough/server"
+				include "../test/enet/chat/client"
+				include "../test/enet/chat/server"
+	end
+
+	 if _OPTIONS["no-bullet3"] then
+                print "--no-bullet3 implies --no-demos"
+                _OPTIONS["no-demos"] = "1"
+        else
+                include "../src/Bullet3Common"
+                include "../src/Bullet3Geometry"
+                include "../src/Bullet3Collision"
+                include "../src/Bullet3Dynamics"
+                include "../src/Bullet3OpenCL"
+                include "../src/Bullet3Serialize/Bullet2FileLoader"
+        end
+
+        if _OPTIONS["no-extras"] then
+                print "--no-extras implies --no-demos"
+                _OPTIONS["no-demos"] = "1"
+        else
+                include "../Extras"
+        end
+
+	if not _OPTIONS["no-test"] then
+		include "../test/Bullet2"
+
+		if not _OPTIONS["no-gtest"] then
+			include "../test/gtest-1.7.0"
+--			include "../test/hello_gtest"
+			include "../test/collision"
+			include "../test/BulletDynamics/pendulum"
+			if not _OPTIONS["no-bullet3"] then
+				if not _OPTIONS["no-extras"] then
+					include "../test/InverseDynamics"
+				end
+				include "../test/TestBullet3OpenCL"
+			end
+			if not _OPTIONS["no-demos"] then
+				-- Gwen is only used for demos
+				include "../test/GwenOpenGLTest"
+			end
+		end
+	end
+
+	include "../src/BulletInverseDynamics"
+ 	include "../src/BulletSoftBody"
+	include "../src/BulletDynamics"
+	include "../src/BulletCollision"
+	include "../src/LinearMath"
+	if _OPTIONS["enable_physx"] then
+		include "../src/physx"
+	end
+
--- a/thirdparty/bullet/build3/premake4_arm64
+++ b/thirdparty/bullet/build3/premake4_arm64
--- a/thirdparty/bullet/build3/premake4_linux
+++ b/thirdparty/bullet/build3/premake4_linux
--- a/thirdparty/bullet/build3/premake4_linux64
+++ b/thirdparty/bullet/build3/premake4_linux64
--- a/thirdparty/bullet/build3/premake4_osx
+++ b/thirdparty/bullet/build3/premake4_osx
--- a/thirdparty/bullet/build3/premake4_osx32
+++ b/thirdparty/bullet/build3/premake4_osx32
--- a/thirdparty/bullet/build3/premake5.exe
+++ b/thirdparty/bullet/build3/premake5.exe
--- a/thirdparty/bullet/build3/stringify.bat
+++ b/thirdparty/bullet/build3/stringify.bat
@@ -0,0 +1,67 @@
+
+rem @echo off
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h" --stringname="radixSort32KernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h" --stringname="boundSearchKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h" --stringname="prefixScanKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h" --stringname="prefixScanKernelsFloat4CL" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl" 				--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h" --stringname="fillKernelsCL" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h" --stringname="sapCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFast.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sapFastKernels.h" --stringname="sapFastCL" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h" --stringname="gridBroadphaseCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h" --stringname="parallelLinearBvhCL" stringify
+
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h" --stringname="satKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h" --stringname="satConcaveKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h" --stringname="mprKernelsCL" stringify
+
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h" --stringname="satClipKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h" --stringname="primitiveContactsKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h" --stringname="bvhTraversalKernelCL" stringify
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h" --stringname="integrateKernelCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h" --stringname="updateAabbsKernelCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h" --stringname="solverSetupCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h" --stringname="solverSetup2CL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h" --stringname="batchingKernelsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h" --stringname="batchingKernelsNewCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h" --stringname="solverUtilsCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.h" --stringname="solveContactCL" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h" --stringname="solveFrictionCL" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h" --stringname="solveConstraintRowsCL" stringify
+
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
+
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../Demos3/GpuDemos/broadphase/pairsKernel.cl" --headerfile="../Demos3/GpuDemos/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify
+
+
+
+pause
--- a/thirdparty/bullet/build3/stringify.sh
+++ b/thirdparty/bullet/build3/stringify.sh
@@ -0,0 +1,70 @@
+#!/bin/sh
+unamestr=`uname`
+
+if [ $unamestr = 'Linux' ]; then
+        echo "Using Linux"
+        mypremake="./premake4_linux64"
+else
+        echo "Assuming Mac OSX"
+        mypremake="./premake4_osx"
+fi
+
+#rem @echo off
+
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32Kernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/RadixSort32KernelsCL.h" --stringname="radixSort32KernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/BoundSearchKernelsCL.h" --stringname="boundSearchKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsCL.h" --stringname="prefixScanKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl" 	--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanKernelsFloat4CL.h" --stringname="prefixScanKernelsFloat4CL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernels.cl" 				--headerfile="../src/Bullet3OpenCL/ParallelPrimitives/kernels/FillKernelsCL.h" --stringname="fillKernelsCL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/sapKernels.h" --stringname="sapCL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphaseKernels.h" --stringname="gridBroadphaseCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl" --headerfile="../src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h" --stringname="parallelLinearBvhCL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/sat.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h" --stringname="satKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcave.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satConcaveKernels.h" --stringname="satConcaveKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/mpr.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h" --stringname="mprKernelsCL" stringify'
+
+
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h" --stringname="satClipKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h" --stringname="primitiveContactsKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.cl" --headerfile="../src/Bullet3OpenCL/NarrowphaseCollision/kernels/bvhTraversal.h" --stringname="bvhTraversalKernelCL" stringify'
+
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.h" --stringname="integrateKernelCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h" --stringname="updateAabbsKernelCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup.h" --stringname="solverSetupCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverSetup2.h" --stringname="solverSetup2CL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h" --stringname="batchingKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/batchingKernelsNew.h" --stringname="batchingKernelsNewCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solverUtils.h" --stringname="solverUtilsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveContact.h" --stringname="solveContactCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/solveFriction.h" --stringname="solveFrictionCL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.cl" --headerfile="../src/Bullet3OpenCL/RigidBody/kernels/jointSolver.h" --stringname="solveConstraintRowsCL" stringify'
+
+
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify'
+
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify'
+
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenCL/broadphase/pairsKernel.cl" --headerfile="../examples/OpenCL/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'
+
+
+
--- a/thirdparty/bullet/build3/stringifyKernel.lua
+++ b/thirdparty/bullet/build3/stringifyKernel.lua
@@ -0,0 +1,98 @@
+
+
+function stringifyKernel(filenameIn, filenameOut, kernelMethod)
+  local BUFSIZE = 10*1024*1024     -- 10MB
+	local f = io.open(filenameIn,"r");
+   	local fw = io.open(filenameOut,"w");
+   	fw:write("//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project\n")
+   	fw:write("static const char* " .. kernelMethod .. "= \\\n")
+    local cc, lc, wc = 0, 0, 0   -- char, line, and word counts
+    while true do
+      local lines, rest = f:read(BUFSIZE, "*line")
+      if not lines then break end
+      
+      local i = 0
+      local startpos = 0
+      local slen = string.len(lines)
+      local endpos = 0
+    	while true do
+      	i = string.find(lines, "\n", i+1)    -- find 'next' newline
+      	if i == nil then 
+      		endpos = slen
+      	else
+      	  endpos = i
+      	end
+      	
+	      	oneline = string.sub(lines,startpos,endpos)
+	      	oneline = string.gsub(oneline,"\n","")
+					oneline = string.gsub(oneline,"\"","\\\"");
+	      	oneline = '\"' .. oneline .. '\\n\"'
+	      	oneline = string.gsub(oneline,"\\\\n","")
+	      	oneline = oneline .. "\n"
+	      	--print(oneline)
+					fw:write(oneline);      	
+      	
+      	if i == nil then break end
+      	startpos = i+1
+      end
+      
+      if rest then lines = lines .. rest .. '\n' end
+      cc = cc + string.len(lines)
+      -- count words in the chunk
+      local _,t = string.gsub(lines, "%S+", "")
+      wc = wc + t
+      -- count newlines in the chunk
+      _,t = string.gsub(lines, "\n", "\n")
+      lc = lc + t
+    end
+    --print("stringified " .. filenameIn .. " into " .. filenameOut .. " processed " .. lc .. " lines")
+    print(filenameIn .. " (" .. lc .. " lines)")
+
+ 		f:close()
+ 		fw:write(";\n")
+ 		fw:close()
+ end
+
+
+ 
+function preprocessKernel(kernelfile, filenameOut, kernelMethod)
+	lcpp=require('lcpp');
+	local out=lcpp.compileFile(kernelfile);
+	local embedFileName = kernelfile .. ".embed"
+	local fw = io.open(embedFileName,"w");
+	fw:write(out)
+	fw:close()
+	stringifyKernel(embedFileName,filenameOut, kernelMethod);
+end
+
+
+ newoption {
+    trigger     = "kernelfile",
+    value				=	"kernelpath",
+    description = "full path to the kernel source input file"
+  }
+
+ newoption {
+    trigger     = "headerfile",
+    value				=	"path",
+    description = "full path to the header output file"
+  }
+
+ newoption {
+    trigger     = "stringname",
+    value				=	"var",
+    description = "name of the kernel string variable"
+  }
+  
+
+
+ newaction {
+   trigger     = "stringify",
+   description = "stringify kernels source code into strings",
+   execute = 	function()
+   preprocessKernel( _OPTIONS["kernelfile"] , _OPTIONS["headerfile"], _OPTIONS["stringname"])
+   end
+}
+
+
+
--- a/thirdparty/bullet/build3/stringifyShaders.bat
+++ b/thirdparty/bullet/build3/stringifyShaders.bat
@@ -0,0 +1,27 @@
+
+rem @echo off
+
+
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.h" --stringname="segmentationMaskInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.h" --stringname="segmentationMaskInstancingFragmentShader" stringify
+
+
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesVS.h" --stringname="linesVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesPS.h" --stringname="linesFragmentShader" stringify
+
+
+
+
+pause