1.8.1

Teleport height restrictions have been increased to 8192
 -The 4096 limit isn't in much of the teleport code anyhow, and it's certainly not enforced.
Building height restrictions are now hooked up to hippolimits, apparently they hadn't been
 -MAX_OBJECT_Z, and hardcoded 4096s now use gHippoLimits->getMaxHeight() instead
 -On floater_tools.xml max_val is left out, instead it is set with the rest of the gHippoLimits edit constraints in LLPanelObject::getState

.gitignore

@@ -24,3 +24,5 @@
 /edited-files.txt
 qtcreator-build/
 /.pc
+/build-*
+/viewer-*

doc/responders.txt

@@ -0,0 +1,82 @@
+All Responders are derived from ResponderBase, however you normally do never derived from that directly yourself.
+Instead, Responder classes are derived from one of:
+
+1. Responder base classes
+
+	ResponderHeadersOnly			-- Derived classes are used with HTTPClient::head or HTTPClient::getHeaderOnly.
+	ResponderWithCompleted			-- Derived classes implement completed(U32, std::string const&, LLSD const&),
+										or completedRaw(U32, std::string const&, LLChannelDescriptors const&, buffer_ptr_t const&)
+										if the response is not (always) LLSD.
+	ResponderWithResult				-- Derived classes implement result(LLSD const&) and optionally
+										errorWithContent(U32, std::string const&, LLSD const&) OR error(U32, std::string const&).
+
+2. Special base classes
+
+	ResponderIgnoreBody				-- Same as ResponderWithResult but already implements result() that ignored the body.
+	LLAssetUploadResponder			-- Derived from ResponderWithResult. Base class for responders that upload assets via capabilities.
+	LegacyPolledResponder			-- Used for old code that needs polling (do not use).
+
+
+There is one non-base class Responder with a more general purpose:
+
+3. Special purpose responders:
+
+	ResponderIgnore					-- Derived from ResponderIgnoreBody. Used for "fire and forget" requests as it ignores any response.
+
+
+4. Signatures.
+
+Every final (derived) responder class must implement 'getName(void) const' and 'getHTTPTimeoutPolicy(void)',
+except the base classes (this is to alert the developer they have to implement getName as it is pure virtual).
+
+For example:
+
+	extern AIHTTPTimeoutPolicy myResponder_timeout;			// Add 'P(myResponder)' to indra/llmessage/aihttptimeoutpolicy.cpp.
+
+	class MyResponder : public LLHTTPClient::SomeResponderBaseClass {
+		...
+		/*virtual*/ AIHTTPTimeoutPolicy const& getHTTPTimeoutPolicy(void) const { return myResponder_timeout; }
+		/*virtual*/ char const* getName(void) const { return "MyResponder"; }
+	};
+
+Note the convention that the name of a AIHTTPTimeoutPolicy (what goes between the brackets of P()) is
+the class name minus any 'AI' or 'LL' prefix and starting with a lowercase character.
+
+Then, depending on the three main base classes that was derived from, the signatures should be:
+
+	class MyResponder1 : public LLHTTPClient::ResponderHeadersOnly {
+		/*virtual*/ void completedHeaders(U32 status, std::string const& reason, AIHTTPReceivedHeaders const& headers);
+																									// See for example PostImageResponder
+		...
+	};
+
+	class MyResponder2 : public LLHTTPClient::ResponderWithCompleted {
+		/*virtual*/ void completedRaw(U32 status, std::string const& reason, LLChannelDescriptors const& channels, buffer_ptr_t const& buffer);
+																									// See for example PostImageRedirectResponder
+		   >>>OR<<<
+
+		/*virtual*/ void completed(U32 status, const std::string& reason, const LLSD& content);		// See for example LLImportPostResponder
+
+	};
+
+	class MyResponder3 : public LLHTTPClient::ResponderWithResult {
+		/*virtual*/ void result(const LLSD& content);												// See for example LLInventoryModelFetchItemResponder
+		/*virtual*/ void error(U32 status, const std::string& reason);
+		   >>>OR instead error()<<<
+		/*virtual*/ void errorWithContent(U32 status, const std::string& reason, const LLSD& content);
+																									// See for example LLSDMessage::EventResponder
+	};
+
+Finally, if a responder derived from ResponderWithCompleted or ResponderWithResult needs to process
+individual headers, you need to override 'needsHeaders':
+
+		/*virtual*/ bool needsHeaders(void) const { return true; }									// See for example LLWebProfileResponders::PostImageResponder
+			// which will cause this to be called:
+		/*virtual*/ void completedHeaders(U32 status, std::string const& reason, AIHTTPReceivedHeaders const& headers);
+
+And if it needs redirection to work (you'll get an assert if you forget this and it is being redirected):
+
+		/*virtual*/ bool followRedir(void) const { return true; }									// See for example LLWebProfileResponders::ConfigResponder
+
+This is not necessary for ResponderHeadersOnly because that already defines both.
+

etc/message.xml

@@ -378,6 +378,14 @@
 					<boolean>true</boolean>
 				</map>
                 
+				<key>WindLightRefresh</key>
+					<map>
+					<key>flavor</key>
+					<string>llsd</string>
+					<key>trusted-sender</key>
+					<boolean>true</boolean>
+				</map>
+
 				<key>ParcelVoiceInfo</key>
 				<map>
 					<key>flavor</key>
@@ -386,7 +394,6 @@
 					<boolean>true</boolean>
 				</map>
 
-
 				<key>ParcelNavigateMedia</key>
 				<map>
 					<key>flavor</key>
@@ -656,7 +663,7 @@
 			<boolean>false</boolean>
 
 			<key>RequestTextureDownload</key>
-			<boolean>false</boolean>
+			<boolean>true</boolean>
 
 			<key>EventQueueGet</key>
 			<boolean>false</boolean>
@@ -708,7 +715,17 @@
 		
 			<key>FetchLib2</key>
 			<boolean>true</boolean>
-		</map>
+
+			<key>UploadBakedTexture</key>
+			<boolean>true</boolean>
+			
+			<key>ObjectMedia</key>
+            		<boolean>false</boolean>
+                  
+            		<key>ObjectMediaNavigate</key>
+            		<boolean>false</boolean>
+                  
+      </map>
 
 		<key>messageBans</key>
 		<map>

indra/CMakeLists.txt

@@ -30,8 +30,6 @@ include(BuildVersion)
 
 include(UnixInstall)
 
-set (DISABLE_FATAL_WARNINGS TRUE)
-
 if (NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release CACHE STRING
       "Build type.  One of: Debug Release RelWithDebInfo" FORCE)
@@ -53,6 +51,9 @@ add_subdirectory(${LIBS_OPEN_PREFIX}llcharacter)
 add_subdirectory(${LIBS_OPEN_PREFIX}llcommon)
 add_subdirectory(${LIBS_OPEN_PREFIX}llimage)
 add_subdirectory(${LIBS_OPEN_PREFIX}libopenjpeg)
+add_subdirectory(${LIBS_OPEN_PREFIX}libhacd)
+add_subdirectory(${LIBS_OPEN_PREFIX}libndhacd)
+add_subdirectory(${LIBS_OPEN_PREFIX}libpathing)
 add_subdirectory(${LIBS_OPEN_PREFIX}llimagej2coj)
 add_subdirectory(${LIBS_OPEN_PREFIX}llinventory)
 add_subdirectory(${LIBS_OPEN_PREFIX}llmath)
@@ -67,10 +68,6 @@ if(STANDALONE)
   add_subdirectory(${LIBS_OPEN_PREFIX}llqtwebkit)
 endif(STANDALONE)
 
-if (EXISTS ${LIBS_CLOSED_DIR}llkdu AND NOT STANDALONE)
-  add_subdirectory(${LIBS_CLOSED_PREFIX}llkdu)
-endif (EXISTS ${LIBS_CLOSED_DIR}llkdu AND NOT STANDALONE)
-
 #add_subdirectory(${LIBS_OPEN_PREFIX}lscript)
 
 if (WINDOWS AND EXISTS ${LIBS_CLOSED_DIR}copy_win_scripts)
@@ -78,73 +75,43 @@ if (WINDOWS AND EXISTS ${LIBS_CLOSED_DIR}copy_win_scripts)
 endif (WINDOWS AND EXISTS ${LIBS_CLOSED_DIR}copy_win_scripts)
 
 add_custom_target(viewer)
-if (VIEWER)
+add_subdirectory(${LIBS_OPEN_PREFIX}llcrashlogger)
-  add_subdirectory(${LIBS_OPEN_PREFIX}llcrashlogger)
+add_subdirectory(${LIBS_OPEN_PREFIX}llplugin)
-  add_subdirectory(${LIBS_OPEN_PREFIX}llplugin)
+add_subdirectory(${LIBS_OPEN_PREFIX}llui)
-  add_subdirectory(${LIBS_OPEN_PREFIX}llui)
 
-  # viewer plugins directory
+# viewer plugins directory
-  add_subdirectory(${LIBS_OPEN_PREFIX}plugins)
+add_subdirectory(${LIBS_OPEN_PREFIX}plugins)
 
-  # llplugin testbed code (is this the right way to include it?)
+# llplugin testbed code (is this the right way to include it?)
-  #if (NOT LINUX)
+#if (NOT LINUX)
-  #  add_subdirectory(${VIEWER_PREFIX}test_apps/llplugintest)
+#  add_subdirectory(${VIEWER_PREFIX}test_apps/llplugintest)
-  #endif (NOT LINUX)
+#endif (NOT LINUX)
 
-  if (LINUX)
+if (LINUX)
-    add_subdirectory(${VIEWER_PREFIX}linux_crash_logger)
+  add_subdirectory(${VIEWER_PREFIX}linux_crash_logger)
-    add_dependencies(viewer linux-crash-logger-strip-target)
+  add_dependencies(viewer linux-crash-logger-strip-target)
-  elseif (DARWIN)
+elseif (DARWIN)
-	#add_subdirectory(${VIEWER_PREFIX}mac_crash_logger)
+  #add_subdirectory(${VIEWER_PREFIX}mac_crash_logger)
-	#add_subdirectory(${VIEWER_PREFIX}mac_updater)
+  #add_subdirectory(${VIEWER_PREFIX}mac_updater)
-    add_dependencies(viewer mac-crash-logger)
+  add_dependencies(viewer mac-crash-logger)
-	#add_dependencies(viewer mac-updater)
+  #add_dependencies(viewer mac-updater)
-  elseif (WINDOWS)
+elseif (WINDOWS)
-    add_subdirectory(${VIEWER_PREFIX}win_crash_logger)
+  add_subdirectory(${VIEWER_PREFIX}win_crash_logger)
-    # cmake EXISTS requires an absolute path, see indra/cmake/Variables.cmake
+  # cmake EXISTS requires an absolute path, see indra/cmake/Variables.cmake
-    if (EXISTS ${VIEWER_DIR}win_setup)
+  if (EXISTS ${VIEWER_DIR}win_setup)
-      add_subdirectory(${VIEWER_DIR}win_setup)
+    add_subdirectory(${VIEWER_DIR}win_setup)
-    endif (EXISTS ${VIEWER_DIR}win_setup)
+  endif (EXISTS ${VIEWER_DIR}win_setup)
-    add_subdirectory(${VIEWER_PREFIX}win_updater)
+  add_subdirectory(${VIEWER_PREFIX}win_updater)
-    add_dependencies(viewer windows-updater)
+  add_dependencies(viewer windows-updater)
-    add_dependencies(viewer windows-crash-logger)
+  add_dependencies(viewer windows-crash-logger)
-  elseif (SOLARIS)
+elseif (SOLARIS)
-    add_subdirectory(solaris_crash_logger)
+  add_subdirectory(solaris_crash_logger)
-    add_dependencies(viewer solaris-crash-logger)
+  add_dependencies(viewer solaris-crash-logger)
-  endif (LINUX)
-
-  add_subdirectory(${VIEWER_PREFIX}newview/statemachine)
-  add_subdirectory(${VIEWER_PREFIX}newview)
-  add_dependencies(viewer secondlife-bin)
-endif (VIEWER)
-
-# Linux builds the viewer and server in 2 separate projects
-# In order for ./develop.py build server to work on linux, 
-# the viewer project needs a server target.
-# This is not true for mac and windows.
-if (LINUX) 
-  add_custom_target(server)
 endif (LINUX)
-if (SERVER)
-  if (NOT LINUX)
-    add_custom_target(server)
-  endif (NOT LINUX)
-  include(${SERVER_PREFIX}Server.cmake)
-endif (SERVER)
 
-# Windows builds include tools like VFS tool
+add_subdirectory(${VIEWER_PREFIX}newview/statemachine)
-if (SERVER)
+add_subdirectory(${VIEWER_PREFIX}newview)
-  if (WINDOWS)
+add_dependencies(viewer secondlife-bin)
-    add_subdirectory(${SERVER_PREFIX}tools)
-  endif (WINDOWS)
-endif (SERVER)
-
-# Configure prebuilt binary download.  This must be done last so that
-# all subdirectories have a chance to list the packages they need.
-# We need scp for proprietary downloads.
-if(INSTALL_PROPRIETARY)
-  include(FindSCP)
-endif(INSTALL_PROPRIETARY)
 
 # The use_prebuilt_binary macro in cmake/Prebuilt.cmake records
 # packages in the PREBUILT property of the 'prepare' target.

indra/aistatemachine/CMakeLists.txt

@@ -19,6 +19,7 @@ include_directories(
 
 set(aistatemachine_SOURCE_FILES
     aistatemachine.cpp
+    aistatemachinethread.cpp
     aitimer.cpp
     )
 
@@ -26,6 +27,7 @@ set(aistatemachine_HEADER_FILES
     CMakeLists.txt
 
     aistatemachine.h
+    aistatemachinethread.h
     aitimer.h
     )
 

indra/aistatemachine/aistatemachine.h

@@ -2,7 +2,7 @@
  * @file aistatemachine.h
  * @brief State machine base class
  *
- * Copyright (c) 2010, Aleric Inglewood.
+ * Copyright (c) 2010 - 2013, Aleric Inglewood.
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -26,397 +26,294 @@
  *
  *   01/03/2010
  *   Initial version, written by Aleric Inglewood @ SL
+ *
+ *   28/02/2013
+ *   Rewritten from scratch to fully support threading.
  */
 
 #ifndef AISTATEMACHINE_H
 #define AISTATEMACHINE_H
 
 #include "aithreadsafe.h"
-#include "lltimer.h"
+#include <llpointer.h>
+#include <list>
 #include <boost/signals2.hpp>
 
-//!
+class AIStateMachine;
-// A AIStateMachine is a base class that allows derived classes to
+
-// go through asynchronous states, while the code still appears to
+class AIEngine
-// be more or less sequential.
+{
-//
+  private:
-// These state machine objects can be reused to build more complex
+	struct QueueElementComp;
-// objects.
+	class QueueElement {
-//
+	  private:
-// It is important to note that each state has a duality: the object
+		LLPointer<AIStateMachine> mStateMachine;
-// can have a state that will cause a corresponding function to be
+
-// called; and often that function will end with changing the state
+	  public:
-// again, to signal that it was handled. It is easy to confuse the
+		QueueElement(AIStateMachine* statemachine) : mStateMachine(statemachine) { }
-// function of a state with the state at the end of the function.
+		friend bool operator==(QueueElement const& e1, QueueElement const& e2) { return e1.mStateMachine == e2.mStateMachine; }
-// For example, the state "initialize" could cause the member
+		friend bool operator!=(QueueElement const& e1, QueueElement const& e2) { return e1.mStateMachine != e2.mStateMachine; }
-// function 'init()' to be called, and at the end one would be
+		friend struct QueueElementComp;
-// inclined to set the state to "initialized". However, this is the
+
-// wrong approach: the correct use of state names does reflect the
+		AIStateMachine const& statemachine(void) const { return *mStateMachine; }
-// functions that will be called, never the function that just was
+		AIStateMachine& statemachine(void) { return *mStateMachine; }
-// called.
+	};
-//
+	struct QueueElementComp {
-// Each (derived) class goes through a series of states as follows:
+	  inline bool operator()(QueueElement const& e1, QueueElement const& e2) const;
-//
+	};
-//   Creation
+
-//       |
+  public:
-//       v
+	typedef std::list<QueueElement> queued_type;
-//     (idle) <----.   		Idle until run() is called.
+	struct engine_state_type {
-//       |         |
+	  queued_type list;
-//   Initialize    |		Calls initialize_impl().
+	  bool waiting;
-//       |         |
+	  engine_state_type(void) : waiting(false) { }
-//       | (idle)  |		Idle until cont() or set_state() is called.
+	};
-//       |  |  ^   |
+
-//       v  v  |   |
+  private:
-//   .-------. |   |
+	AIThreadSafeSimpleDC<engine_state_type, LLCondition>	mEngineState;
-//   |  Run  |_,   |		Call multiplex_impl() until idle(), abort() or finish() is called.
+	typedef AIAccessConst<engine_state_type, LLCondition>	engine_state_type_crat;
-//   '-------'     |
+	typedef AIAccess<engine_state_type, LLCondition>		engine_state_type_rat;
-//    |    |       |
+	typedef AIAccess<engine_state_type, LLCondition>		engine_state_type_wat;
-//    v    |       |
+	char const* mName;
-//  Abort  |       |		Calls abort_impl().
+
-//    |    |       |
+	static U64 sMaxCount;
-//    v    v       |
+
-//    Finish       |		Calls finish_impl() (which may call kill()) or
+  public:
-//    |    |       |		the callback function passed to run(), if any,
+	AIEngine(char const* name) : mName(name) { }
-//    |    v       |
+
-//    | Callback   |        which may call kill() and/or run().
+	void add(AIStateMachine* state_machine);
-//    |  |   |     |
+
-//    |  |   `-----'
+	void mainloop(void);
-//    v  v
+	void threadloop(void);
-//  Killed					Delete the statemachine (all statemachines must be allocated with new).
+	void wake_up(void);
-//
+	void flush(void);
-// Each state causes corresponding code to be called.
+
-// Finish cleans up whatever is done by Initialize.
+	char const* name(void) const { return mName; }
-// Abort should clean up additional things done by Run.
+
-//
+	static void setMaxCount(F32 StateMachineMaxTime);
-// The Run state is entered by calling run().
+};
-//
+
-// While the base class is in the Run state, it is the derived class
+extern AIEngine gMainThreadEngine;
-// that goes through different states. The state variable of the derived
+extern AIEngine gStateMachineThreadEngine;
-// class is only valid while the base class is in the state Run.
+
-//
+class AIStateMachine : public LLThreadSafeRefCount
-// A derived class can exit the Run state by calling one of two methods:
+{
-// abort() in case of failure, or finish() in case of success.
+  public:
-// Respectively these set the state to Abort and Finish.
+	typedef U32 state_type;		//!< The type of run_state
-//
+
-// finish_impl may call kill() for a (default) destruction upon finish.
+  protected:
-// Even in that case the callback (passed to run()) may call run() again,
+	// The type of event that causes multiplex() to be called.
-// which overrides the request for a default kill. Or, if finish_impl
+	enum event_type {
-// doesn't call kill() the callback may call kill() to request the
+	  initial_run,
-// destruction of the state machine object.
+	  schedule_run,
-//
+	  normal_run,
-// State machines are run from the "idle" part of the viewer main loop.
+	  insert_abort
-// Often a state machine has nothing to do however. In that case it can
+	};
-// call the method idle(). This will stop the state machine until
+	// The type of mState
-// external code changes it's state (by calling set_state()), or calls
-// cont() to continue with the last state.
-//
-// The methods of the derived class call set_state() to change their
-// own state within the bs_run state, or by calling either abort()
-// or finish().
-//
-// Restarting a finished state machine can also be done by calling run(),
-// which will cause a re-initialize.
-//
-// Derived classes should implement the following constants:
-//
-//   static state_type const min_state = first_state;
-//   static state_type const max_state = last_state + 1;
-//
-// Where first_state should be equal to BaseClass::max_state.
-// These should represent the minimum and (one past) the maximum
-// values of mRunState.
-//
-//   virtual void initialize_impl(void)
-//
-// Initializes the derived class.
-//
-//   virtual void multiplex_impl(void);
-//
-// This method should handle mRunState in a switch.
-// For example:
-//
-//   switch(mRunState)
-//   {
-//     case foo:
-//       handle_foo();
-//       break;
-//     case wait_state:
-//       if (still_waiting())
-//       {
-//         idle();
-//         break;
-//       }
-//       set_state(working);
-//       /*fall-through*/
-//     case working:
-//       do_work();
-//       if (failure())
-//         abort();
-//       break;
-//     case etc:
-//       etc();
-//       finish();
-//       break;
-//   }
-//
-// virtual void abort_impl(void);
-//
-//   A call to this method should bring the object to a state
-//   where finish_impl() can be called.
-//
-// virtual void finish_impl(void);
-//
-//   Should cleanup whatever init_impl() did, or any of the
-//   states of the object where multiplex_impl() calls finish().
-//   Call kill() from here to make that the default behavior
-//   (state machine is deleted unless the callback calls run()).
-//
-// virtual char const* state_str_impl(state_type run_state);
-//
-//   Should return a stringified value of run_state.
-//
-class AIStateMachine {
-	//! The type of mState
 	enum base_state_type {
-	  bs_initialize,
+	  bs_reset,				// Idle state before run() is called. Reference count is zero (except for a possible external LLPointer).
-	  bs_run,
+	  bs_initialize,		// State after run() and before/during initialize_impl().
+	  bs_multiplex,			// State after initialize_impl() before finish() or abort().
 	  bs_abort,
 	  bs_finish,
 	  bs_callback,
 	  bs_killed
 	};
-	//! The type of mActive
-	enum active_type {
-	  as_idle,					// State machine is on neither list.
-	  as_queued,				// State machine is on continued_statemachines list.
-	  as_active					// State machine is on active_statemachines list.
-	};
-
-	//! Type of continued_statemachines.
-	typedef std::vector<AIStateMachine*> continued_statemachines_type;
-	//! Type of sContinuedStateMachinesAndMainloopEnabled.
-	struct csme_type
-	{
-	  continued_statemachines_type continued_statemachines;
-	  bool mainloop_enabled;
-	};
-
   public:
-	typedef U32 state_type;		//!< The type of mRunState
-
-	//! Integral value equal to the state with the lowest value.
-	static state_type const min_state = bs_initialize;
-	//! Integral value one more than the state with the highest value.
 	static state_type const max_state = bs_killed + 1;
 
+  protected:
+	struct multiplex_state_type {
+	  base_state_type	base_state;
+	  AIEngine*			current_engine;			// Current engine.
+	  multiplex_state_type(void) : base_state(bs_reset), current_engine(NULL) { }
+	};
+	struct sub_state_type {
+	  state_type		run_state;
+	  state_type		advance_state;
+	  bool				reset;
+	  bool				need_run;
+	  bool				idle;
+	  bool				skip_idle;
+	  bool				aborted;
+	  bool				finished;
+	};
+
   private:
-	base_state_type mState;						//!< State of the base class.
+	// Base state.
-	bool mIdle;									//!< True if this state machine is not running.
+	AIThreadSafeSimpleDC<multiplex_state_type>	mState;
-	bool mAborted;								//!< True after calling abort() and before calling run().
+	typedef AIAccessConst<multiplex_state_type>	multiplex_state_type_crat;
-	active_type mActive;						//!< Whether statemachine is idle, queued to be added to the active list, or already on the active list.
+	typedef AIAccess<multiplex_state_type>		multiplex_state_type_rat;
-	S64 mSleep;									//!< Non-zero while the state machine is sleeping.
+	typedef AIAccess<multiplex_state_type>		multiplex_state_type_wat;
-	LLMutex mIdleActive;						//!< Used for atomic operations on the pair mIdle / mActive.
+
-#ifdef SHOW_ASSERT
+  protected:
-	AIThreadID mContThread;						//!< Thread that last called locked_cont().
+	// Sub state.
-	bool mCalledThreadUnsafeIdle;				//!< Set to true when idle() is called.
+	AIThreadSafeSimpleDC<sub_state_type>	mSubState;
-#endif
+	typedef AIAccessConst<sub_state_type>	sub_state_type_crat;
+	typedef AIAccess<sub_state_type>		sub_state_type_rat;
+	typedef AIAccess<sub_state_type>		sub_state_type_wat;
+
+  private:
+	// Mutex protecting everything below and making sure only one thread runs the state machine at a time.
+	LLMutex mMultiplexMutex;
+	// Mutex that is locked while calling *_impl() functions and the call back.
+	LLMutex mRunMutex;
+
+	S64 mSleep;                                 //!< Non-zero while the state machine is sleeping.
 
 	// Callback facilities.
 	// From within an other state machine:
-	AIStateMachine* mParent;					//!< The parent object that started this state machine, or NULL if there isn't any.
+	LLPointer<AIStateMachine> mParent;			// The parent object that started this state machine, or NULL if there isn't any.
-	state_type mNewParentState;					//!< The state at which the parent should continue upon a successful finish.
+	state_type mNewParentState;					// The state at which the parent should continue upon a successful finish.
-	bool mAbortParent;							//!< If true, abort parent on abort(). Otherwise continue as normal.
+	bool mAbortParent;							// If true, abort parent on abort(). Otherwise continue as normal.
-	bool mOnAbortSignalParent;					//!< If true and mAbortParent is false, change state of parent even on abort.
+	bool mOnAbortSignalParent;					// If true and mAbortParent is false, change state of parent even on abort.
 	// From outside a state machine:
 	struct callback_type {
-	  typedef boost::signals2::signal<void (bool)> signal_type;
+		typedef boost::signals2::signal<void (bool)> signal_type;
-	  callback_type(signal_type::slot_type const& slot) { connection = signal.connect(slot); }
+		callback_type(signal_type::slot_type const& slot) { connection = signal.connect(slot); }
-	  ~callback_type() { connection.disconnect(); }
+		~callback_type() { connection.disconnect(); }
-	  void callback(bool success) const { signal(success); }
+		void callback(bool success) const { signal(success); }
-	private:
+	  private:
-	  boost::signals2::connection connection;
+		boost::signals2::connection connection;
-	  signal_type signal;
+		signal_type signal;
 	};
-	callback_type* mCallback;					//!< Pointer to signal/connection, or NULL when not connected.
+	callback_type* mCallback;					// Pointer to signal/connection, or NULL when not connected.
 
-	static U64 sMaxCount;						//!< Number of cpu clocks below which we start a new state machine within the same frame.
+	// Engine stuff.
-	static AIThreadSafeDC<csme_type> sContinuedStateMachinesAndMainloopEnabled;	//!< Read/write locked variable pair.
+	AIEngine* mDefaultEngine;					// Default engine.
+	AIEngine* mYieldEngine;						// Requested engine.
 
-  protected:
-	LLMutex mSetStateLock;						//!< For critical areas in set_state() and locked_cont().
-
-	//! State of the derived class. Only valid if mState == bs_run. Call set_state to change.
-	volatile state_type mRunState;
-
-  public:
-	//! Create a non-running state machine.
-	AIStateMachine(void) : mState(bs_initialize), mIdle(true), mAborted(true), mActive(as_idle), mSleep(0), mParent(NULL), mCallback(NULL)
 #ifdef SHOW_ASSERT
-		, mContThread(AIThreadID::none), mCalledThreadUnsafeIdle(false)
+	// Debug stuff.
+	AIThreadID mThreadId;						// The thread currently running multiplex().
+	base_state_type mDebugLastState;			// The previous state that multiplex() had a normal run with.
+	bool mDebugShouldRun;						// Set if we found evidence that we should indeed call multiplex_impl().
+	bool mDebugAborted;							// True when abort() was called.
+	bool mDebugContPending;						// True while cont() was called by not handled yet.
+	bool mDebugSetStatePending;					// True while set_state() was called by not handled yet.
+	bool mDebugAdvanceStatePending;				// True while advance_state() was called by not handled yet.
+	bool mDebugRefCalled;						// True when ref() is called (or will be called within the critial area of mMultiplexMutex).
 #endif
-		{ }
+	U64 mRuntime;								// Total time spent running in the main thread (in clocks).
+
+  public:
+	AIStateMachine(void) : mCallback(NULL), mDefaultEngine(NULL), mYieldEngine(NULL),
+#ifdef SHOW_ASSERT
+		mThreadId(AIThreadID::none), mDebugLastState(bs_killed), mDebugShouldRun(false), mDebugAborted(false), mDebugContPending(false),
+		mDebugSetStatePending(false), mDebugAdvanceStatePending(false), mDebugRefCalled(false),
+#endif
+		mRuntime(0)
+	{ }
 
   protected:
-	//! The user should call 'kill()', not delete a AIStateMachine (derived) directly.
+	// The user should call finish() (or abort(), or kill() from the call back when finish_impl() calls run()), not delete a class derived from AIStateMachine directly.
-	virtual ~AIStateMachine() { llassert((mState == bs_killed && mActive == as_idle) || mState == bs_initialize); }
+	virtual ~AIStateMachine() { llassert(multiplex_state_type_rat(mState)->base_state == bs_killed); }
-
+ 
   public:
-	//! Halt the state machine until cont() is called (not thread-safe).
+	// These functions may be called directly after creation, or from within finish_impl(), or from the call back function.
-	void idle(void);
+	void run(AIStateMachine* parent, state_type new_parent_state, bool abort_parent = true, bool on_abort_signal_parent = true, AIEngine* default_engine = &gMainThreadEngine);
+	void run(callback_type::signal_type::slot_type const& slot, AIEngine* default_engine = &gMainThreadEngine);
+	void run(void) { run(NULL, 0, false, true, mDefaultEngine); }
 
-	//! Halt the state machine until cont() is called, provided it is still in 'cur_run_state'.
+	// This function may only be called from the call back function (and cancels a call to run() from finish_impl()).
-	void idle(state_type current_run_state);
-
-	//! Temporarily halt the state machine.
-	void yield_frame(unsigned int frames) { mSleep = -(S64)frames; }
-
-	//! Temporarily halt the state machine.
-	void yield_ms(unsigned int ms) { mSleep = get_clock_count() + calc_clock_frequency() * ms / 1000; }
-
-	//! Continue running after calling idle.
-	void cont(void)
-	{
-		mSetStateLock.lock();
-		// Ignore calls to cont() if the statemachine isn't idle. See comments in set_state().
-		// Calling cont() twice or after calling set_state(), without first calling idle(), is an error.
-		if (mState != bs_run || !mIdle) { llassert(mState != bs_run || !mContThread.equals_current_thread()); mSetStateLock.unlock(); return; }
-		locked_cont();
-	}
-  private:
-	void locked_cont(void);
-
-  public:
-	//---------------------------------------
-	// Changing the state.
-
-	//! Change state to <code>bs_run</code>. May only be called after creation or after returning from finish().
-	// If <code>parent</code> is non-NULL, change the parent state machine's state to <code>new_parent_state</code>
-	// upon finish, or in the case of an abort and when <code>abort_parent</code> is true, call parent->abort() instead.
-	void run(AIStateMachine* parent, state_type new_parent_state, bool abort_parent = true, bool on_abort_signal_parent = true);
-
-	//! Change state to 'bs_run'. May only be called after creation or after returning from finish().
-	// Does not cause a callback.
-	void run(void) { run(NULL, 0, false); }
-
-	//! The same as above, but pass the result of a boost::bind with _1.
-	//
-	// Here _1, if present, will be replaced with a bool indicating success.
-	//
-	// For example:
-	//
-	// <code>
-	// struct Foo { void callback(AIStateMachineDerived* ptr, bool success); };
-	// ...
-	//   AIStateMachineDerived* magic = new AIStateMachineDerived; // Deleted by callback
-	//   // Call foo_ptr->callback(magic, _1) on finish.
-	//   state_machine->run(boost::bind(&Foo::callback, foo_ptr, magic, _1));
-	// </code>
-	//
-	// or
-	//
-	// <code>
-	// struct Foo { void callback(bool success, AIStateMachineDerived const& magic); };
-	// ...
-	//   AIStateMachineDerived magic;
-	//   // Call foo_ptr->callback(_1, magic) on finish.
-	//   magic.run(boost::bind(&Foo::callback, foo_ptr, _1, magic));
-	// </code>
-	//
-	// or
-	//
-	// <code>
-	// static void callback(void* userdata);
-	// ...
-	//   AIStateMachineDerived magic;
-	//   // Call callback(userdata) on finish.
-	//   magic.run(boost::bind(&callback, userdata));
-	// </code>
-	void run(callback_type::signal_type::slot_type const& slot);
-
-	//! Change state to 'bs_abort'. May only be called while in the bs_run state.
-	void abort(void);
-
-	//! Change state to 'bs_finish'. May only be called while in the bs_run state.
-	void finish(void);
-
-	//! Refine state while in the bs_run state. May only be called while in the bs_run state.
-	void set_state(state_type run_state);
-
-	//! Change state to 'bs_killed'. May only be called while in the bs_finish state.
 	void kill(void);
 
-	//---------------------------------------
+  protected:
-	// Other.
+	// This function can be called from initialize_impl() and multiplex_impl() (both called from within multiplex()).
-
+	void set_state(state_type new_state);									// Run this state the NEXT loop.
-	//! Called whenever the StateMachineMaxTime setting is changed.
+	// These functions can only be called from within multiplex_impl().
-	static void setMaxCount(F32 StateMachineMaxTime);
+	void idle(void);														// Go idle unless cont() or advance_state() were called since the start of the current loop, or until they are called.
-
+	void finish(void);														// Mark that the state machine finished and schedule the call back.
-	//---------------------------------------
+	void yield(void);														// Yield to give CPU to other state machines, but do not go idle.
-	// Accessors.
+	void yield(AIEngine* engine);											// Yield to give CPU to other state machines, but do not go idle. Continue running from engine 'engine'.
-
+	void yield_frame(unsigned int frames);									// Run from the main-thread engine after at least 'frames' frames have passed.
-	//! Return true if state machine was aborted (can be used in finish_impl).
+	void yield_ms(unsigned int ms);											// Run from the main-thread engine after roughly 'ms' miliseconds have passed.
-	bool aborted(void) const { return mAborted; }
-
-	//! Return true if the derived class is running (also when we are idle).
-	bool running(void) const { return mState == bs_run; }
-
-	//! Return true if it's safe to call abort.
-	bool abortable(void) const { return mState == bs_run || mState == bs_initialize; }
-
-	//! Return true if the derived class is running but idle.
-	bool waiting(void) const { return mState == bs_run && mIdle; }
-
-	// Use some safebool idiom (http://www.artima.com/cppsource/safebool.html) rather than operator bool.
-	typedef volatile state_type AIStateMachine::* const bool_type;
-	//! Return true if state machine successfully finished.
-	operator bool_type() const { return ((mState == bs_initialize || mState == bs_callback) && !mAborted) ? &AIStateMachine::mRunState : 0; }
-
-	//! Return a stringified state, for debugging purposes.
-	char const* state_str(state_type state);
-
-  private:
-	static void add_continued_statemachines(AIReadAccess<csme_type>& csme_r);
-	static void dowork(void);
-	void multiplex(U64 current_time);
 
   public:
-	//! Call this once per frame to give the statemachines CPU cycles.
+	// This function can be called from multiplex_imp(), but also by a child state machine and
-	static void mainloop(void)
+	// therefore by any thread. The child state machine should use an LLPointer<AIStateMachine>
+	// to access this state machine.
+	void abort(void);														// Abort the state machine (unsuccessful finish).
+
+	// These are the only two functions that can be called by any thread at any moment.
+	// Those threads should use an LLPointer<AIStateMachine> to access this state machine.
+	void cont(void);														// Guarantee at least one full run of multiplex() after this function is called. Cancels the last call to idle().
+	void advance_state(state_type new_state);								// Guarantee at least one full run of multiplex() after this function is called
+																			// iff new_state is larger than the last state that was processed.
+
+  public:
+	// Accessors.
+
+	// Return true if the derived class is running (also when we are idle).
+	bool running(void) const { return multiplex_state_type_crat(mState)->base_state == bs_multiplex; }
+	// Return true if the derived class is running and idle.
+	bool waiting(void) const
 	{
-	  {
+	  multiplex_state_type_crat state_r(mState);
-		AIReadAccess<csme_type> csme_r(sContinuedStateMachinesAndMainloopEnabled, true);
+	  return state_r->base_state == bs_multiplex && sub_state_type_crat(mSubState)->idle;
-		if (!csme_r->mainloop_enabled)
+	}
-		  return;
+	// Return true if the derived class is running and idle or already being aborted.
-		if (!csme_r->continued_statemachines.empty())
+	bool waiting_or_aborting(void) const
-		  add_continued_statemachines(csme_r);
+	{
-	  }
+	  multiplex_state_type_crat state_r(mState);
-	  dowork();
+	  return state_r->base_state == bs_abort || ( state_r->base_state == bs_multiplex && sub_state_type_crat(mSubState)->idle);
+	}
+	// Return true if are added to the engine.
+	bool active(AIEngine const* engine) const { return multiplex_state_type_crat(mState)->current_engine == engine; }
+	bool aborted(void) const { return sub_state_type_crat(mSubState)->aborted; }
+
+	// Use some safebool idiom (http://www.artima.com/cppsource/safebool.html) rather than operator bool.
+	typedef state_type AIStateMachine::* const bool_type;
+	// Return true if state machine successfully finished.
+	operator bool_type() const
+	{
+	  sub_state_type_crat sub_state_r(mSubState);
+	  return (sub_state_r->finished && !sub_state_r->aborted) ? &AIStateMachine::mNewParentState : 0;
 	}
 
-	//! Abort all running state machines and then run mainloop until all state machines are idle (called when application is exiting).
+	// Return stringified state, for debugging purposes.
-	static void flush(void);
+	char const* state_str(base_state_type state);
+#if defined(CWDEBUG) || defined(DEBUG_CURLIO)
+	char const* event_str(event_type event);
+#endif
+
+	void add(U64 count) { mRuntime += count; }
+	U64 getRuntime(void) const { return mRuntime; }
 
   protected:
-	//---------------------------------------
-	// Derived class implementations.
-
-	// Handle initializing the object.
 	virtual void initialize_impl(void) = 0;
-
+	virtual void multiplex_impl(state_type run_state) = 0;
-	// Handle mRunState.
+	virtual void abort_impl(void) { }
-	virtual void multiplex_impl(void) = 0;
+	virtual void finish_impl(void) { }
-
-	// Handle aborting from current bs_run state.
-	virtual void abort_impl(void) = 0;
-
-	// Handle cleaning up from initialization (or post abort) state.
-	virtual void finish_impl(void) = 0;
-
-	// Implemenation of state_str for run states.
 	virtual char const* state_str_impl(state_type run_state) const = 0;
+
+  private:
+	void reset(void);														// Called from run() to (re)initialize a (re)start.
+	void multiplex(event_type event);										// Called from AIEngine to step through the states (and from reset() to kick start the state machine).
+	state_type begin_loop(base_state_type base_state);						// Called from multiplex() at the start of a loop.
+	void callback(void);													// Called when the state machine finished.
+	bool sleep(U64 current_time)											// Count frames if necessary and return true when the state machine is still sleeping.
+	{
+	  if (mSleep == 0)
+		return false;
+	  else if (mSleep < 0)
+		++mSleep;
+	  else if ((U64)mSleep <= current_time)
+		mSleep = 0;
+	  return mSleep != 0;
+	}
+	void force_killed(void);												// Called from AIEngine::flush().
+
+	friend class AIEngine;						// Calls multiplex() and force_killed().
 };
 
-// This case be used in state_str_impl.
+bool AIEngine::QueueElementComp::operator()(QueueElement const& e1, QueueElement const& e2) const
+{
+  return e1.mStateMachine->getRuntime() < e2.mStateMachine->getRuntime();
+}
+
+// This can be used in state_str_impl.
 #define AI_CASE_RETURN(x) do { case x: return #x; } while(0)
 
 #endif

indra/aistatemachine/aistatemachinethread.cpp

@@ -0,0 +1,196 @@
+/**
+ * @file aistatemachinethread.cpp
+ * @brief Implementation of AIStateMachineThread
+ *
+ * Copyright (c) 2013, Aleric Inglewood.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * There are special exceptions to the terms and conditions of the GPL as
+ * it is applied to this Source Code. View the full text of the exception
+ * in the file doc/FLOSS-exception.txt in this software distribution.
+ *
+ * CHANGELOG
+ *   and additional copyright holders.
+ *
+ *   23/01/2013
+ *   Initial version, written by Aleric Inglewood @ SL
+ */
+
+#include "linden_common.h"
+#include "aistatemachinethread.h"
+
+class AIStateMachineThreadBase::Thread : public LLThread {
+  private:
+	LLPointer<AIStateMachineThreadBase> mImpl;
+	bool mNeedCleanup;
+  public:
+	Thread(AIStateMachineThreadBase* impl) :
+#ifdef LL_DEBUG
+	  LLThread(impl->impl().getName()),
+#else
+	  LLThread("AIStateMachineThreadBase::Thread"),
+#endif
+	  mImpl(impl) { }
+  protected:
+	/*virtual*/ void run(void)
+	{
+	  mNeedCleanup = mImpl->impl().thread_done(mImpl->impl().run());
+	}
+	/*virtual*/ void terminated(void)
+	{
+	  mStatus = STOPPED;
+	  if (mNeedCleanup)
+	  {
+		// The state machine that started us has disappeared! Clean up ourselves.
+
+		// This is OK now because in our case nobody is watching us and having set
+		// the status to STOPPED didn't change anything really, although it will
+		// prevent LLThread::shutdown from blocking a whole minute and then calling
+		// apr_thread_exit to never return! Normally, the LLThread might be deleted
+		// immediately (by the main thread) after setting mStatus to STOPPED.
+		Thread::completed(this);
+	  }
+	}
+  public:
+	// TODO: Implement a thread pool. For now, just create a new one every time.
+	static Thread* allocate(AIStateMachineThreadBase* impl) { return new Thread(impl); }
+	static void completed(Thread* threadp) { delete threadp; }
+};
+
+// MAIN THREAD
+
+char const* AIStateMachineThreadBase::state_str_impl(state_type run_state) const
+{
+  switch(run_state)
+  {
+	AI_CASE_RETURN(start_thread);
+	AI_CASE_RETURN(wait_stopped);
+  }
+  return "UNKNOWN STATE";
+}
+
+void AIStateMachineThreadBase::initialize_impl(void)
+{
+  mThread = NULL;
+  mAbort = false;
+  set_state(start_thread);
+}
+
+void AIStateMachineThreadBase::multiplex_impl(state_type run_state)
+{
+  switch(run_state)
+  {
+	case start_thread:
+	  mThread = Thread::allocate(this);
+	  // Set next state.
+	  set_state(wait_stopped);
+	  idle();					// Wait till the thread returns.
+	  mThread->start();
+	  break;
+	case wait_stopped:
+	  if (!mThread->isStopped())
+	  {
+		yield();
+		break;
+	  }
+	  // We're done!
+	  //
+	  // We can only get here when AIThreadImpl::done called cont(), (very
+	  // shortly after which it will be STOPPED), which means we need to do
+	  // the clean up of the thread.
+	  // Also, the thread has really stopped now, so it's safe to delete it.
+	  //
+	  // Clean up the thread.
+	  Thread::completed(mThread);
+	  mThread = NULL;			// Stop abort_impl() from doing anything.
+	  if (mAbort)
+		abort();
+	  else
+		finish();
+	  break;
+  }
+}
+
+void AIStateMachineThreadBase::abort_impl(void)
+{
+  if (mThread)
+  {
+	// If this AIStateMachineThreadBase still exists then the AIStateMachineThread<THREAD_IMPL>
+	// that is derived from it still exists and therefore its member THREAD_IMPL also still exists
+	// and therefore impl() is valid.
+	bool need_cleanup = impl().state_machine_done(mThread);		// Signal the fact that we aborted.
+	if (need_cleanup)
+	{
+	  // This is an unlikely race condition. We have been aborted by our parent,
+	  // but at the same time the thread finished!
+	  // We can only get here when AIThreadImpl::thread_done already returned
+	  // (VERY shortly after the thread will stop (if not already)).
+	  // Just go into a tight loop while waiting for that, when it is safe
+	  // to clean up the thread.
+	  while (!mThread->isStopped())
+	  {
+		mThread->yield();
+	  }
+	  Thread::completed(mThread);
+	}
+	else
+	{
+	  // The thread is still happily running (and will clean up itself).
+	  // Lets make sure we're not flooded with this situation.
+	  llwarns << "Thread state machine aborted while the thread is still running. That is a waste of CPU and should be avoided." << llendl;
+	}
+  }
+}
+
+bool AIThreadImpl::state_machine_done(LLThread* threadp)
+{
+  StateMachineThread_wat state_machine_thread_w(mStateMachineThread);
+  AIStateMachineThreadBase* state_machine_thread = *state_machine_thread_w;
+  bool need_cleanup = !state_machine_thread;
+  if (!need_cleanup)
+  {
+	// If state_machine_thread is non-NULL, then AIThreadImpl::thread_done wasnt called yet
+	// (or at least didn't return yet) which means the thread is still running.
+	// Try telling the thread that it can stop.
+	threadp->setQuitting();
+	// Finally, mark that we are NOT going to do the cleanup by setting mStateMachineThread to NULL.
+	*state_machine_thread_w = NULL;
+  }
+  return need_cleanup;
+}
+
+// AIStateMachineThread THREAD
+
+bool AIThreadImpl::thread_done(bool result)
+{
+  StateMachineThread_wat state_machine_thread_w(mStateMachineThread);
+  AIStateMachineThreadBase* state_machine_thread = *state_machine_thread_w;
+  bool need_cleanup = !state_machine_thread;
+  if (!need_cleanup)
+  {
+	// If state_machine_thread is non-NULL then AIThreadImpl::abort_impl wasn't called,
+	// which means the state machine still exists. In fact, it should be in the waiting() state.
+	// It can also happen that the state machine is being aborted right now.
+	llassert(state_machine_thread->waiting_or_aborting());
+	state_machine_thread->schedule_abort(!result);
+	// Note that if the state machine is not running (being aborted, ie - hanging in abort_impl
+	// waiting for the lock on mStateMachineThread) then this is simply ignored.
+	state_machine_thread->cont();
+	// Finally, mark that we are NOT going to do the cleanup by setting mStateMachineThread to NULL.
+	*state_machine_thread_w = NULL;
+  }
+  return need_cleanup;
+}
+

indra/aistatemachine/aistatemachinethread.h

@@ -0,0 +1,233 @@
+/**
+ * @file aistatemachinethread.h
+ * @brief Run code in a thread.
+ *
+ * Copyright (c) 2013, Aleric Inglewood.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * There are special exceptions to the terms and conditions of the GPL as
+ * it is applied to this Source Code. View the full text of the exception
+ * in the file doc/FLOSS-exception.txt in this software distribution.
+ *
+ * CHANGELOG
+ *   and additional copyright holders.
+ *
+ *   23/01/2013
+ *   Initial version, written by Aleric Inglewood @ SL
+ */
+
+#ifndef AISTATEMACHINETHREAD_H
+#define AISTATEMACHINETHREAD_H
+
+#include "aistatemachine.h"
+#include "llthread.h"
+#include "aithreadsafe.h"
+
+#ifdef EXAMPLE_CODE	// undefined
+
+class HelloWorldThread : public AIThreadImpl {
+  private:
+	bool mStdErr;		// input
+	bool mSuccess;		// output
+
+  public:
+	// Constructor.
+	HelloWorldThread(void) : AIThreadImpl("HelloWorldThread"),						// MAIN THREAD
+		mStdErr(false), mSuccess(false) { }
+
+	// Some initialization function (if needed).
+	void init(bool err)	{ mStdErr = err; }											// MAIN THREAD
+	// Read back output.
+	bool successful(void) const { return mSuccess; }
+
+	// Mandatory signature.
+	/*virtual*/ bool run(void)														// NEW THREAD
+	{
+	  if (mStdErr)
+		std::cerr << "Hello world" << std::endl;
+	  else
+		std::cout << "Hello world" << std::endl;
+	  mSuccess = true;
+	  return true;			// true = finish, false = abort.
+	}
+};
+
+// The states of this state machine.
+enum hello_world_state_type {
+  HelloWorld_start = AIStateMachine::max_state,
+  HelloWorld_done
+};
+
+// The statemachine class (this is almost a template).
+class HelloWorld : public AIStateMachine {
+  private:
+	LLPointer<AIStateMachineThread<HelloWorldThread> > mHelloWorld;
+	bool mErr;
+
+  public:
+	HelloWorld() : mHelloWorld(new AIStateMachineThread<HelloWorldThread>), mErr(false) { }
+
+	// Print to stderr or stdout?
+	void init(bool err) { mErr = err; }
+
+  protected:
+	// Call finish() (or abort()), not delete.
+	/*virtual*/ ~HelloWorld() { }
+
+	// Handle initializing the object.
+	/*virtual*/ void initialize_impl(void);
+
+	// Handle run_state.
+	/*virtual*/ void multiplex_impl(state_type run_state);
+
+	// Implemenation of state_str for run states.
+	/*virtual*/ char const* state_str_impl(state_type run_state) const
+	{
+	  switch(run_state)
+	  {
+		AI_CASE_RETURN(HelloWorld_start);
+		AI_CASE_RETURN(HelloWorld_done);
+	  }
+	  return "UNKNOWN STATE";
+	}
+};
+
+// The actual implementation of this statemachine starts here!
+
+void HelloWorld::initialize_impl(void)
+{
+  mHelloWorld->thread_impl().init(mErr);			// Initialize the thread object.
+  set_state(HelloWorld_start);
+}
+
+void HelloWorld::multiplex_impl(state_type run_state)
+{
+  switch (run_state)
+  {
+	case HelloWorld_start:
+	{
+	  mHelloWorld->run(this, HelloWorld_done);		// Run HelloWorldThread and set the state of 'this' to HelloWorld_done when finished.
+	  idle(HelloWorld_start);						// Always go idle after starting a thread!
+	  break;
+	}
+	case HelloWorld_done:
+	{
+	  // We're done. Lets also abort when the thread reported no success.
+	  if (mHelloWorld->thread_impl().successful())	// Read output/result of thread object.
+		finish();
+	  else
+		abort();
+	  break;
+	}
+  }
+}
+
+#endif	// EXAMPLE CODE
+
+class AIStateMachineThreadBase;
+
+// Derive from this to implement the code that must run in another thread.
+class AIThreadImpl {
+  private:
+    template<typename THREAD_IMPL> friend class AIStateMachineThread;
+	typedef AIAccess<AIStateMachineThreadBase*> StateMachineThread_wat;
+	AIThreadSafeSimpleDC<AIStateMachineThreadBase*> mStateMachineThread;
+
+  public:
+	virtual bool run(void) = 0;
+	bool thread_done(bool result);
+	bool state_machine_done(LLThread* threadp);
+
+#ifdef LL_DEBUG
+  private:
+	char const* mName;
+  protected:
+	AIThreadImpl(char const* name = "AIStateMachineThreadBase::Thread") : mName(name) { }
+  public:
+	char const* getName(void) const { return mName; }
+#endif
+
+  protected:
+	virtual ~AIThreadImpl() { }
+};
+
+// The base class for statemachine threads.
+class AIStateMachineThreadBase : public AIStateMachine {
+  private:
+	// The actual thread (derived from LLThread).
+	class Thread;
+
+  protected:
+	typedef AIStateMachine direct_base_type;
+
+	// The states of this state machine.
+	enum thread_state_type {
+	  start_thread = direct_base_type::max_state,	// Start the thread (if necessary create it first).
+	  wait_stopped									// Wait till the thread is stopped.
+	};
+  public:
+	static state_type const max_state = wait_stopped + 1;
+
+  protected:
+	AIStateMachineThreadBase(void) { }
+
+  private:
+	// Handle initializing the object.
+	/*virtual*/ void initialize_impl(void);
+
+	// Handle mRunState.
+	/*virtual*/ void multiplex_impl(state_type run_state);
+
+	// Handle aborting from current bs_run state.
+	/*virtual*/ void abort_impl(void);
+
+	// Implemenation of state_str for run states.
+	/*virtual*/ char const* state_str_impl(state_type run_state) const;
+
+	// Returns a reference to the implementation code that needs to be run in the thread.
+	virtual AIThreadImpl& impl(void) = 0;
+
+  private:
+	Thread* mThread;		// The thread that the code is run in.
+	bool mAbort;			// (Inverse of) return value of AIThreadImpl::run(). Only valid in state wait_stopped.
+
+  public:
+	void schedule_abort(bool do_abort) { mAbort = do_abort; }
+
+};
+
+// The state machine that runs T::run() in a thread.
+// THREAD_IMPL Must be derived from AIThreadImpl.
+template<typename THREAD_IMPL>
+class AIStateMachineThread : public AIStateMachineThreadBase {
+  private:
+	THREAD_IMPL mThreadImpl;
+
+  public:
+	// Constructor.
+	AIStateMachineThread(void)
+	{
+	  *AIThreadImpl::StateMachineThread_wat(mThreadImpl.mStateMachineThread) = this;
+	}
+
+	// Accessor.
+	THREAD_IMPL& thread_impl(void) { return mThreadImpl; }
+
+  protected:
+	/*virtual*/ AIThreadImpl& impl(void) { return mThreadImpl; }
+};
+
+#endif
+

indra/aistatemachine/aitimer.cpp

@@ -31,11 +31,6 @@
 #include "linden_common.h"
 #include "aitimer.h"
 
-enum timer_state_type {
-  AITimer_start = AIStateMachine::max_state,
-  AITimer_expired
-};
-
 char const* AITimer::state_str_impl(state_type run_state) const
 {
   switch(run_state)
@@ -43,6 +38,7 @@ char const* AITimer::state_str_impl(state_type run_state) const
 	AI_CASE_RETURN(AITimer_start);
 	AI_CASE_RETURN(AITimer_expired);
   }
+  llassert(false);
   return "UNKNOWN STATE";
 }
 
@@ -54,12 +50,12 @@ void AITimer::initialize_impl(void)
 
 void AITimer::expired(void)
 {
-  set_state(AITimer_expired);
+  advance_state(AITimer_expired);
 }
 
-void AITimer::multiplex_impl(void)
+void AITimer::multiplex_impl(state_type run_state)
 {
-  switch (mRunState)
+  switch (run_state)
   {
 	case AITimer_start:
 	{
@@ -79,18 +75,3 @@ void AITimer::abort_impl(void)
 {
   mFrameTimer.cancel();
 }
-
-void AITimer::finish_impl(void)
-{
-  // Kill object by default.
-  // This can be overridden by calling run() from the callback function.
-  kill();
-}
-
-void AIPersistentTimer::finish_impl(void)
-{
-  // Don't kill object by default.
-  if (aborted())
-	kill();
-  // Callback function should always call kill() or run().
-}

indra/aistatemachine/aitimer.h

@@ -59,6 +59,18 @@
 // just reuse the old ones (call the same callback).
 //
 class AITimer : public AIStateMachine {
+  protected:
+	// The base class of this state machine.
+	typedef AIStateMachine direct_base_type;
+
+	// The different states of the state machine.
+	enum timer_state_type {
+	  AITimer_start = direct_base_type::max_state,
+	  AITimer_expired
+	};
+  public:
+	static state_type const max_state = AITimer_expired + 1;
+
   private:
 	AIFrameTimer mFrameTimer;		//!< The actual timer that this object wraps.
 	F64 mInterval;					//!< Input variable: interval after which the event will be generated, in seconds.
@@ -90,14 +102,11 @@ class AITimer : public AIStateMachine {
 	/*virtual*/ void initialize_impl(void);
 
 	// Handle mRunState.
-	/*virtual*/ void multiplex_impl(void);
+	/*virtual*/ void multiplex_impl(state_type run_state);
 
 	// Handle aborting from current bs_run state.
 	/*virtual*/ void abort_impl(void);
 
-	// Handle cleaning up from initialization (or post abort) state.
-	/*virtual*/ void finish_impl(void);
-
 	// Implemenation of state_str for run states.
 	/*virtual*/ char const* state_str_impl(state_type run_state) const;
 
@@ -106,12 +115,4 @@ class AITimer : public AIStateMachine {
 	void expired(void);
 };
 
-// Same as above but does not delete itself automatically by default after use.
-// Call kill() on it yourself (from the callback function) when you're done with it!
-class AIPersistentTimer : public AITimer {
-  protected:
-	// Handle cleaning up from initialization (or post abort) state.
-	/*virtual*/ void finish_impl(void);
-};
-
 #endif

indra/cmake/00-Common.cmake

@@ -2,6 +2,9 @@
 #
 # Compilation options shared by all Second Life components.
 
+if(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)
+set(${CMAKE_CURRENT_LIST_FILE}_INCLUDED "YES")
+
 include(Variables)
 
 
@@ -23,28 +26,32 @@ set(CMAKE_CONFIGURATION_TYPES "RelWithDebInfo;Release;Debug" CACHE STRING
 # Platform-specific compilation flags.
 
 if (WINDOWS)
+  # Various libs are compiler specific, generate some variables here we can just use
+  # when we require them instead of reimplementing the test each time.
+  if (MSVC10)
+    set(MSVC_DIR 10.0)
+    set(MSVC_SUFFIX 100)
+  endif (MSVC10)
+
   # Remove default /Zm1000 flag that cmake inserts
-  string (REPLACE "/Zm1000" " " CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+  string (REPLACE "/Zm1000" " " CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 
   # Don't build DLLs.
   set(BUILD_SHARED_LIBS OFF)
 
-  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /Od /Zi /MDd /arch:SSE2"
+  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /Od /Zi /MDd /MP"
       CACHE STRING "C++ compiler debug options" FORCE)
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO 
-      "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /Od /Zi /MD /MP /arch:SSE2"
+      "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /Od /Zi /MD /MP"
       CACHE STRING "C++ compiler release-with-debug options" FORCE)
   set(CMAKE_CXX_FLAGS_RELEASE
-      "${CMAKE_CXX_FLAGS_RELEASE} ${LL_CXX_FLAGS} /O2 /Zi /MD /MP /arch:SSE2 /fp:fast"
+      "${CMAKE_CXX_FLAGS_RELEASE} ${LL_CXX_FLAGS} /O2 /Zi /MD /MP /fp:fast -D_SECURE_STL=0 -D_HAS_ITERATOR_DEBUGGING=0"
       CACHE STRING "C++ compiler release options" FORCE)
   set(CMAKE_C_FLAGS_RELEASE
-      "${CMAKE_C_FLAGS_RELEASE} ${LL_C_FLAGS} /O2 /Zi /MD /MP /arch:SSE2 /fp:fast"
+      "${CMAKE_C_FLAGS_RELEASE} ${LL_C_FLAGS} /O2 /Zi /MD /MP /fp:fast"
       CACHE STRING "C compiler release options" FORCE)
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /LARGEADDRESSAWARE")
 
-  if(NOT CMAKE_EXE_LINKER_FLAGS_RELEASE MATCHES LARGEADDRESSAWARE)   
-    set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /LARGEADDRESSAWARE")
-  endif()
-           
   set(CMAKE_CXX_STANDARD_LIBRARIES "")
   set(CMAKE_C_STANDARD_LIBRARIES "")
 
@@ -57,54 +64,25 @@ if (WINDOWS)
       /W3
       /c
       /Zc:forScope
+	  /Zc:wchar_t-
       /nologo
       /Oy-
+	  /arch:SSE2
       )
-     
+
   # configure win32 API for windows XP+ compatibility
   set(WINVER "0x0501" CACHE STRING "Win32 API Target version (see http://msdn.microsoft.com/en-us/library/aa383745%28v=VS.85%29.aspx)")
   add_definitions("/DWINVER=${WINVER}" "/D_WIN32_WINNT=${WINVER}")
 
-  if(MSVC80 OR MSVC90 OR MSVC10)
-    set(CMAKE_CXX_FLAGS_RELEASE
-      "${CMAKE_CXX_FLAGS_RELEASE} -D_SECURE_STL=0 -D_HAS_ITERATOR_DEBUGGING=0"
-      CACHE STRING "C++ compiler release options" FORCE)
-    set(CMAKE_C_FLAGS_RELEASE
-      "${CMAKE_C_FLAGS_RELEASE}" CACHE STRING "C compiler release options" FORCE)
-    add_definitions(
-      /Zc:wchar_t-
-      )
-  endif (MSVC80 OR MSVC90 OR MSVC10)
-  
   # Are we using the crummy Visual Studio KDU build workaround?
   if (NOT DISABLE_FATAL_WARNINGS)
     add_definitions(/WX)
   endif (NOT DISABLE_FATAL_WARNINGS)
-  
-  # Various libs are compiler specific, generate some variables here we can just use
-  # when we require them instead of reimplementing the test each time.
-  
-  if (MSVC71)
-    set(MSVC_DIR 7.1)
-    set(MSVC_SUFFIX 71)
-  elseif (MSVC80)
-    set(MSVC_DIR 8.0)
-    set(MSVC_SUFFIX 80)
-  elseif (MSVC90)
-    set(MSVC_DIR 9.0)
-    set(MSVC_SUFFIX 90)
-  elseif (MSVC10)
-    set(MSVC_DIR 10.0)
-    set(MSVC_SUFFIX 100)
-  endif (MSVC71)
 
-  if (MSVC10)
+  SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /MANIFEST:NO")
-    SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /MANIFEST:NO")
+  SET(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /MANIFEST:NO")
-    SET(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /MANIFEST:NO")
+  SET(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} /MANIFEST:NO")
-    SET(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} /MANIFEST:NO")
-  endif(MSVC10)
 
-    
 endif (WINDOWS)
 
 set (GCC_EXTRA_OPTIMIZATIONS "-ffast-math")
@@ -125,12 +103,14 @@ if (LINUX)
       -pthread
       )
 
-    # Don't catch SIGCHLD in our base application class for the viewer
+  set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} -D_FORTIFY_SOURCE=2 ")
-    # some of our 3rd party libs may need their *own* SIGCHLD handler to work.  Sigh!  
-    # The viewer doesn't need to catch SIGCHLD anyway.
-    add_definitions(-DLL_IGNORE_SIGCHLD)
 
-  if(${CMAKE_C_COMPILER} MATCHES "gcc*")
+  # Don't catch SIGCHLD in our base application class for the viewer
+  # some of our 3rd party libs may need their *own* SIGCHLD handler to work.  Sigh!
+  # The viewer doesn't need to catch SIGCHLD anyway.
+  add_definitions(-DLL_IGNORE_SIGCHLD)
+
+  if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
     find_program(GXX g++)
     mark_as_advanced(GXX)
 
@@ -158,16 +138,6 @@ if (LINUX)
         OUTPUT_VARIABLE CXX_VERSION
         OUTPUT_STRIP_TRAILING_WHITESPACE)
 
-    # Here's a giant hack for Fedora 8, where we can't use
-    # _FORTIFY_SOURCE if we're using a compiler older than gcc 4.1.
-    if (${GXX_VERSION} STREQUAL ${CXX_VERSION})
-      add_definitions(-D_FORTIFY_SOURCE=2)
-    else (${GXX_VERSION} STREQUAL ${CXX_VERSION})
-      if (NOT ${GXX_VERSION} MATCHES " 4.1.*Red Hat")
-        add_definitions(-D_FORTIFY_SOURCE=2)
-      endif (NOT ${GXX_VERSION} MATCHES " 4.1.*Red Hat")
-    endif (${GXX_VERSION} STREQUAL ${CXX_VERSION})
-
     #Lets actually get a numerical version of gxx's version
     STRING(REGEX REPLACE ".* ([0-9])\\.([0-9])\\.([0-9]).*" "\\1\\2\\3" CXX_VERSION ${CXX_VERSION})
 
@@ -181,6 +151,11 @@ if (LINUX)
       add_definitions(-Wno-unused-but-set-variable)
     endif (NOT ${CXX_VERSION} LESS 460)
 
+    #gcc 4.8 boost spam wall
+    if(NOT ${CXX_VERSION} LESS 480)
+      add_definitions(-Wno-unused-local-typedefs)
+    endif (NOT ${CXX_VERSION} LESS 480)
+
     # End of hacks.
 
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
@@ -206,39 +181,19 @@ if (LINUX)
       set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO}${MARCH_FLAG} -mfpmath=sse,387 -msse2 ${GCC_EXTRA_OPTIMIZATIONS}")
       set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO}${MARCH_FLAG} -mfpmath=sse,387 -msse2 ${GCC_EXTRA_OPTIMIZATIONS}")
     endif (${ARCH} STREQUAL "x86_64")
-  elseif(${CMAKE_C_COMPILER} MATCHES "clang*")
+  elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    find_program(CLANG clang)
-    mark_as_advanced(CLANG)
-    
-    find_program(CLANGXX clang++)
-    mark_as_advanced(CLANGXX)
-
-    add_definitions(
-        -D_FORTIFY_SOURCE=2
-        )
-
     if (NOT STANDALONE)
       # this stops us requiring a really recent glibc at runtime
       add_definitions(-fno-stack-protector)
     endif (NOT STANDALONE)
 
-    if (NOT STANDALONE)
-      set(MARCH_FLAG " -march=pentium4")
-    endif (NOT STANDALONE)
-
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}${MARCH_FLAG} -fno-inline -msse2")
     set(CMAKE_C_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}${MARCH_FLAG} -fno-inline -msse2")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}${MARCH_FLAG} -msse2")
     set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}${MARCH_FLAG} -msse2")
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO}${MARCH_FLAG} -msse2")
     set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO}${MARCH_FLAG} -msse2")
-  elseif(${CMAKE_C_COMPILER} MATCHES "icc*" AND ${CMAKE_CXX_COMPILER} MATCHES "icpc*")
+  elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel")
-    find_program(ICC icc)
-    mark_as_advanced(ICC)
-
-    add_definitions(
-        -D_FORTIFY_SOURCE=2
-        )
 
     if (NOT STANDALONE)
       # this stops us requiring a really recent glibc at runtime
@@ -270,7 +225,8 @@ if (DARWIN)
   add_definitions(-DLL_DARWIN=1 -D_XOPEN_SOURCE)
   set(CMAKE_CXX_LINK_FLAGS "-Wl,-headerpad_max_install_names,-search_paths_first")
   set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_CXX_LINK_FLAGS}")
-  if(${CMAKE_C_COMPILER} MATCHES "gcc*")
+
+  if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mlong-branch")
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mlong-branch")
     # NOTE: it's critical that the optimization flag is put in front.
@@ -279,7 +235,7 @@ if (DARWIN)
     set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -msse3 -mtune=generic -mfpmath=sse ${GCC_EXTRA_OPTIMIZATIONS}")
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} -O3 -msse3 -mtune=generic -mfpmath=sse ${GCC_EXTRA_OPTIMIZATIONS}")
     set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO} -O3 -msse3 -mtune=generic -mfpmath=sse ${GCC_EXTRA_OPTIMIZATIONS}")
-  elseif(${CMAKE_C_COMPILER} MATCHES "clang*")
+  elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
     # NOTE: it's critical that the optimization flag is put in front.
     # NOTE: it's critical to have both CXX_FLAGS and C_FLAGS covered.
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -msse3")
@@ -291,20 +247,24 @@ endif (DARWIN)
 
 
 if (LINUX OR DARWIN)
-  if(${CMAKE_C_COMPILER} MATCHES "gcc*")
+  if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+    add_definitions(-DLL_GNUC=1)
     set(UNIX_WARNINGS "-Wall -Wno-sign-compare -Wno-trigraphs")
     set(UNIX_CXX_WARNINGS "${UNIX_WARNINGS} -Wno-reorder -Wno-non-virtual-dtor -Woverloaded-virtual")
-  elseif(${CMAKE_C_COMPILER} MATCHES "clang*")
+  elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    set(UNIX_WARNINGS "-Wall -Wno-sign-compare -Wno-trigraphs -Wno-tautological-compare -Wno-char-subscripts -Wno-gnu -Wno-logical-op-parentheses -Wno-non-virtual-dtor ")
+    add_definitions(-DLL_CLANG=1)
+    set(UNIX_WARNINGS "-Wall -Wno-sign-compare -Wno-trigraphs -Wno-tautological-compare -Wno-char-subscripts -Wno-gnu -Wno-logical-op-parentheses -Wno-non-virtual-dtor")
     set(UNIX_WARNINGS "${UNIX_WARNINGS} -Woverloaded-virtual -Wno-parentheses-equality -Wno-reorder -Wno-unused-function -Wno-unused-value -Wno-unused-variable")
     set(UNIX_CXX_WARNINGS "${UNIX_WARNINGS}")
-  elseif(${CMAKE_C_COMPILER} MATCHES "icc")
+  elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Intel")
+    add_definitions(-DLL_ICC=1)
     set(UNIX_WARNINGS "-wd327 -wd597 -wd858")
     set(UNIX_CXX_WARNINGS "${UNIX_WARNINGS}")
-  endif()
+  endif ()
   
   if (NOT DISABLE_FATAL_WARNINGS)
     set(UNIX_WARNINGS "${UNIX_WARNINGS} -Werror")
+    set(UNIX_CXX_WARNINGS "${UNIX_CXX_WARNINGS} -Werror")
   endif (NOT DISABLE_FATAL_WARNINGS)
 
   set(CMAKE_C_FLAGS "${UNIX_WARNINGS} ${CMAKE_C_FLAGS}")
@@ -334,8 +294,6 @@ else (STANDALONE)
 endif (STANDALONE)
 
 if(1 EQUAL 1)
-  add_definitions(-DOPENSIM_RULES=1)
-  add_definitions(-DMESH_ENABLED=1)
   add_definitions(-DENABLE_CLASSIC_CLOUDS=1)
   if (NOT "$ENV{SHY_MOD}" STREQUAL "")
     add_definitions(-DSHY_MOD=1)
@@ -356,3 +314,7 @@ MARK_AS_ADVANCED(
     CMAKE_EXE_LINKER_FLAGS_RELEASE
     CMAKE_SHARED_LINKER_FLAGS_RELEASE
     )
+
+include(GooglePerfTools)
+
+endif(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)

indra/cmake/APR.cmake

@@ -21,8 +21,6 @@ else (STANDALONE)
       debug ${ARCH_PREBUILT_DIRS_DEBUG}/libapriconv-1.lib
       optimized ${ARCH_PREBUILT_DIRS_RELEASE}/libapriconv-1.lib
       )
-    # Doesn't need to link with iconv.dll
-    set(APRICONV_LIBRARIES "")
     set(APRUTIL_LIBRARIES 
       debug ${ARCH_PREBUILT_DIRS_DEBUG}/libaprutil-1.lib ${APRICONV_LIBRARIES}
       optimized ${ARCH_PREBUILT_DIRS_RELEASE}/libaprutil-1.lib ${APRICONV_LIBRARIES}
@@ -44,7 +42,7 @@ else (STANDALONE)
   endif (WINDOWS)
   set(APR_INCLUDE_DIR ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include/apr-1)
 
-  if (LINUX AND VIEWER)
+  if (LINUX)
     list(APPEND APRUTIL_LIBRARIES ${DB_LIBRARIES})
-  endif (LINUX AND VIEWER)
+  endif (LINUX)
 endif (STANDALONE)

indra/cmake/Boost.cmake

@@ -15,20 +15,8 @@ else (STANDALONE)
 
   if (WINDOWS)
     set(BOOST_VERSION 1_45)
-
+    set(BOOST_OPTIM_SUFFIX mt)
-    # SNOW-788
+    set(BOOST_DEBUG_SUFFIX mt-gd)
-    # 00-Common.cmake alreay sets MSVC_SUFFIX to be correct for the VS we are using eg VC71, VC80, VC90 etc
-    # The precompiled boost libs for VC71 use a different suffix to VS80 and VS90
-    # This code should ensure the cmake rules are valid for any VS being used in future as long as the approprate
-    # boost libs are avaiable - RC.
-
-    if (MSVC71)
-      set(BOOST_OPTIM_SUFFIX mt-s)
-      set(BOOST_DEBUG_SUFFIX mt-sgd)
-    else (MSVC71)
-      set(BOOST_OPTIM_SUFFIX mt)
-      set(BOOST_DEBUG_SUFFIX mt-gd)
-    endif (MSVC71)
 
     set(Boost_PROGRAM_OPTIONS_LIBRARY 
           optimized libboost_program_options-vc${MSVC_SUFFIX}-${BOOST_OPTIM_SUFFIX}-${BOOST_VERSION}
@@ -42,10 +30,12 @@ else (STANDALONE)
     set(Boost_PROGRAM_OPTIONS_LIBRARY boost_program_options)
     set(Boost_REGEX_LIBRARY boost_regex)
     set(Boost_SYSTEM_LIBRARY boost_system)  
+    set(Boost_DATE_TIME_LIBRARY boost_date_time)
   elseif (LINUX)
     set(Boost_FILESYSTEM_LIBRARY boost_filesystem-mt)
     set(Boost_PROGRAM_OPTIONS_LIBRARY boost_program_options-mt)
     set(Boost_REGEX_LIBRARY boost_regex-mt)
     set(Boost_SYSTEM_LIBRARY boost_system-mt)  
+    set(Boost_DATE_TIME_LIBRARY boost_date_time-mt)
   endif (WINDOWS)
 endif (STANDALONE)

indra/cmake/CMakeLists.txt

@@ -8,77 +8,97 @@ set(cmake_SOURCE_FILES
     CMakeLists.txt
 
     00-Common.cmake
+    AIStateMachine.cmake
     APR.cmake
     Audio.cmake
+    BasicPluginBase.cmake
     BerkeleyDB.cmake
     Boost.cmake
     BuildVersion.cmake
     CARes.cmake
-    CURL.cmake
     CMakeCopyIfDifferent.cmake
+    CURL.cmake
+    Colladadom.cmake
+    ConfigurePkgConfig.cmake
+    CopyBackToSource.cmake
     CopyWinLibs.cmake
-    CSharpMacros.cmake
+    Cwdebug.cmake
     DBusGlib.cmake
     DirectX.cmake
     DownloadPrebuilt.cmake.in
     ELFIO.cmake
     EXPAT.cmake
+    ExamplePlugin.cmake
+    FMOD.cmake
+    FMODEX.cmake
     FindAPR.cmake
     FindBerkeleyDB.cmake
     FindCARes.cmake
+    FindColladadom.cmake
     FindELFIO.cmake
+    FindGLOD.cmake
     FindGooglePerfTools.cmake
     FindHunSpell.cmake
-    FindMT.cmake
+    FindJsonCpp.cmake
+    FindLLQtWebkit.cmake
     FindNDOF.cmake
     FindOpenJPEG.cmake
+    FindTut.cmake
     FindXmlRpcEpi.cmake
-    FMOD.cmake
-    FMODEX.cmake
     FreeType.cmake
+    GLOD.cmake
     GStreamer010Plugin.cmake
+    Glui.cmake
+    Glut.cmake
     GooglePerfTools.cmake
     Hunspell.cmake
     JPEG.cmake
+    JsonCpp.cmake
     LLAddBuildTest.cmake
     LLAppearance.cmake
     LLAudio.cmake
     LLCharacter.cmake
     LLCommon.cmake
     LLCrashLogger.cmake
-    LLDatabase.cmake
     LLImage.cmake
     LLImageJ2COJ.cmake
     LLInventory.cmake
-    LLKDU.cmake
     LLMath.cmake
     LLMessage.cmake
+    LLPhysicsExtensions.cmake
     LLPlugin.cmake
     LLPrimitive.cmake
+    LLPhysicsExtensions.cmake
     LLQtWebkit.cmake
     LLRender.cmake
-    LLScene.cmake
     LLUI.cmake
     LLVFS.cmake
     LLWindow.cmake
     LLXML.cmake
-#    LScript.cmake
+    LScript.cmake
     Linking.cmake
+    MediaPluginBase.cmake
     NDOF.cmake
     OPENAL.cmake
     OpenGL.cmake
     OpenJPEG.cmake
     OpenSSL.cmake
     PNG.cmake
-    Python.cmake
+    PluginAPI.cmake
     Prebuilt.cmake
+    PulseAudio.cmake
+    Python.cmake
     Qt4.cmake
+    QuickTimePlugin.cmake
     RunBuildTest.cmake
+    StateMachine.cmake
     TemplateCheck.cmake
     Tut.cmake
     UI.cmake
     UnixInstall.cmake
     Variables.cmake
+    ViewerMiscLibs.cmake
+    WebKitLibPlugin.cmake
     XmlRpcEpi.cmake
     ZLIB.cmake
     )
@@ -90,10 +110,6 @@ set(master_SOURCE_FILES
     ../develop.py
     )
 
-if (SERVER)
-  list(APPEND master_SOURCE_FILES ../Server.cmake)
-endif (SERVER)
-
 source_group("Master Rules" FILES ${master_SOURCE_FILES})
 
 set_source_files_properties(${cmake_SOURCE_FILES} ${master_SOURCE_FILES}

indra/cmake/CSharpMacros.cmake

@@ -1,142 +0,0 @@
-# - This is a support module for easy Mono/C# handling with CMake
-# It defines the following macros:
-#
-# ADD_CS_LIBRARY (<target> <source>)
-# ADD_CS_EXECUTABLE (<target> <source>)
-# INSTALL_GAC (<target>)
-#
-# Note that the order of the arguments is important.
-#
-# You can optionally set the variable CS_FLAGS to tell the macros whether
-# to pass additional flags to the compiler. This is particularly useful to
-# set assembly references, unsafe code, etc... These flags are always reset
-# after the target was added so you don't have to care about that.
-#
-# copyright (c) 2007 Arno Rehn arno@arnorehn.de
-#
-# Redistribution and use is allowed according to the terms of the GPL license.
-
-
-# ----- support macros -----
-MACRO(GET_CS_LIBRARY_TARGET_DIR)
-        IF (NOT LIBRARY_OUTPUT_PATH)
-                SET(CS_LIBRARY_TARGET_DIR ${CMAKE_CURRENT_BINARY_DIR})
-        ELSE (NOT LIBRARY_OUTPUT_PATH)
-                SET(CS_LIBRARY_TARGET_DIR ${LIBRARY_OUTPUT_PATH})
-        ENDIF (NOT LIBRARY_OUTPUT_PATH)
-ENDMACRO(GET_CS_LIBRARY_TARGET_DIR)
-
-MACRO(GET_CS_EXECUTABLE_TARGET_DIR)
-        IF (NOT EXECUTABLE_OUTPUT_PATH)
-                SET(CS_EXECUTABLE_TARGET_DIR ${CMAKE_CURRENT_BINARY_DIR})
-        ELSE (NOT EXECUTABLE_OUTPUT_PATH)
-                SET(CS_EXECUTABLE_TARGET_DIR ${EXECUTABLE_OUTPUT_PATH})
-        ENDIF (NOT EXECUTABLE_OUTPUT_PATH)
-ENDMACRO(GET_CS_EXECUTABLE_TARGET_DIR)
-
-MACRO(MAKE_PROPER_FILE_LIST)
-        FOREACH(file ${ARGN})
-                # first assume it's a relative path
-                FILE(GLOB globbed ${CMAKE_CURRENT_SOURCE_DIR}/${file})
-                IF(globbed)
-                        FILE(TO_NATIVE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/${file} native)
-                ELSE(globbed)
-                        FILE(TO_NATIVE_PATH ${file} native)
-                ENDIF(globbed)
-                SET(proper_file_list ${proper_file_list} ${native})
-                SET(native "")
-        ENDFOREACH(file)
-ENDMACRO(MAKE_PROPER_FILE_LIST)
-# ----- end support macros -----
-
-MACRO(ADD_CS_LIBRARY target)
-        GET_CS_LIBRARY_TARGET_DIR()
-        
-        SET(target_DLL "${CS_LIBRARY_TARGET_DIR}/${target}.dll")
-        MAKE_PROPER_FILE_LIST(${ARGN})
-        FILE(RELATIVE_PATH relative_path ${CMAKE_BINARY_DIR} ${target_DLL})
-        
-        SET(target_KEY "${CMAKE_CURRENT_SOURCE_DIR}/${target}.key")
-        SET(target_CS_FLAGS "${CS_FLAGS}")
-        IF(${target}_CS_FLAGS)
-                LIST(APPEND target_CS_FLAGS ${${target}_CS_FLAGS})
-        ENDIF(${target}_CS_FLAGS)
-        IF(EXISTS ${target_KEY})
-                LIST(APPEND target_CS_FLAGS -keyfile:${target_KEY})
-        ENDIF(EXISTS ${target_KEY})
-
-        FOREACH(ref ${${target}_REFS})
-                SET(ref_DLL ${CMAKE_CURRENT_BINARY_DIR}/${ref}.dll)
-                IF(EXISTS ${ref_DLL})
-                        LIST(APPEND target_CS_FLAGS -r:${ref_DLL})
-                ELSE(EXISTS ${ref_DLL})
-                        LIST(APPEND target_CS_FLAGS -r:${ref})
-                ENDIF(EXISTS ${ref_DLL})
-        ENDFOREACH(ref ${${target}_REFS})
-
-        ADD_CUSTOM_COMMAND (OUTPUT ${target_DLL}
-                COMMAND ${MCS_EXECUTABLE} ${target_CS_FLAGS} -out:${target_DLL} -target:library ${proper_file_list}
-                MAIN_DEPENDENCY ${proper_file_list}
-                DEPENDS ${ARGN}
-                COMMENT "Building ${relative_path}")
-        ADD_CUSTOM_TARGET (${target} ALL DEPENDS ${target_DLL})
-
-        FOREACH(ref ${${target}_REFS})
-                GET_TARGET_PROPERTY(is_target ${ref} TYPE)
-                IF(is_target)
-                        ADD_DEPENDENCIES(${target} ${ref})
-                ENDIF(is_target)
-        ENDFOREACH(ref ${${target}_REFS})
-
-        SET(relative_path "")
-        SET(proper_file_list "")
-ENDMACRO(ADD_CS_LIBRARY)
-
-MACRO(ADD_CS_EXECUTABLE target)
-        GET_CS_EXECUTABLE_TARGET_DIR()
-        
-        # Seems like cmake doesn't like the ".exe" ending for custom commands.
-        # If we call it ${target}.exe, 'make' will later complain about a missing rule.
-        # Create a fake target instead.
-        SET(target_EXE "${CS_EXECUTABLE_TARGET_DIR}/${target}.exe")
-        SET(target_TOUCH "${CS_EXECUTABLE_TARGET_DIR}/${target}.exe-built")
-        GET_DIRECTORY_PROPERTY(clean ADDITIONAL_MAKE_CLEAN_FILES)
-        LIST(APPEND clean ${target}.exe)
-        SET_DIRECTORY_PROPERTIES(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${clean}")
-        MAKE_PROPER_FILE_LIST(${ARGN})
-        FILE(RELATIVE_PATH relative_path ${CMAKE_BINARY_DIR} ${target_EXE})
-        SET(target_CS_FLAGS "${CS_FLAGS}")
-        
-        FOREACH(ref ${${target}_REFS})
-                SET(ref_DLL ${CMAKE_CURRENT_SOURCE_DIR}/${ref}.dll)
-                IF(EXISTS ${ref_DLL})
-                        LIST(APPEND target_CS_FLAGS -r:${ref_DLL})
-                ELSE(EXISTS ${ref_DLL})
-                        LIST(APPEND target_CS_FLAGS -r:${ref})
-                ENDIF(EXISTS ${ref_DLL})
-        ENDFOREACH(ref ${${target}_REFS})
-
-        ADD_CUSTOM_COMMAND (OUTPUT "${target_TOUCH}"
-                COMMAND ${MCS_EXECUTABLE} ${target_CS_FLAGS} -out:${target_EXE} ${proper_file_list}
-                COMMAND ${CMAKE_COMMAND} -E touch ${target_TOUCH}
-                MAIN_DEPENDENCY ${ARGN}
-                DEPENDS ${ARGN}
-                COMMENT "Building ${relative_path}")
-        ADD_CUSTOM_TARGET ("${target}" ALL DEPENDS "${target_TOUCH}")
-
-        FOREACH(ref ${${target}_REFS})
-                GET_TARGET_PROPERTY(is_target ${ref} TYPE)
-                IF(is_target)
-                        ADD_DEPENDENCIES(${target} ${ref})
-                ENDIF(is_target)
-        ENDFOREACH(ref ${${target}_REFS})
-
-        SET(relative_path "")
-        SET(proper_file_list "")
-ENDMACRO(ADD_CS_EXECUTABLE)
-
-MACRO(INSTALL_GAC target)
-        GET_CS_LIBRARY_TARGET_DIR()
-        
-        INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${GACUTIL_EXECUTABLE} -i ${CS_LIBRARY_TARGET_DIR}/${target}.dll -package 2.0)")
-ENDMACRO(INSTALL_GAC target)

indra/cmake/Colladadom.cmake

@@ -0,0 +1,46 @@
+# -*- cmake -*-
+
+include(Prebuilt)
+
+set(COLLADADOM_FIND_QUIETLY OFF)
+set(COLLADADOM_FIND_REQUIRED ON)
+
+if (STANDALONE)
+  include (FindColladadom)
+else (STANDALONE)
+  use_prebuilt_binary(colladadom)
+
+  if (NOT WINDOWS)
+	use_prebuilt_binary(pcre)
+  endif (NOT WINDOWS)
+
+  if (NOT DARWIN AND NOT WINDOWS)
+	use_prebuilt_binary(libxml)
+  endif (NOT DARWIN AND NOT WINDOWS)
+
+  set(COLLADADOM_INCLUDE_DIRS
+	  ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include/collada
+	  ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include/collada/1.4
+	  )
+
+  if (WINDOWS)
+	  add_definitions(-DDOM_DYNAMIC)
+	  set(COLLADADOM_LIBRARIES 
+		  debug libcollada14dom22-d
+		  optimized libcollada14dom22
+		  debug libboost_filesystem-vc100-mt-gd-1_45.lib
+		  optimized libboost_filesystem-vc100-mt-1_45.lib
+		  debug libboost_system-vc100-mt-gd-1_45.lib
+		  optimized libboost_system-vc100-mt-1_45.lib
+		  )
+  else (WINDOWS)
+	  set(COLLADADOM_LIBRARIES 
+		  collada14dom
+		  minizip
+		  xml2
+		  pcrecpp
+		  pcre
+		  )
+  endif (WINDOWS)
+endif (STANDALONE)
+

indra/cmake/ConfigurePkgConfig.cmake

@@ -0,0 +1,74 @@
+# -*- cmake -*-
+
+SET(DEBUG_PKG_CONFIG "YES")
+
+# Don't change this if manually set by user.
+IF("$ENV{PKG_CONFIG_LIBDIR}" STREQUAL "")
+
+  # Guess at architecture-specific system library paths.
+  if (WORD_SIZE EQUAL 32)
+    SET(PKG_CONFIG_NO_MULTI_GUESS /usr/lib32 /usr/lib)
+    SET(PKG_CONFIG_NO_MULTI_LOCAL_GUESS /usr/local/lib32 /usr/local/lib)
+    SET(PKG_CONFIG_MULTI_GUESS /usr/lib/i386-linux-gnu)
+    SET(PKG_CONFIG_MULTI_LOCAL_GUESS /usr/local/lib/i386-linux-gnu)
+  else (WORD_SIZE EQUAL 32)
+    SET(PKG_CONFIG_NO_MULTI_GUESS /usr/lib64 /usr/lib)
+    SET(PKG_CONFIG_NO_MULTI_LOCAL_GUESS /usr/local/lib64 /usr/local/lib)
+    SET(PKG_CONFIG_MULTI_GUESS /usr/local/lib/x86_64-linux-gnu)
+    SET(PKG_CONFIG_MULTI_LOCAL_GUESS /usr/local/lib/x86_64-linux-gnu)
+  endif (WORD_SIZE EQUAL 32)
+  
+  # Use DPKG architecture, if available.
+  IF (${DPKG_ARCH})
+    SET(PKG_CONFIG_MULTI_GUESS /usr/lib/${DPKG_ARCH})
+    SET(PKG_CONFIG_MULTI_LOCAL_GUESS /usrlocal/lib/${DPKG_ARCH})
+  ENDIF (${DPKG_ARCH})
+  
+  # Explicitly include anything listed in PKG_CONFIG_PATH
+  string(REPLACE ":" ";" PKG_CONFIG_PATH_LIST "$ENV{PKG_CONFIG_PATH}")
+  FOREACH(PKG_CONFIG_DIR ${PKG_CONFIG_PATH_LIST})
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_DIR}/pkgconfig")
+  ENDFOREACH(PKG_CONFIG_DIR)
+
+  # Look for valid pkgconfig directories.
+  FIND_PATH(PKG_CONFIG_ENV pkgconfig ENV LD_LIBRARY_PATH)
+  FIND_PATH(PKG_CONFIG_MULTI pkgconfig HINT ${PKG_CONFIG_MULTI_GUESS})
+  FIND_PATH(PKG_CONFIG_MULTI_LOCAL pkgconfig HINT ${PKG_CONFIG_MULTI_LOCAL_GUESS})
+  FIND_PATH(PKG_CONFIG_NO_MULTI pkgconfig HINT ${PKG_CONFIG_NO_MULTI_GUESS})
+  FIND_PATH(PKG_CONFIG_NO_MULTI_LOCAL pkgconfig HINT ${PKG_CONFIG_NO_MULTI_LOCAL_GUESS})
+
+  # Add anything we found to our list.
+  IF(NOT PKG_CONFIG_ENV STREQUAL PKG_CONFIG_ENV-NOTFOUND) 
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_ENV}/pkgconfig")
+  ENDIF(NOT PKG_CONFIG_ENV STREQUAL PKG_CONFIG_ENV-NOTFOUND) 
+
+  IF(NOT PKG_CONFIG_MULTI STREQUAL PKG_CONFIG_MULTI-NOTFOUND) 
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_MULTI}/pkgconfig")
+  ENDIF(NOT PKG_CONFIG_MULTI STREQUAL PKG_CONFIG_MULTI-NOTFOUND) 
+
+  IF(NOT PKG_CONFIG_MULTI_LOCAL STREQUAL PKG_CONFIG_MULTI_LOCAL-NOTFOUND) 
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_MULTI_LOCAL}/pkgconfig")
+  ENDIF(NOT PKG_CONFIG_MULTI_LOCAL STREQUAL PKG_CONFIG_MULTI_LOCAL-NOTFOUND) 
+
+  IF(NOT PKG_CONFIG_NO_MULTI STREQUAL PKG_CONFIG_NO_MULTI-NOTFOUND) 
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_NO_MULTI}/pkgconfig")
+  ENDIF(NOT PKG_CONFIG_NO_MULTI STREQUAL PKG_CONFIG_NO_MULTI-NOTFOUND) 
+
+  IF(NOT PKG_CONFIG_NO_MULTI_LOCAL STREQUAL PKG_CONFIG_NO_MULTI_LOCAL-NOTFOUND) 
+    SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:${PKG_CONFIG_NO_MULTI_LOCAL}/pkgconfig")
+  ENDIF(NOT PKG_CONFIG_NO_MULTI_LOCAL STREQUAL PKG_CONFIG_NO_MULTI_LOCAL-NOTFOUND) 
+
+  # Also add some non-architecture specific package locations.
+  SET(VALID_PKG_LIBDIRS "${VALID_PKG_LIBDIRS}:/usr/share/pkgconfig:/usr/local/share/pkgconfig")
+
+  # Remove first unwanted ':'
+  string(SUBSTRING ${VALID_PKG_LIBDIRS} 1 -1 VALID_PKG_LIBDIRS)
+
+  # Set PKG_CONFIG_LIBDIR environment.
+  SET(ENV{PKG_CONFIG_LIBDIR} ${VALID_PKG_LIBDIRS})
+ENDIF("$ENV{PKG_CONFIG_LIBDIR}" STREQUAL "")
+
+IF(DEBUG_PKG_CONFIG)
+  MESSAGE(STATUS "Using PKG_CONFIG_LIBDIR=$ENV{PKG_CONFIG_LIBDIR}")
+ENDIF(DEBUG_PKG_CONFIG)
+

indra/cmake/CopyWinLibs.cmake

@@ -31,6 +31,8 @@ set(debug_files
     libapriconv-1.dll
     libeay32.dll
     ssleay32.dll
+    libcollada14dom22-d.dll
+    glod.dll
     )
 
 copy_if_different(
@@ -210,13 +212,16 @@ set(release_files
     libapriconv-1.dll
     libeay32.dll
     ssleay32.dll
+    libcollada14dom22.dll
+    glod.dll
     )
 
 if(FMODEX)
     find_path(FMODEX_BINARY_DIR fmodex.dll
-          ${release_src_dir}
+          "${release_src_dir}"
-          ${FMODEX_SDK_DIR}/api
+          "${FMODEX_SDK_DIR}/api"
-          ${FMODEX_SDK_DIR}
+          "${FMODEX_SDK_DIR}"
+          NO_DEFAULT_PATH
           )
 
     if(FMODEX_BINARY_DIR)
@@ -280,53 +285,6 @@ copy_if_different(
     )
 set(all_targets ${all_targets} ${out_targets})
 
-set(internal_llkdu_path "${CMAKE_SOURCE_DIR}/llkdu")
-if(EXISTS ${internal_llkdu_path})
-    set(internal_llkdu_src "${CMAKE_BINARY_DIR}/llkdu/${CMAKE_CFG_INTDIR}/llkdu.dll")
-    set(llkdu_dst "${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}/llkdu.dll")
-    ADD_CUSTOM_COMMAND(
-        OUTPUT  ${llkdu_dst}
-        COMMAND ${CMAKE_COMMAND} -E copy_if_different ${internal_llkdu_src} ${llkdu_dst}
-        DEPENDS ${internal_llkdu_src}
-        COMMENT "Copying llkdu.dll ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}"
-        )
-    set(all_targets ${all_targets} ${llkdu_dst})
-else(EXISTS ${internal_llkdu_path})
-    if (EXISTS "${debug_src_dir}/llkdu.dll")
-        set(debug_llkdu_src "${debug_src_dir}/llkdu.dll")
-        set(debug_llkdu_dst "${CMAKE_CURRENT_BINARY_DIR}/Debug/llkdu.dll")
-        ADD_CUSTOM_COMMAND(
-            OUTPUT  ${debug_llkdu_dst}
-            COMMAND ${CMAKE_COMMAND} -E copy_if_different ${debug_llkdu_src} ${debug_llkdu_dst}
-            DEPENDS ${debug_llkdu_src}
-            COMMENT "Copying llkdu.dll ${CMAKE_CURRENT_BINARY_DIR}/Debug"
-            )
-        set(all_targets ${all_targets} ${debug_llkdu_dst})
-    endif (EXISTS "${debug_src_dir}/llkdu.dll")
-
-    if (EXISTS "${release_src_dir}/llkdu.dll")
-        set(release_llkdu_src "${release_src_dir}/llkdu.dll")
-        set(release_llkdu_dst "${CMAKE_CURRENT_BINARY_DIR}/Release/llkdu.dll")
-        ADD_CUSTOM_COMMAND(
-            OUTPUT  ${release_llkdu_dst}
-            COMMAND ${CMAKE_COMMAND} -E copy_if_different ${release_llkdu_src} ${release_llkdu_dst}
-            DEPENDS ${release_llkdu_src}
-            COMMENT "Copying llkdu.dll ${CMAKE_CURRENT_BINARY_DIR}/Release"
-            )
-        set(all_targets ${all_targets} ${release_llkdu_dst})
-
-        set(relwithdebinfo_llkdu_dst "${CMAKE_CURRENT_BINARY_DIR}/RelWithDebInfo/llkdu.dll")
-        ADD_CUSTOM_COMMAND(
-            OUTPUT  ${relwithdebinfo_llkdu_dst}
-            COMMAND ${CMAKE_COMMAND} -E copy_if_different ${release_llkdu_src} ${relwithdebinfo_llkdu_dst}
-            DEPENDS ${release_llkdu_src}
-            COMMENT "Copying llkdu.dll ${CMAKE_CURRENT_BINARY_DIR}/RelWithDebInfo"
-            )
-        set(all_targets ${all_targets} ${relwithdebinfo_llkdu_dst})
-    endif (EXISTS "${release_src_dir}/llkdu.dll")
-   
-endif (EXISTS ${internal_llkdu_path})
-
 # Copy MS C runtime dlls, required for packaging.
 # *TODO - Adapt this to support VC9
 if (MSVC80)
@@ -435,6 +393,3 @@ add_custom_target(copy_win_libs ALL
   )
 add_dependencies(copy_win_libs prepare)
 
-if(EXISTS ${internal_llkdu_path})
-    add_dependencies(copy_win_libs llkdu)
-endif(EXISTS ${internal_llkdu_path})

indra/cmake/DirectX.cmake

@@ -1,6 +1,6 @@
 # -*- cmake -*-
 
-if (VIEWER AND WINDOWS)
+if (WINDOWS)
   find_path(DIRECTX_INCLUDE_DIR dxdiag.h
             "$ENV{DXSDK_DIR}/Include"
             "$ENV{PROGRAMFILES}/Microsoft DirectX SDK (June 2010)/Include"
@@ -43,4 +43,4 @@ if (VIEWER AND WINDOWS)
     message(FATAL_ERROR "Could not find DirectX SDK Libraries")
   endif (DIRECTX_LIBRARY_DIR)
 
-endif (VIEWER AND WINDOWS)
+endif (WINDOWS)

indra/cmake/FMODEX.cmake

@@ -2,54 +2,52 @@
 
 include(Linking)
 
-if(INSTALL_PROPRIETARY)
-  include(Prebuilt)
-  use_prebuilt_binary(fmodex)
-endif(INSTALL_PROPRIETARY)
-
-find_library(FMODEX_LIBRARY
-             NAMES fmodex fmodexL fmodex_vc fmodexL_vc
-             PATHS
-             optimized ${ARCH_PREBUILT_DIRS_RELEASE}
-             debug ${ARCH_PREBUILT_DIRS_DEBUG}
-             )
-
 if (NOT FMODEX_LIBRARY)
   set(FMODEX_SDK_DIR CACHE PATH "Path to the FMOD Ex SDK.")
   if (FMODEX_SDK_DIR)
-    find_library(FMODEX_LIBRARY
+    if(WORD_SIZE EQUAL 32)
-                 fmodex_vc fmodexL_vc fmodex fmodexL fmodex64 fmodexL64
+      find_library(FMODEX_LIBRARY
-                 PATHS
+                   fmodex_vc fmodexL_vc fmodex fmodexL
-                 ${FMODEX_SDK_DIR}/api/lib
+                   PATHS
-                 ${FMODEX_SDK_DIR}/api
+                   "${FMODEX_SDK_DIR}/api/lib"
-                 ${FMODEX_SDK_DIR}/lib
+                   "${FMODEX_SDK_DIR}/api"
-                 ${FMODEX_SDK_DIR}
+                   "${FMODEX_SDK_DIR}/lib"
-                 )
+                   "${FMODEX_SDK_DIR}"
-
+                   )
+    elseif(WORD_SIZE EQUAL 64)
+      find_library(FMODEX_LIBRARY
+                   fmodex64 fmodexL64
+                   PATHS
+                   "${FMODEX_SDK_DIR}/api/lib"
+                   "${FMODEX_SDK_DIR}/api"
+                   "${FMODEX_SDK_DIR}/lib"
+                   "${FMODEX_SDK_DIR}"
+                   )
+    endif(WORD_SIZE EQUAL 32)
   endif(FMODEX_SDK_DIR)
   if(WINDOWS AND NOT FMODEX_LIBRARY)
     set(FMODEX_PROG_DIR "$ENV{PROGRAMFILES}/FMOD SoundSystem/FMOD Programmers API Windows")
     find_library(FMODEX_LIBRARY
                  fmodex_vc fmodexL_vc
                  PATHS
-                 ${FMODEX_PROG_DIR}/api/lib
+                 "${FMODEX_PROG_DIR}/api/lib"
-                 ${FMODEX_PROG_DIR}/api
+                 "${FMODEX_PROG_DIR}/api"
-                 ${FMODEX_PROG_DIR}
+                 "${FMODEX_PROG_DIR}"
                  )
     if(FMODEX_LIBRARY)
       message(STATUS "Found fmodex in ${FMODEX_PROG_DIR}")
-      set(FMODEX_SDK_DIR ${FMODEX_PROG_DIR})
+      set(FMODEX_SDK_DIR "${FMODEX_PROG_DIR}")
-      set(FMODEX_SDK_DIR ${FMODEX_PROG_DIR} CACHE PATH "Path to the FMOD Ex SDK." FORCE)
+      set(FMODEX_SDK_DIR "${FMODEX_PROG_DIR}" CACHE PATH "Path to the FMOD Ex SDK." FORCE)
     endif(FMODEX_LIBRARY)
   endif(WINDOWS AND NOT FMODEX_LIBRARY)
 endif (NOT FMODEX_LIBRARY)
 
 find_path(FMODEX_INCLUDE_DIR fmod.hpp
-          ${LIBS_PREBUILT_DIR}/include/fmodex
+          "${LIBS_PREBUILT_DIR}/include/fmodex"
-          ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/fmodex
+          "${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/fmodex"
-          ${FMODEX_SDK_DIR}/api/inc
+          "${FMODEX_SDK_DIR}/api/inc"
-          ${FMODEX_SDK_DIR}/inc
+          "${FMODEX_SDK_DIR}/inc"
-          ${FMODEX_SDK_DIR}
+          "${FMODEX_SDK_DIR}"
           )
 
 if(DARWIN)

indra/cmake/FindColladadom.cmake

@@ -0,0 +1,31 @@
+# -*- cmake -*-
+
+# - Find collada14dom
+# Find the colladadom version 1.4 includes and library
+# This module defines
+#  COLLADADOM_FOUND, System has libcollada14dom.so.
+#  COLLADADOM_INCLUDE_DIRS - The collada include directories.
+#  COLLADADOM_LIBRARIES - The libraries needed to use libcollada14dom.
+#  COLLADADOM_DEFINITIONS - Compiler switches required for using libcollada14dom.
+
+FIND_PACKAGE(PkgConfig)
+PKG_CHECK_MODULES(PC_COLLADADOM collada)
+SET(COLLADADOM_DEFINITIONS ${PC_COLLADADOM_CFLAGS_OTHER})
+
+FIND_PATH(COLLADADOM_INCLUDE_DIR dae.h
+  HINTS ${PC_COLLADADOM_INCLUDE_DIR} ${PC_COLLADADOM_INCLUDE_DIRS}
+  PATH_SUFFIXES collada)
+
+FIND_LIBRARY(COLLADADOM_LIBRARY
+  NAMES libcollada14dom.so
+  HINTS ${PC_COLLADADOM_LIBDIR} ${PC_COLLADADOM_LIBRARY_DIRS}
+  PATHS /usr/lib /usr/local/lib)
+
+SET(COLLADADOM_LIBRARIES ${COLLADADOM_LIBRARY})
+SET(COLLADADOM_INCLUDE_DIRS ${COLLADADOM_INCLUDE_DIR} ${COLLADADOM_INCLUDE_DIR}/1.4)
+
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(COLLADADOM DEFAULT_MSG
+  COLLADADOM_LIBRARY COLLADADOM_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(COLLADADOM_LIBRARY COLLADADOM_INCLUDE_DIR)

indra/cmake/FindGLOD.cmake

@@ -0,0 +1,32 @@
+# -*- cmake -*-
+
+# - Find GLOD
+# Find the GLOD includes and library
+# This module defines
+#  GLOD_FOUND, System has libglod.so.
+#  GLOD_INCLUDE_DIRS - The GLOD include directories.
+#  GLOD_LIBRARIES - The libraries needed to use libglod.
+#  GLOD_DEFINITIONS - Compiler switches required for using libglod.
+
+FIND_PACKAGE(PkgConfig)
+PKG_CHECK_MODULES(PC_GLOD glod)
+SET(GLOD_DEFINITIONS ${PC_GLOD_CFLAGS_OTHER})
+
+FIND_PATH(GLOD_INCLUDE_DIR glod/glod.h
+  HINTS ${PC_GLOD_INCLUDE_DIR} ${PC_GLOD_INCLUDE_DIRS}
+  )
+
+FIND_LIBRARY(GLOD_LIBRARY
+  NAMES libGLOD.so
+  HINTS ${PC_GLOD_LIBDIR} ${PC_GLOD_LIBRARY_DIRS}
+  PATHS /usr/lib /usr/local/lib)
+
+SET(GLOD_LIBRARIES ${GLOD_LIBRARY})
+SET(GLOD_INCLUDE_DIRS ${GLOD_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GLOD DEFAULT_MSG
+  GLOD_LIBRARY GLOD_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(GLOD_LIBRARY GLOD_INCLUDE_DIR)
+

indra/cmake/FindMT.cmake

@@ -1,17 +0,0 @@
-#Find the windows manifest tool.
-if (MSVC80)
-  FIND_PROGRAM(HAVE_MANIFEST_TOOL NAMES mt
-                   PATHS
-                   "$ENV{PROGRAMFILES}/Microsoft Visual Studio 8/VC/bin"
-                   "$ENV{PROGRAMFILES}/Microsoft Visual Studio 8/Common7/Tools/Bin"
-                   "$ENV{PROGRAMFILES}/Microsoft Visual Studio 8/SDK/v2.0/Bin")
-  IF(HAVE_MANIFEST_TOOL)
-      MESSAGE(STATUS "Found Mainfest Tool. Embedding custom manifests.")
-  ELSE(HAVE_MANIFEST_TOOL)
-      MESSAGE(FATAL_ERROR "Manifest tool, mt.exe, can't be found.")
-  ENDIF(HAVE_MANIFEST_TOOL)
-
-  STRING(REPLACE "/MANIFEST " "/MANIFEST:NO" CMAKE_EXE_LINKER_FLAGS 
-      ${CMAKE_EXE_LINKER_FLAGS})
-
-endif (MSVC80)

indra/cmake/GLOD.cmake

@@ -0,0 +1,13 @@
+# -*- cmake -*-
+include(Prebuilt)
+
+set(GLOD_FIND_QUIETLY OFF)
+set(GLOD_FIND_REQUIRED ON)
+
+if (STANDALONE)
+  include(FindGLOD)
+else (STANDALONE)
+  use_prebuilt_binary(GLOD)
+  set(GLOD_INCLUDE_DIRS ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include)
+  set(GLOD_LIBRARIES glod)
+endif (STANDALONE)

indra/cmake/GooglePerfTools.cmake

@@ -1,4 +1,5 @@
 # -*- cmake -*-
+
 include(Prebuilt)
 
 if(WORD_SIZE EQUAL 64)
@@ -47,9 +48,14 @@ else (USE_GOOGLE_PERFTOOLS)
 endif (USE_GOOGLE_PERFTOOLS)
 
 if (NOT(DISABLE_TCMALLOC OR USE_GOOGLE_PERFTOOLS OR STANDALONE))
-  message(STATUS "Building with Google TCMalloc")
+  if (NOT STATUS_Building_with_Google_TCMalloc)
-	set(TCMALLOC_FLAG -DLL_USE_TCMALLOC=1)
+    message(STATUS "Building with Google TCMalloc")
-	include_directories(${GOOGLE_PERFTOOLS_INCLUDE_DIR})
+	set(STATUS_Building_with_Google_TCMalloc true PARENT_SCOPE)
-	set(GOOGLE_PERFTOOLS_LIBRARIES ${TCMALLOC_LIBRARIES})
+  endif (NOT STATUS_Building_with_Google_TCMalloc)
+  set(TCMALLOC_FLAG -DLL_USE_TCMALLOC=1)
+  include_directories(${GOOGLE_PERFTOOLS_INCLUDE_DIR})
+  set(GOOGLE_PERFTOOLS_LIBRARIES ${TCMALLOC_LIBRARIES})
   set(GOOGLE_PERFTOOLS_LINKER_FLAGS ${TCMALLOC_LINKER_FLAGS})
 endif()
+
+add_definitions(${TCMALLOC_FLAG})

indra/cmake/JsonCpp.cmake

@@ -18,5 +18,5 @@ else (STANDALONE)
   elseif (LINUX)
     set(JSONCPP_LIBRARIES jsoncpp)
   endif (WINDOWS)
-  set(JSONCPP_INCLUDE_DIRS ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include/jsoncpp)
+  set(JSONCPP_INCLUDE_DIR ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include/jsoncpp)
 endif (STANDALONE)

indra/cmake/LLDatabase.cmake

@@ -1,10 +0,0 @@
-# -*- cmake -*-
-
-include(MySQL)
-
-set(LLDATABASE_INCLUDE_DIRS
-    ${LIBS_SERVER_DIR}/lldatabase
-    ${MYSQL_INCLUDE_DIR}
-    )
-
-set(LLDATABASE_LIBRARIES lldatabase)

indra/cmake/LLKDU.cmake

@@ -1,18 +0,0 @@
-# -*- cmake -*-
-include(Prebuilt)
-
-if (NOT STANDALONE AND EXISTS ${LIBS_CLOSED_DIR}/llkdu)
-  use_prebuilt_binary(kdu)
-  if (WINDOWS)
-    set(KDU_LIBRARY debug kdu_cored optimized kdu_core)
-  else (WINDOWS)
-    set(KDU_LIBRARY kdu)
-  endif (WINDOWS)
-
-  set(KDU_INCLUDE_DIR ${LIBS_PREBUILT_DIR}/include)
-
-  set(LLKDU_LIBRARY llkdu)
-  set(LLKDU_STATIC_LIBRARY llkdu_static)
-  set(LLKDU_LIBRARIES ${LLKDU_LIBRARY})
-  set(LLKDU_STATIC_LIBRARIES ${LLKDU_STATIC_LIBRARY})
-endif (NOT STANDALONE AND EXISTS ${LIBS_CLOSED_DIR}/llkdu)

indra/cmake/LLPhysicsExtensions.cmake

@@ -0,0 +1,7 @@
+# -*- cmake -*-
+
+set(LLPHYSICSEXTENSIONS_LIBRARIES nd_hacdConvexDecomposition hacd nd_Pathing )
+set(LLPHYSICSEXTENSIONS_INCLUDE_DIRS ${LIBS_OPEN_DIR}/libndhacd ${LIBS_OPEN_DIR}/libpathing)
+
+
+

indra/cmake/LLPrimitive.cmake

@@ -1,7 +1,22 @@
 # -*- cmake -*-
 
-set(LLPRIMITIVE_INCLUDE_DIRS
+include(Colladadom)
-    ${LIBS_OPEN_DIR}/llprimitive
+
-    )
+set(LLPRIMITIVE_INCLUDE_DIRS
+  ${LIBS_OPEN_DIR}/llprimitive
+  ${COLLADADOM_INCLUDE_DIRS}
+  )
+
+if (WINDOWS)
+  set(LLPRIMITIVE_LIBRARIES 
+	  debug llprimitive
+	  optimized llprimitive
+	  ${COLLADADOM_LIBRARIES}
+	  )
+else (WINDOWS)
+  set(LLPRIMITIVE_LIBRARIES 
+	  llprimitive
+	  ${COLLADADOM_LIBRARIES}
+	  )
+endif (WINDOWS)
 
-set(LLPRIMITIVE_LIBRARIES llprimitive)

indra/cmake/LLRender.cmake

@@ -6,27 +6,7 @@ set(LLRENDER_INCLUDE_DIRS
     ${LIBS_OPEN_DIR}/llrender
     )
 
-if (SERVER AND LINUX)
-  set(LLRENDER_LIBRARIES
-      llrenderheadless
-      )
-else (SERVER AND LINUX)
 set(LLRENDER_LIBRARIES
     llrender
     )
-endif (SERVER AND LINUX)
 
-# mapserver requires certain files to be copied so LL_MESA_HEADLESS can be set
-# differently for different object files.
-macro (copy_server_sources )
-  foreach (PREFIX ${ARGV})
-    add_custom_command(
-        OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${PREFIX}_server.cpp
-        COMMAND ${CMAKE_COMMAND}
-        ARGS -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${PREFIX}.cpp
-             ${CMAKE_CURRENT_BINARY_DIR}/${PREFIX}_server.cpp
-        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${PREFIX}.cpp
-        )
-    list(APPEND server_SOURCE_FILES ${PREFIX}_server.cpp)
-  endforeach (PREFIX ${_copied_SOURCES})
-endmacro (copy_server_sources _copied_SOURCES)

indra/cmake/LLScene.cmake

@@ -1,7 +0,0 @@
-# -*- cmake -*-
-
-set(LLSCENE_INCLUDE_DIRS
-    ${LIBS_SERVER_DIR}/llscene
-    )
-
-set(LLSCENE_LIBRARIES llscene)

indra/cmake/LLWindow.cmake

@@ -36,17 +36,12 @@ set(LLWINDOW_INCLUDE_DIRS
     ${LIBS_OPEN_DIR}/llwindow
     )
 
-if (SERVER AND LINUX)
+set(LLWINDOW_LIBRARIES
-  set(LLWINDOW_LIBRARIES
+    llwindow
-      llwindowheadless
+    )
-      )
+
-else (SERVER AND LINUX)
+if (WINDOWS)
-  set(LLWINDOW_LIBRARIES
+    list(APPEND LLWINDOW_LIBRARIES
-      llwindow
+        comdlg32
-      )
+        )
-  if (WINDOWS)
+endif (WINDOWS)
-      list(APPEND LLWINDOW_LIBRARIES
-          comdlg32
-          )
-  endif (WINDOWS)
-endif (SERVER AND LINUX)

indra/cmake/Linking.cmake

@@ -1,4 +1,8 @@
 # -*- cmake -*-
+if(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)
+set(${CMAKE_CURRENT_LIST_FILE}_INCLUDED "YES")
+
+include(Variables)
 
 if (NOT STANDALONE)
   if (WINDOWS)
@@ -45,3 +49,5 @@ else (WINDOWS)
 endif (WINDOWS)
     
 mark_as_advanced(DL_LIBRARY PTHREAD_LIBRARY WINDOWS_LIBRARIES)
+
+endif(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)

indra/cmake/OpenGL.cmake

@@ -3,8 +3,5 @@ include(Prebuilt)
 
 if (NOT (STANDALONE OR DARWIN))
   use_prebuilt_binary(glext)
-  # possible glh_linear should have its own .cmake file instead
-  #use_prebuilt_binary(glh_linear)
-  # actually... not any longer, it's now in git -SG
   set(GLEXT_INCLUDE_DIR ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include)
-endif ()
+endif (NOT (STANDALONE OR DARWIN))

indra/cmake/OpenSSL.cmake

@@ -4,9 +4,9 @@ include(Prebuilt)
 set(OpenSSL_FIND_QUIETLY ON)
 set(OpenSSL_FIND_REQUIRED ON)
 
-if (STANDALONE)
+if (STANDALONE OR USE_SYSTEM_OPENSSL)
   include(FindOpenSSL)
-else (STANDALONE)
+else (STANDALONE OR USE_SYSTEM_OPENSSL)
   use_prebuilt_binary(openSSL)
   if (WINDOWS)
     set(OPENSSL_LIBRARIES ssleay32 libeay32)
@@ -14,7 +14,7 @@ else (STANDALONE)
     set(OPENSSL_LIBRARIES ssl)
   endif (WINDOWS)
   set(OPENSSL_INCLUDE_DIRS ${LIBS_PREBUILT_DIR}/${LL_ARCH_DIR}/include)
-endif (STANDALONE)
+endif (STANDALONE OR USE_SYSTEM_OPENSSL)
 
 if (LINUX OR DARWIN)
   set(CRYPTO_LIBRARIES crypto)

indra/cmake/Prebuilt.cmake

@@ -1,5 +1,8 @@
 # -*- cmake -*-
 
+if(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)
+set(${CMAKE_CURRENT_LIST_FILE}_INCLUDED "YES")
+
 macro (use_prebuilt_binary _binary)
   if(NOT STANDALONE)
     get_property(PREBUILT_PACKAGES TARGET prepare PROPERTY PREBUILT)
@@ -9,3 +12,5 @@ macro (use_prebuilt_binary _binary)
     endif(_index LESS 0)
   endif(NOT STANDALONE)
 endmacro (use_prebuilt_binary _binary)
+
+endif(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)

indra/cmake/Python.cmake

@@ -20,10 +20,12 @@ if (WINDOWS)
     [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\2.4\\InstallPath]
     [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\2.3\\InstallPath]
     )
-elseif (EXISTS /etc/debian_version)
-  # On Debian and Ubuntu, avoid Python 2.4 if possible.
 
-  find_program(PYTHON_EXECUTABLE python2.5 python2.3 python PATHS /usr/bin)
+
+elseif (EXISTS /etc/arch-release)
+  # On Archlinux, use Python 2
+
+  find_program(PYTHON_EXECUTABLE python2 PATHS /usr/bin)
 
   if (PYTHON_EXECUTABLE)
     set(PYTHONINTERP_FOUND ON)

indra/cmake/Variables.cmake

@@ -8,41 +8,33 @@
 #   DARWIN  - Mac OS X
 #   LINUX   - Linux
 #   WINDOWS - Windows
-#
-# What to build:
-#
-#   VIEWER - viewer and other viewer-side components
-#   SERVER - simulator and other server-side bits
 
 
 # Relative and absolute paths to subtrees.
 
+if(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)
+set(${CMAKE_CURRENT_LIST_FILE}_INCLUDED "YES")
+
+if(NOT DEFINED COMMON_CMAKE_DIR)
+    set(COMMON_CMAKE_DIR "${CMAKE_SOURCE_DIR}/cmake")
+endif(NOT DEFINED COMMON_CMAKE_DIR)
+
 set(LIBS_CLOSED_PREFIX)
 set(LIBS_OPEN_PREFIX)
-set(LIBS_SERVER_PREFIX)
 set(SCRIPTS_PREFIX ../scripts)
-set(SERVER_PREFIX)
 set(VIEWER_PREFIX)
 
 set(LIBS_CLOSED_DIR ${CMAKE_SOURCE_DIR}/${LIBS_CLOSED_PREFIX})
 set(LIBS_OPEN_DIR ${CMAKE_SOURCE_DIR}/${LIBS_OPEN_PREFIX})
-set(LIBS_SERVER_DIR ${CMAKE_SOURCE_DIR}/${LIBS_SERVER_PREFIX})
 set(SCRIPTS_DIR ${CMAKE_SOURCE_DIR}/${SCRIPTS_PREFIX})
-set(SERVER_DIR ${CMAKE_SOURCE_DIR}/${SERVER_PREFIX})
 set(VIEWER_DIR ${CMAKE_SOURCE_DIR}/${VIEWER_PREFIX})
 set(DISABLE_TCMALLOC OFF CACHE BOOL "Disable linkage of TCMalloc. (64bit builds automatically disable TCMalloc)")
 set(LL_TESTS OFF CACHE BOOL "Build and run unit and integration tests (disable for build timing runs to reduce variation)")
-set(VISTA_ICON OFF CACHE BOOL "Allow vista icon with pre 2008 Visual Studio IDEs. (Assumes replacement old rcdll.dll with new rcdll.dll from win sdk 7.0 or later)")
+set(DISABLE_FATAL_WARNINGS TRUE CACHE BOOL "Set this to FALSE to enable fatal warnings.")
 
 set(LIBS_PREBUILT_DIR ${CMAKE_SOURCE_DIR}/../libraries CACHE PATH
     "Location of prebuilt libraries.")
 
-if (EXISTS ${CMAKE_SOURCE_DIR}/Server.cmake)
-  # We use this as a marker that you can try to use the proprietary libraries.
-  set(INSTALL_PROPRIETARY ON CACHE BOOL "Install proprietary binaries")
-endif (EXISTS ${CMAKE_SOURCE_DIR}/Server.cmake)
-
-
 if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
   set(WINDOWS ON BOOL FORCE)
   set(ARCH i686)
@@ -70,6 +62,29 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
     endif(CMAKE_SIZEOF_VOID_P MATCHES 4)
   endif (WORD_SIZE EQUAL 32)
 
+  if (NOT STANDALONE AND MULTIARCH_HACK)
+    if (WORD_SIZE EQUAL 32)
+      set(DEB_ARCHITECTURE i386)
+      set(FIND_LIBRARY_USE_LIB64_PATHS OFF)
+      set(CMAKE_SYSTEM_LIBRARY_PATH /usr/lib32 ${CMAKE_SYSTEM_LIBRARY_PATH})
+    else (WORD_SIZE EQUAL 32)
+      set(DEB_ARCHITECTURE amd64)
+      set(FIND_LIBRARY_USE_LIB64_PATHS ON)
+    endif (WORD_SIZE EQUAL 32)
+
+    execute_process(COMMAND dpkg-architecture -a${DEB_ARCHITECTURE} -qDEB_HOST_MULTIARCH 
+        RESULT_VARIABLE DPKG_RESULT
+        OUTPUT_VARIABLE DPKG_ARCH
+        OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET)
+    #message (STATUS "DPKG_RESULT ${DPKG_RESULT}, DPKG_ARCH ${DPKG_ARCH}")
+    if (DPKG_RESULT EQUAL 0)
+      set(CMAKE_LIBRARY_ARCHITECTURE ${DPKG_ARCH})
+      set(CMAKE_SYSTEM_LIBRARY_PATH /usr/lib/${DPKG_ARCH} /usr/local/lib/${DPKG_ARCH} ${CMAKE_SYSTEM_LIBRARY_PATH})
+    endif (DPKG_RESULT EQUAL 0)
+
+    include(ConfigurePkgConfig)
+  endif (NOT STANDALONE AND MULTIARCH_HACK)
+
   set(LL_ARCH ${ARCH}_linux)
   set(LL_ARCH_DIR ${ARCH}-linux)
 endif (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
@@ -77,39 +92,33 @@ endif (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
 if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
   set(DARWIN 1)
 
-  if(${CMAKE_GENERATOR} MATCHES Xcode) 
+  if(${CMAKE_GENERATOR} MATCHES Xcode)
     #SDK Compiler and Deployment targets for XCode
     if (${XCODE_VERSION} VERSION_LESS 4.0.0)
       set(CMAKE_OSX_SYSROOT /Developer/SDKs/MacOSX10.5.sdk)
       set(CMAKE_OSX_DEPLOYMENT_TARGET 10.5)
-      set(CMAKE_XCODE_ATTIBUTE_GCC_VERSION "4.2")
     else (${XCODE_VERSION} VERSION_LESS 4.0.0)
       set(CMAKE_OSX_SYSROOT /Developer/SDKs/MacOSX10.6.sdk)
       set(CMAKE_OSX_DEPLOYMENT_TARGET 10.6)
-      set(CMAKE_XCODE_ATTRIBUTE_GCC_VERSION "com.apple.compilers.llvmgcc42")
     endif (${XCODE_VERSION} VERSION_LESS 4.0.0)
-  else()
+  else(${CMAKE_GENERATOR} MATCHES Xcode)
     set(CMAKE_OSX_SYSROOT /Developer/SDKs/MacOSX10.6.sdk)
     set(CMAKE_OSX_DEPLOYMENT_TARGET 10.6)
-    set(CMAKE_XCODE_ATTRIBUTE_GCC_VERSION "com.apple.compilers.llvmgcc42")
   endif(${CMAKE_GENERATOR} MATCHES Xcode)
 
-  ## We currently support only 32-bit i386 builds, so use these:
+  set(CMAKE_XCODE_ATTRIBUTE_GCC_VERSION "com.apple.compilers.llvmgcc42")
+
+  set(CMAKE_XCODE_ATTRIBUTE_DEBUG_INFORMATION_FORMAT dwarf-with-dsym)
+
+  # Build only for i386 by default, system default on MacOSX 10.6 is x86_64
   set(CMAKE_OSX_ARCHITECTURES i386)
   set(ARCH i386)
   set(WORD_SIZE 32)
 
-  ## But if you want to compile for mixed 32/64 bit, try these:
-  # set(CMAKE_OSX_ARCHITECTURES i386;x86_64)
-  # set(ARCH universal)
-  # set(WORD_SIZE 64)
-
-  ## Finally, set up the build output directories
   set(LL_ARCH ${ARCH}_darwin)
   set(LL_ARCH_DIR universal-darwin)
 endif (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
 
-
 if (WINDOWS)
   set(PREBUILT_TYPE windows)
 elseif(DARWIN)
@@ -120,11 +129,9 @@ elseif(LINUX AND WORD_SIZE EQUAL 64)
   set(PREBUILT_TYPE linux64)
 endif(WINDOWS)
 
-
 # Default deploy grid
 set(GRID agni CACHE STRING "Target Grid")
 
-set(VIEWER ON CACHE BOOL "Build Second Life viewer.")
 set(VIEWER_CHANNEL "Singularity" CACHE STRING "Viewer Channel Name")
 set(VIEWER_LOGIN_CHANNEL ${VIEWER_CHANNEL} CACHE STRING "Fake login channel for A/B Testing")
 set(VIEWER_BRANDING_ID "singularity" CACHE STRING "Viewer branding id (currently secondlife|snowglobe)")
@@ -135,17 +142,6 @@ set(VIEWER_BRANDING_NAME_CAMELCASE "Singularity")
 
 set(STANDALONE OFF CACHE BOOL "Do not use Linden-supplied prebuilt libraries.")
 
-if (NOT STANDALONE AND EXISTS ${CMAKE_SOURCE_DIR}/llphysics)
-    set(SERVER ON CACHE BOOL "Build Second Life server software.")
-endif (NOT STANDALONE AND EXISTS ${CMAKE_SOURCE_DIR}/llphysics)
-
-if (LINUX AND SERVER AND VIEWER)
-  MESSAGE(FATAL_ERROR "
-The indra source does not currently support building SERVER and VIEWER at the same time.
-Please set one of these values to OFF in your CMake cache file.
-(either by running ccmake or by editing CMakeCache.txt by hand)
-For more information, please see JIRA DEV-14943 - Cmake Linux cannot build both VIEWER and SERVER in one build environment
-  ")
-endif (LINUX AND SERVER AND VIEWER)
-
 source_group("CMake Rules" FILES CMakeLists.txt)
+
+endif(NOT DEFINED ${CMAKE_CURRENT_LIST_FILE}_INCLUDED)

indra/cwdebug/debug.cc

@@ -236,8 +236,10 @@ void stop_recording_backtraces(void)
       channel_ct backtrace DDCN("BACKTRACE");	//!< This debug channel is used for backtraces.
       channel_ct statemachine DDCN("STATEMACHINE");	//!< This debug channel is used for output related to class AIStateMachine.
       channel_ct caps DDCN("CAPS");		//!< This debug channel is used for output related to Capabilities.
-      channel_ct curl DDCN("CURL");		//!< This debug channel is used for output related to Curl.
+      channel_ct curl DDCN("CURL");		//!< This debug channel is used for output related to AICurl.
-      channel_ct curlio DDCN("CURLIO");	//!< This debug channel is used to print debug output of libcurl.
+      channel_ct curlio DDCN("CURLIO");	//!< This debug channel is used to print debug output of libcurl. This includes all HTTP network traffic.
+      channel_ct curltr DDCN("CURLTR");	//!< This debug channel is used to print libcurl API calls.
+      channel_ct snapshot DDCN("SNAPSHOT");	//!< This debug channel is used for output related to snapshots.
 
     } // namespace dc
   } // namespace DEBUGCHANNELS
@@ -560,8 +562,10 @@ namespace dc
 fake_channel const      warning(1, "WARNING     ");
 fake_channel const         curl(1, "CURL        ");
 fake_channel const       curlio(1, "CURLIO      ");
+fake_channel const       curltr(1, "CURLTR      ");
 fake_channel const statemachine(1, "STATEMACHINE");
 fake_channel const       notice(1, "NOTICE      ");
+fake_channel const     snapshot(0, "SNAPSHOT    ");
 
 } // namespace dc
 } // namespace debug

indra/cwdebug/debug.h

@@ -82,8 +82,10 @@ struct fake_channel {
 extern LL_COMMON_API fake_channel const warning;
 extern LL_COMMON_API fake_channel const curl;
 extern LL_COMMON_API fake_channel const curlio;
+extern LL_COMMON_API fake_channel const curltr;
 extern LL_COMMON_API fake_channel const statemachine;
 extern LL_COMMON_API fake_channel const notice;
+extern LL_COMMON_API fake_channel const snapshot;
 
 } // namespace dc
 } // namespace debug
@@ -173,8 +175,8 @@ extern LL_COMMON_API fake_channel const notice;
 #include <boost/shared_array.hpp>
 #if CWDEBUG_LOCATION
 #include <execinfo.h>		// Needed for 'backtrace'.
-#include "llpreprocessor.h"
 #endif
+#include "llpreprocessor.h"	// LL_COMMON_API
 #include <set>
 
 #define CWD_API __attribute__ ((visibility("default")))
@@ -207,6 +209,8 @@ extern CWD_API channel_ct statemachine;
 extern CWD_API channel_ct caps;
 extern CWD_API channel_ct curl;
 extern CWD_API channel_ct curlio;
+extern CWD_API channel_ct curltr;
+extern CWD_API channel_ct snapshot;
 
 #endif
 
@@ -271,7 +275,7 @@ class TeeStream : public std::ostream {
 };
 
 #if CWDEBUG_LOCATION
-class BackTrace {
+class LL_COMMON_API BackTrace {
   private:
     boost::shared_array<void*> M_buffer;
     int M_frames;
@@ -385,21 +389,21 @@ void InstanceTracker<T>::dump(void)
 // Print "Entering " << \a data to channel \a cntrl and increment
 // debugging output indentation until the end of the current scope.
 #define DoutEntering(cntrl, data) \
-  int __slviewer_debug_indentation = 2;                                                                      \
+  int __slviewer_debug_indentation = 2;                                                                                 \
   {                                                                                                                     \
     LIBCWD_TSD_DECLARATION;                                                                                             \
     if (LIBCWD_DO_TSD_MEMBER_OFF(::libcwd::libcw_do) < 0)                                                               \
     {                                                                                                                   \
       ::libcwd::channel_set_bootstrap_st __libcwd_channel_set(LIBCWD_DO_TSD(::libcwd::libcw_do) LIBCWD_COMMA_TSD);      \
-      bool on;                                                                                                          \
+      bool __slviewer_debug_on;                                                                                         \
       {                                                                                                                 \
         using namespace LIBCWD_DEBUGCHANNELS;                                                                           \
-        on = (__libcwd_channel_set|cntrl).on;                                                                           \
+        __slviewer_debug_on = (__libcwd_channel_set|cntrl).on;                                                          \
       }                                                                                                                 \
-      if (on)                                                                                                           \
+      if (__slviewer_debug_on)                                                                                          \
         Dout(cntrl, "Entering " << data);                                                                               \
       else                                                                                                              \
-        __slviewer_debug_indentation = 0;                                                                    \
+        __slviewer_debug_indentation = 0;                                                                               \
     }                                                                                                                   \
   }                                                                                                                     \
   debug::Indent __slviewer_debug_indent(__slviewer_debug_indentation);

indra/develop.py

@@ -45,7 +45,6 @@ import commands
 class CommandError(Exception):
     pass
 
-
 def mkdir(path):
     try:
         os.mkdir(path)
@@ -54,15 +53,19 @@ def mkdir(path):
         if err.errno != errno.EEXIST or not os.path.isdir(path):
             raise
 
-def getcwd():
+def prettyprint_path_for_cmake(path):
-    cwd = os.getcwd()
+    if 'a' <= path[0] <= 'z' and path[1] == ':':
-    if 'a' <= cwd[0] <= 'z' and cwd[1] == ':':
         # CMake wants DOS drive letters to be in uppercase.  The above
         # condition never asserts on platforms whose full path names
         # always begin with a slash, so we don't need to test whether
         # we are running on Windows.
-        cwd = cwd[0].upper() + cwd[1:]
+        path = path[0].upper() + path[1:]
-    return cwd
+    return path
+
+def getcwd():
+    return prettyprint_path_for_cmake(os.getcwd())
+
+source_indra = prettyprint_path_for_cmake(os.path.dirname(os.path.realpath(__file__)))
 
 def quote(opts):
     return '"' + '" "'.join([ opt.replace('"', '') for opt in opts ]) + '"'
@@ -81,7 +84,6 @@ class PlatformSetup(object):
     distcc = True
     cmake_opts = []
     word_size = 32
-    opensim_rules = 'OFF' #whether or not to use rules fit for opensim
     using_express = False
 
     def __init__(self):
@@ -125,7 +127,6 @@ class PlatformSetup(object):
             standalone=self.standalone,
             unattended=self.unattended,
             word_size=self.word_size,
-            opensim_rules=self.opensim_rules,
             type=self.build_type.upper(),
             )
         #if simple:
@@ -134,7 +135,6 @@ class PlatformSetup(object):
                 '-DSTANDALONE:BOOL=%(standalone)s '
                 '-DUNATTENDED:BOOL=%(unattended)s '
                 '-DWORD_SIZE:STRING=%(word_size)s '
-                '-DOPENSIM_RULES:BOOL=%(opensim_rules)s '
                 '-G %(generator)r %(opts)s %(dir)r' % args)
 
     def run_cmake(self, args=[]):
@@ -153,7 +153,7 @@ class PlatformSetup(object):
                     simple = False
                 try:
                     os.chdir(d)
-                    cmd = self.cmake_commandline(cwd, d, args, simple)
+                    cmd = self.cmake_commandline(source_indra, d, args, simple)
                     print 'Running %r in %r' % (cmd, d)
                     self.run(cmd, 'cmake')
                 finally:
@@ -273,18 +273,9 @@ class LinuxSetup(UnixSetup):
         return 'linux'
 
     def build_dirs(self):
-        # Only build the server code if we have it.
         platform_build = '%s-%s' % (self.platform(), self.build_type.lower())
 
-        if self.arch() == 'i686' and self.is_internal_tree():
+        return ['viewer-' + platform_build]
-            return ['viewer-' + platform_build, 'server-' + platform_build]
-        elif self.arch() == 'x86_64' and self.is_internal_tree():
-            # the viewer does not build in 64bit -- kdu5 issues
-            # we can either use openjpeg, or overhaul our viewer to handle kdu5 or higher
-            # doug knows about kdu issues
-            return ['server-' + platform_build]
-        else:
-            return ['viewer-' + platform_build]
 
     def cmake_commandline(self, src_dir, build_dir, opts, simple):
         args = dict(
@@ -296,34 +287,12 @@ class LinuxSetup(UnixSetup):
             type=self.build_type.upper(),
             project_name=self.project_name,
             word_size=self.word_size,
-            opensim_rules=self.opensim_rules,
+            cxx="g++"
             )
-        if not self.is_internal_tree():
+
-            args.update({'cxx':'g++', 'server':'OFF', 'viewer':'ON'})
-        else:
-            if self.distcc:
-                distcc = self.find_in_path('distcc')
-                baseonly = True
-            else:
-                distcc = []
-                baseonly = False
-            if 'server' in build_dir:
-                gcc = distcc + self.find_in_path(
-                    self.debian_sarge and 'g++-3.3' or 'g++-4.1',
-                    'g++', baseonly)
-                args.update({'cxx': ' '.join(gcc), 'server': 'ON',
-                             'viewer': 'OFF'})
-            else:
-                gcc41 = distcc + self.find_in_path('g++-4.1', 'g++', baseonly)
-                args.update({'cxx': ' '.join(gcc41),
-                             'server': 'OFF',
-                             'viewer': 'ON'})
         cmd = (('cmake -DCMAKE_BUILD_TYPE:STRING=%(type)s '
-                '-G %(generator)r -DSERVER:BOOL=%(server)s '
+                '-G %(generator)r -DSTANDALONE:BOOL=%(standalone)s '
-                '-DVIEWER:BOOL=%(viewer)s -DSTANDALONE:BOOL=%(standalone)s '
-                '-DUNATTENDED:BOOL=%(unattended)s '
                 '-DWORD_SIZE:STRING=%(word_size)s '
-                '-DOPENSIM_RULES:BOOL=%(opensim_rules)s '
                 '-DROOT_PROJECT_NAME:STRING=%(project_name)s '
                 '%(opts)s %(dir)r')
                % args)
@@ -437,7 +406,6 @@ class DarwinSetup(UnixSetup):
             unattended=self.unattended,
             project_name=self.project_name,
             universal=self.universal,
-            opensim_rules=self.opensim_rules,
             type=self.build_type.upper(),
             )
         if self.universal == 'ON':
@@ -449,7 +417,6 @@ class DarwinSetup(UnixSetup):
                 '-DSTANDALONE:BOOL=%(standalone)s '
                 '-DUNATTENDED:BOOL=%(unattended)s '
                 '-DWORD_SIZE:STRING=%(word_size)s '
-                '-DOPENSIM_RULES:BOOL=%(opensim_rules)s '
                 '-DROOT_PROJECT_NAME:STRING=%(project_name)s '
                 '%(universal)s '
                 '%(opts)s %(dir)r' % args)
@@ -473,26 +440,11 @@ class DarwinSetup(UnixSetup):
 
 class WindowsSetup(PlatformSetup):
     gens = {
-        'vc71' : {
-            'gen' : r'Visual Studio 7 .NET 2003',
-            'ver' : r'7.1'
-            },
-        'vc80' : {
-            'gen' : r'Visual Studio 8 2005',
-            'ver' : r'8.0'
-            },
-        'vc90' : {
-            'gen' : r'Visual Studio 9 2008',
-            'ver' : r'9.0'
-            },
         'vc100' : {
             'gen' : r'Visual Studio 10',
             'ver' : r'10.0'
             }
         }
-    gens['vs2003'] = gens['vc71']
-    gens['vs2005'] = gens['vc80']
-    gens['vs2008'] = gens['vc90']
     gens['vs2010'] = gens['vc100']
 
     search_path = r'C:\windows'
@@ -505,21 +457,21 @@ class WindowsSetup(PlatformSetup):
 
     def _get_generator(self):
         if self._generator is None:
-            for version in 'vc80 vc90 vc100 vc71'.split():
+            for version in 'vc100'.split():
                 if self.find_visual_studio(version):
                     self._generator = version
                     print 'Building with ', self.gens[version]['gen']
                     break
             else:
                 print >> sys.stderr, 'Cannot find a Visual Studio installation, testing for express editions'
-                for version in 'vc80 vc90 vc100 vc71'.split():
+                for version in 'vc100'.split():
                     if self.find_visual_studio_express(version):
                         self._generator = version
                         self.using_express = True
                         print 'Building with ', self.gens[version]['gen'] , "Express edition"
                         break
                 else:
-					for version in 'vc80 vc90 vc100 vc71'.split():
+					for version in 'vc100'.split():
 						if self.find_visual_studio_express_single(version):
 							self._generator = version
 							self.using_express = True
@@ -550,7 +502,6 @@ class WindowsSetup(PlatformSetup):
             unattended=self.unattended,
             project_name=self.project_name,
             word_size=self.word_size,
-            opensim_rules=self.opensim_rules,
             )
         #if simple:
         #    return 'cmake %(opts)s "%(dir)s"' % args
@@ -558,7 +509,6 @@ class WindowsSetup(PlatformSetup):
                 '-DSTANDALONE:BOOL=%(standalone)s '
                 '-DUNATTENDED:BOOL=%(unattended)s '
                 '-DWORD_SIZE:STRING=%(word_size)s '
-                '-DOPENSIM_RULES:BOOL=%(opensim_rules)s '
                 '-DROOT_PROJECT_NAME:STRING=%(project_name)s '
                 '%(opts)s "%(dir)s"' % args)
 
@@ -734,7 +684,6 @@ class CygwinSetup(WindowsSetup):
             unattended=self.unattended,
             project_name=self.project_name,
             word_size=self.word_size,
-            opensim_rules=self.opensim_rules,
             )
         #if simple:
         #    return 'cmake %(opts)s "%(dir)s"' % args
@@ -742,7 +691,6 @@ class CygwinSetup(WindowsSetup):
                 '-DUNATTENDED:BOOl=%(unattended)s '
                 '-DSTANDALONE:BOOL=%(standalone)s '
                 '-DWORD_SIZE:STRING=%(word_size)s '
-                '-DOPENSIM_RULES:BOOL=%(opensim_rules)s '
                 '-DROOT_PROJECT_NAME:STRING=%(project_name)s '
                 '%(opts)s "%(dir)s"' % args)
 
@@ -768,8 +716,7 @@ Options:
   -m32 | -m64           build architecture (32-bit or 64-bit)
   -N | --no-distcc      disable use of distcc
   -G | --generator=NAME generator name
-                        Windows: VC71 or VS2003 (default), VC80 (VS2005) 
+                        Windows: VC100 (VS2010) (default)
-                          VC90 (VS2008), or VC100 (VS2010)
                         Mac OS X: Xcode (default), Unix Makefiles
                         Linux: Unix Makefiles (default), KDevelop3
   -p | --project=NAME   set the root project name. (Doesn't effect makefiles)
@@ -782,21 +729,15 @@ Commands:
 
 Command-options for "configure":
   We use cmake variables to change the build configuration.
-  -DSERVER:BOOL=OFF          Don't configure simulator/dataserver/etc
-  -DVIEWER:BOOL=OFF          Don't configure the viewer
   -DPACKAGE:BOOL=ON          Create "package" target to make installers
   -DLOCALIZESETUP:BOOL=ON    Create one win_setup target per supported language
   -DLL_TESTS:BOOL=OFF        Don't generate unit test projects
   -DEXAMPLEPLUGIN:BOOL=OFF   Don't generate example plugin project
   -DDISABLE_TCMALLOC:BOOL=ON Disable linkage of TCMalloc. (64bit builds automatically disable TCMalloc)
-  -DVISTA_ICON:BOOL=ON       Allow pre-2008 VS to use vista-optimized resource file. (Requires updated rcdll.dll!)
 
 Examples:
-  Set up a viewer-only project for your system:
+  Set up a Visual Studio 2010 project with "package" target:
-    develop.py configure -DSERVER:BOOL=OFF
+    develop.py -G vc100 configure -DPACKAGE:BOOL=ON
-  
-  Set up a Visual Studio 2005 project with "package" target:
-    develop.py -G vc80 configure -DPACKAGE:BOOL=ON
 '''
 
 def main(arguments):

indra/libhacd/CMakeLists.txt

@@ -0,0 +1,39 @@
+# -*- cmake -*-
+
+project(libhacd)
+include(00-Common)
+
+set(libhacd_SOURCE_FILES
+    hacdGraph.cpp
+    hacdHACD.cpp
+    hacdICHull.cpp
+    hacdManifoldMesh.cpp
+    hacdMeshDecimator.cpp
+    hacdMicroAllocator.cpp
+    hacdRaycastMesh.cpp
+)
+
+set(libhacd_HEADER_FILES
+    hacdCircularList.h
+    hacdCircularList.inl
+    hacdGraph.h
+    hacdHACD.h
+    hacdICHull.h
+    hacdManifoldMesh.h
+    hacdMeshDecimator.h
+    hacdMicroAllocator.h
+    hacdRaycastMesh.h
+    hacdSArray.h
+    hacdVector.h
+    hacdVector.inl
+    hacdVersion.h
+)
+
+set_source_files_properties(${libhacd_HEADER_FILES}
+                            PROPERTIES HEADER_FILE_ONLY TRUE)
+
+IF(WINDOWS)
+   add_definitions(-D_CRT_SECURE_NO_WARNINGS)
+ENDIF(WINDOWS)
+
+add_library(hacd ${libhacd_SOURCE_FILES} ${libhacd_INCLUDE_FILES})

indra/libhacd/hacdCircularList.h

@@ -0,0 +1,85 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_CIRCULAR_LIST_H
+#define HACD_CIRCULAR_LIST_H
+#include <stdlib.h>
+#include "hacdVersion.h"
+#include "hacdMicroAllocator.h"
+namespace HACD
+{
+	//!	CircularListElement class.
+	template < typename T > class CircularListElement
+	{
+    public:
+        T &                                     GetData() { return m_data; }
+        const T &                               GetData() const { return m_data; }
+        CircularListElement<T> * &				GetNext() { return m_next; }
+        CircularListElement<T> * &				GetPrev() { return m_prev; }
+        const CircularListElement<T> * &		GetNext() const { return m_next; }
+        const CircularListElement<T> * &		GetPrev() const { return m_prev; }        
+        //!	Constructor
+												CircularListElement(const T & data) {m_data = data;}
+												CircularListElement(void){}
+        //! Destructor
+												~CircularListElement(void){}
+    private:
+        T										m_data;
+        CircularListElement<T> *				m_next; 
+        CircularListElement<T> *				m_prev;
+
+												CircularListElement(const CircularListElement & rhs);
+	};
+    
+    
+	//!	CircularList class.
+	template < typename T > class CircularList
+	{
+	public:
+        HeapManager * const     				GetHeapManager() const { return m_heapManager;}
+		void									SetHeapManager(HeapManager * const heapManager) { m_heapManager = heapManager;}
+        CircularListElement<T> *  &             GetHead() { return m_head;}        
+		const CircularListElement<T> *          GetHead() const { return m_head;}
+		bool                                    IsEmpty() const { return (m_size == 0);}
+		size_t                                  GetSize() const { return m_size; }
+		const T &                               GetData() const { return m_head->GetData(); }        
+		T &                                     GetData() { return m_head->GetData();}
+		bool                                    Delete() ;
+        bool                                    Delete(CircularListElement<T> * element);
+		CircularListElement<T> *                Add(const T * data = 0);
+		CircularListElement<T> *                Add(const T & data);
+		bool                                    Next();
+		bool                                    Prev();
+		void									Clear() { while(Delete());};
+        const CircularList&						operator=(const CircularList& rhs);
+		//!	Constructor											
+												CircularList(HeapManager * heapManager)
+												{ 
+													m_head = 0; 
+													m_size = 0;
+                                                    m_heapManager = heapManager;
+												}
+												CircularList(const CircularList& rhs);
+		//! Destructor
+		virtual								    ~CircularList(void) {Clear();};
+	private:
+		CircularListElement<T> *				m_head;		//!< a pointer to the head of the circular list
+		size_t									m_size;		//!< number of element in the circular list
+        HeapManager *                           m_heapManager;
+        
+	};
+}
+#include "hacdCircularList.inl"
+#endif

indra/libhacd/hacdCircularList.inl

@@ -0,0 +1,230 @@
+#pragma once
+#ifndef HACD_CIRCULAR_LIST_INL
+#define HACD_CIRCULAR_LIST_INL
+#include <stdlib.h>
+#include "hacdVersion.h"
+namespace HACD
+{
+	template < typename T > 
+	inline bool CircularList<T>::Delete(CircularListElement<T> * element)
+	{
+        if (!element)
+        {
+            return false;
+        }
+		if (m_size > 1)
+		{
+			CircularListElement<T> * next = element->GetNext();
+			CircularListElement<T> * prev = element->GetPrev();
+            if (m_heapManager)
+            {
+				element->~CircularListElement<T>();
+                heap_free(m_heapManager, element);
+            }
+            else
+            {
+			    delete element;
+            }
+			m_size--;
+            if (element == m_head)
+            {
+                m_head = next;
+            }
+			next->GetPrev() = prev;
+			prev->GetNext() = next;
+			return true;
+		}
+		else if (m_size == 1)
+		{
+            if (m_heapManager)
+            {
+				element->~CircularListElement<T>();
+                heap_free(m_heapManager, m_head);
+            }
+            else
+            {
+			    delete m_head;
+            }
+			m_size--;
+			m_head = 0;
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+    
+	template < typename T > 
+	inline bool CircularList<T>::Delete()
+	{
+		if (m_size > 1)
+		{
+			CircularListElement<T> * next = m_head->GetNext();
+			CircularListElement<T> * prev = m_head->GetPrev();
+            if (m_heapManager)
+            {
+				m_head->~CircularListElement<T>();
+                heap_free(m_heapManager, m_head);
+            }
+            else
+            {
+			    delete m_head;
+            }
+			m_size--;
+			m_head = next;
+			next->GetPrev() = prev;
+			prev->GetNext() = next;
+			return true;
+		}
+		else if (m_size == 1)
+		{
+            if (m_heapManager)
+            {
+				m_head->~CircularListElement<T>();
+                heap_free(m_heapManager, m_head);
+            }
+            else
+            {
+			    delete m_head;
+            }
+            m_size--;
+			m_head = 0;
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+	template < typename T > 
+	inline CircularListElement<T> * CircularList<T>::Add(const T * data)
+	{
+		if (m_size == 0)
+		{
+			if (data)
+			{
+                if (m_heapManager)
+                {
+                    m_head = static_cast< CircularListElement<T> * > (heap_malloc(m_heapManager, sizeof(CircularListElement<T>)));
+                    m_head->GetData().Initialize();
+                    m_head->GetData() = (*data);
+                }
+                else
+                {
+				    m_head = new CircularListElement<T>(*data);
+                }
+			}
+			else
+			{
+                if (m_heapManager)
+                {
+                    m_head = static_cast< CircularListElement<T> * > (heap_malloc(m_heapManager, sizeof(CircularListElement<T>)));
+                    m_head->GetData().Initialize();
+                }
+                else
+                {
+    				m_head = new CircularListElement<T>();
+                }
+			}
+			m_head->GetNext() = m_head->GetPrev() = m_head;
+		}
+		else
+		{
+			CircularListElement<T> * next = m_head->GetNext();
+			CircularListElement<T> * element = m_head;
+			if (data)
+			{
+                if (m_heapManager)
+                {
+                    m_head = static_cast< CircularListElement<T> * > (heap_malloc(m_heapManager, sizeof(CircularListElement<T>)));
+                    m_head->GetData().Initialize();
+                    m_head->GetData() = (*data);
+                }
+                else
+                {
+				    m_head = new CircularListElement<T>(*data);
+                }
+			}
+			else
+			{
+                if (m_heapManager)
+                {
+                    m_head = static_cast< CircularListElement<T> * > (heap_malloc(m_heapManager, sizeof(CircularListElement<T>)));
+                    m_head->GetData().Initialize();
+                }
+                else
+                {
+    				m_head = new CircularListElement<T>();
+                }
+			}
+			m_head->GetNext() = next;
+			m_head->GetPrev() = element;
+			element->GetNext() = m_head;
+			next->GetPrev() = m_head;
+		}
+		m_size++;
+		return m_head;
+	}
+	template < typename T > 
+	inline CircularListElement<T> * CircularList<T>::Add(const T & data)
+	{
+		const T * pData = &data;
+		return Add(pData);
+	}
+	template < typename T > 
+	inline bool CircularList<T>::Next()
+	{
+		if (m_size == 0)
+		{
+			return false;
+		}
+		m_head = m_head->GetNext();
+		return true;
+	}
+	template < typename T > 
+	inline bool CircularList<T>::Prev()
+	{
+		if (m_size == 0)
+		{
+			return false;
+		}
+		m_head = m_head->GetPrev();
+		return true;
+	}
+	template < typename T > 
+	inline CircularList<T>::CircularList(const CircularList& rhs)
+	{
+		if (rhs.m_size > 0)
+		{
+			CircularListElement<T> * current = rhs.m_head;
+			do
+			{
+				current = current->GetNext();
+				Add(current->GetData());
+			}
+			while ( current != rhs.m_head );
+		}
+	}
+    template < typename T > 
+	inline const CircularList<T>& CircularList<T>::operator=(const CircularList& rhs)
+	{
+        if (&rhs != this)
+        {
+            Clear();
+            m_heapManager = rhs.m_heapManager;
+            if (rhs.m_size > 0)
+            {
+                CircularListElement<T> * current = rhs.m_head;
+                do
+                {
+                    current = current->GetNext();
+                    Add(current->GetData());
+                }
+                while ( current != rhs.m_head );
+            }
+        }
+        return (*this);
+	}
+}
+#endif

indra/libhacd/hacdGraph.cpp

@@ -0,0 +1,278 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdGraph.h"
+namespace HACD
+{    
+    
+    GraphEdge::GraphEdge()
+    {
+        m_v1 = -1;
+        m_v2 = -1;
+		m_name = -1;
+        m_error = 0;
+        m_concavity = 0;
+        m_deleted = false;
+#ifdef HACD_PRECOMPUTE_CHULLS
+        m_convexHull = 0;
+#endif
+	}
+   
+    GraphVertex::GraphVertex()
+    {
+        m_convexHull = 0;
+		m_name = -1;
+        m_cc = -1;
+        m_concavity = 0;
+        m_surf = 0;
+        m_deleted = false;
+    }
+    
+    bool GraphVertex::DeleteEdge(long name)
+    {
+        return m_edges.Erase(name);
+    }
+
+    Graph::Graph()
+    {
+        m_nV = 0;
+        m_nE = 0;
+        m_nCCs = 0;
+    }
+    
+    Graph::~Graph()
+    {
+    }
+    
+	void Graph::Allocate(size_t nV, size_t nE)
+	{ 
+		m_nV = nV;
+		m_edges.reserve(nE);
+		m_vertices.resize(nV);
+		for(size_t i = 0; i < nV; i++)
+		{
+			m_vertices[i].m_name = static_cast<long>(i);
+		}
+	}
+
+    long Graph::AddVertex()
+    {
+		size_t name = m_vertices.size();
+		m_vertices.resize(name+1);
+        m_vertices[name].m_name = static_cast<long>(name);
+        m_nV++;
+        return static_cast<long>(name);
+    }
+    
+    long Graph::AddEdge(long v1, long v2)
+    {
+		size_t name = m_edges.size();
+		m_edges.push_back(GraphEdge());
+        m_edges[name].m_name = static_cast<long>(name);
+        m_edges[name].m_v1 = v1;
+        m_edges[name].m_v2 = v2;
+        m_vertices[v1].AddEdge(static_cast<long>(name));
+        m_vertices[v2].AddEdge(static_cast<long>(name));
+        m_nE++;
+		return static_cast<long>(name);
+    }
+
+    bool Graph::DeleteEdge(long name)
+    {
+		if (name < static_cast<long>(m_edges.size()))
+		{
+            long v1 = m_edges[name].m_v1;
+            long v2 = m_edges[name].m_v2;
+			m_edges[name].m_deleted = true;
+            m_vertices[v1].DeleteEdge(name);
+            m_vertices[v2].DeleteEdge(name);
+			m_nE--;
+			return true;
+		}
+		return false;
+    }
+    bool Graph::DeleteVertex(long name)
+    {
+		if (name < static_cast<long>(m_vertices.size()))
+		{
+			m_vertices[name].m_deleted = true;
+            m_vertices[name].m_edges.Clear();
+            m_vertices[name].m_ancestors = std::vector<long>();
+            delete m_vertices[name].m_convexHull;
+			m_vertices[name].m_distPoints.Clear();
+			m_vertices[name].m_boudaryEdges.Clear();
+            m_vertices[name].m_convexHull = 0;
+			m_nV--;
+			return true;
+		}
+		return false;
+    }    
+    bool Graph::EdgeCollapse(long v1, long v2)
+	{
+		long edgeToDelete = GetEdgeID(v1, v2);
+        if (edgeToDelete >= 0) 
+		{
+			// delete the edge (v1, v2)
+			DeleteEdge(edgeToDelete);
+			// add v2 to v1 ancestors
+            m_vertices[v1].m_ancestors.push_back(v2);
+			// add v2's ancestors to v1's ancestors
+			m_vertices[v1].m_ancestors.insert(m_vertices[v1].m_ancestors.begin(),
+											  m_vertices[v2].m_ancestors.begin(), 
+											  m_vertices[v2].m_ancestors.end());
+			// update adjacency information
+			SArray<long, SARRAY_DEFAULT_MIN_SIZE> & v1Edges =  m_vertices[v1].m_edges;
+			long b = -1;
+            long idEdge;
+			for(size_t ed = 0; ed < m_vertices[v2].m_edges.Size(); ++ed) 
+			{
+                idEdge = m_vertices[v2].m_edges[ed];
+				if (m_edges[idEdge].m_v1 == v2)
+				{
+					b = m_edges[idEdge].m_v2;
+				}
+				else
+				{
+					b = m_edges[idEdge].m_v1;
+				}
+				if (GetEdgeID(v1, b) >= 0)
+				{
+					m_edges[idEdge].m_deleted = true;
+					m_vertices[b].DeleteEdge(idEdge);
+					m_nE--;
+				}
+				else
+				{
+					m_edges[idEdge].m_v1 = v1;
+					m_edges[idEdge].m_v2 = b;
+					v1Edges.Insert(idEdge);
+				}
+			}
+			// delete the vertex v2
+            DeleteVertex(v2);			
+            return true;
+        }
+		return false;
+    }
+    
+    long Graph::GetEdgeID(long v1, long v2) const
+    {
+		if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
+		{
+            long idEdge;
+			for(size_t ed = 0; ed < m_vertices[v1].m_edges.Size(); ++ed) 
+			{
+                idEdge =  m_vertices[v1].m_edges[ed];
+				if ( (m_edges[idEdge].m_v1 == v2) || 
+					 (m_edges[idEdge].m_v2 == v2)   ) 
+				{
+					return m_edges[idEdge].m_name;
+				}
+			}
+		}
+        return -1;
+    }
+    
+	void Graph::Print() const
+	{
+		std::cout << "-----------------------------" << std::endl;
+        std::cout << "vertices (" << m_nV << ")" << std::endl;
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			const GraphVertex & currentVertex = m_vertices[v];
+			if (!m_vertices[v].m_deleted)
+			{
+
+				std::cout  << currentVertex.m_name	  << "\t";
+				long idEdge;
+				for(size_t ed = 0; ed < currentVertex.m_edges.Size(); ++ed) 
+				{
+                    idEdge = currentVertex.m_edges[ed];
+					std::cout  << "(" << m_edges[idEdge].m_v1 << "," << m_edges[idEdge].m_v2 << ") "; 	  
+				}
+				std::cout << std::endl;
+			}			
+		}
+
+		std::cout << "vertices (" << m_nE << ")" << std::endl;
+		for (size_t e = 0; e < m_edges.size(); ++e) 
+		{
+			const GraphEdge & currentEdge = m_edges[e];
+			if (!m_edges[e].m_deleted)
+			{
+				std::cout  << currentEdge.m_name	  << "\t(" 
+						   << m_edges[e].m_v1		  << "," 
+						   << m_edges[e].m_v2		  << ") "<< std::endl;
+			}			
+		}
+	}
+	void Graph::Clear()
+	{
+		m_vertices.clear();
+		m_edges.clear();
+		m_nV = 0;
+        m_nE = 0;
+	}
+    
+    long Graph::ExtractCCs()
+	{
+        // all CCs to -1
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			if (!m_vertices[v].m_deleted)
+			{
+				m_vertices[v].m_cc = -1;
+			}
+        }
+        
+        // we get the CCs
+        m_nCCs = 0;
+		long v2 = -1;
+        long idEdge;
+		std::vector<long> temp;
+        for (size_t v = 0; v < m_vertices.size(); ++v) 
+		{
+			if (!m_vertices[v].m_deleted && m_vertices[v].m_cc == -1) 
+			{
+                m_vertices[v].m_cc = static_cast<long>(m_nCCs);
+                temp.clear();
+                temp.push_back(m_vertices[v].m_name);
+                while (temp.size()) 
+				{
+                    long vertex = temp[temp.size()-1];
+                    temp.pop_back();                                        
+					for(size_t ed = 0; ed < m_vertices[vertex].m_edges.Size(); ++ed) 
+					{
+                        idEdge =  m_vertices[vertex].m_edges[ed];
+                        if (m_edges[idEdge].m_v1 == vertex) 
+						{
+                            v2 = m_edges[idEdge].m_v2;
+                        }
+                        else 
+						{
+                            v2 = m_edges[idEdge].m_v1;
+                        }
+                        if ( !m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1) 
+						{
+                            m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
+                            temp.push_back(v2);
+                        }
+                    }
+                }
+                m_nCCs++;
+            }
+        }        
+        return static_cast<long>(m_nCCs);
+    }
+}

indra/libhacd/hacdGraph.h

@@ -0,0 +1,118 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_GRAPH_H
+#define HACD_GRAPH_H
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdICHull.h"
+#include <map>
+#include <vector>
+#include "hacdSArray.h"
+//#define HACD_PRECOMPUTE_CHULLS
+
+namespace HACD
+{
+    class GraphVertex;
+    class GraphEdge;
+    class Graph;
+	class HACD;
+       
+    class GraphVertex  
+    {
+    public:
+        bool                                                      AddEdge(long name) 
+                                                                  { 
+                                                                    m_edges.Insert(name); 
+                                                                    return true; 
+                                                                  }
+        bool                                                      DeleteEdge(long name);        
+                                                                  GraphVertex();
+                                                                  ~GraphVertex(){ delete m_convexHull;};      
+    private:
+        long                                                      m_name;
+        long                                                      m_cc;
+        SArray<long, SARRAY_DEFAULT_MIN_SIZE>                     m_edges;
+        bool                                                      m_deleted;
+        std::vector<long>	                                      m_ancestors;
+		SArray<DPoint, SARRAY_DEFAULT_MIN_SIZE>					  m_distPoints;
+
+        Real                                                      m_concavity;
+        double                                                    m_surf;
+        ICHull *                                                  m_convexHull;
+		SArray<unsigned long long, SARRAY_DEFAULT_MIN_SIZE>       m_boudaryEdges;
+        
+
+        friend class GraphEdge;
+        friend class Graph;
+		friend class HACD;
+    };
+    
+	class GraphEdge 
+    {
+    public:
+                                                                 GraphEdge();
+                                                                 ~GraphEdge()
+                                                                 {
+#ifdef HACD_PRECOMPUTE_CHULLS
+                                                                    delete m_convexHull;
+#endif
+                                                                 };
+    private:
+        long                                                     m_name;
+        long                                                     m_v1;
+        long                                                     m_v2;
+        double                                                   m_concavity;
+        Real                                                     m_error;
+#ifdef HACD_PRECOMPUTE_CHULLS
+        ICHull *                                                 m_convexHull;
+#endif
+        bool                                                     m_deleted;
+        
+        friend class GraphVertex;
+        friend class Graph;
+		friend class HACD;
+    };
+    
+    class Graph  
+    {
+    public:
+		size_t									                 GetNEdges() const { return m_nE;}
+		size_t									                 GetNVertices() const { return m_nV;}
+        bool                                                     EdgeCollapse(long v1, long v2);
+        long                                                     AddVertex();
+        long                                                     AddEdge(long v1, long v2);
+        bool                                                     DeleteEdge(long name);	
+        bool                                                     DeleteVertex(long name);
+        long                                                     GetEdgeID(long v1, long v2) const;
+		void									                 Clear();
+        void                                                     Print() const;
+        long                                                     ExtractCCs();
+        
+                                                                 Graph();
+        virtual                                                  ~Graph();      
+		void									                 Allocate(size_t nV, size_t nE);
+
+    private:
+        size_t                                                   m_nCCs;
+        size_t                                                   m_nV;
+        size_t                                                   m_nE;
+        std::vector<GraphEdge>                                   m_edges;
+        std::vector<GraphVertex>                                 m_vertices;
+
+		friend class HACD;
+    };
+}
+#endif

indra/libhacd/hacdHACD.h

@@ -0,0 +1,331 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_HACD_H
+#define HACD_HACD_H
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdGraph.h"
+#include "hacdICHull.h"
+#include <set>
+#include <vector>
+#include <queue>
+
+namespace HACD
+{
+    const double                                    sc_pi = 3.14159265;
+	class HACD;
+
+	// just to be able to set the capcity of the container
+	
+	template<class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
+	class reservable_priority_queue: public std::priority_queue<_Ty, _Container, _Pr> 
+	{
+        typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
+	public:
+                                                    reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
+		void										reserve(size_type capacity) { this->c.reserve(capacity); } 
+        size_type									capacity() const { return this->c.capacity(); } 
+	};
+	
+	//! priority queque element
+	class HACD;
+    class GraphEdgePriorityQueue
+    {
+		public:
+			//! Constructor
+			//! @param name edge's id
+			//! @param priority edge's priority
+													GraphEdgePriorityQueue(long name, Real priority)
+													{
+														m_name = name;
+														m_priority = priority;
+													}
+			//! Destructor
+													~GraphEdgePriorityQueue(void){}
+		private:
+			long									m_name;						//!< edge name
+			Real                                    m_priority;					//!< priority
+		//! Operator < for GraphEdgePQ
+        friend bool                                 operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
+		//! Operator > for GraphEdgePQ
+        friend bool                                 operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
+		friend class HACD;
+    };
+    inline bool										operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
+													{
+														return (lhs.m_priority<rhs.m_priority);
+													}
+    inline bool										operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
+													{
+														return lhs.m_priority>rhs.m_priority;
+													}
+    class ICallback
+    {
+    public:
+		virtual void operator()( char const *aMsg, double aProgress, double aConcavity, size_t aVertices) = 0;
+		virtual ~ICallback() {}
+    };
+	
+	typedef ICallback* CallBackFunction;
+
+	//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
+    class HACD
+	{            
+    public:
+		//! Gives the targeted number of triangles of the decimated mesh
+		//! @return targeted number of triangles of the decimated mesh
+		size_t										GetTargetNTrianglesDecimatedMesh() const { return m_targetNTrianglesDecimatedMesh;}
+        //! Sets the targeted number of triangles of the decimated mesh
+		//! @param targeted number of triangles of the decimated mesh
+		void										SetNTargetTrianglesDecimatedMesh(size_t  targetNTrianglesDecimatedMesh) { m_targetNTrianglesDecimatedMesh = targetNTrianglesDecimatedMesh;}
+		//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
+		//! @return triangles partition
+		const long * const							GetPartition() const { return m_partition;}
+        //! Sets the scale factor
+		//! @param scale scale factor
+		void										SetScaleFactor(double  scale) { m_scale = scale;}
+		//! Gives the scale factor
+		//! @return scale factor
+		const double								GetScaleFactor() const { return m_scale;}
+        //! Sets the threshold to detect small clusters. The threshold is expressed as a percentage of the total mesh surface (default 0.25%)
+		//! @param smallClusterThreshold threshold to detect small clusters
+		void										SetSmallClusterThreshold(double  smallClusterThreshold) { m_smallClusterThreshold = smallClusterThreshold;}
+		//! Gives the threshold to detect small clusters. The threshold is expressed as a percentage of the total mesh surface (default 0.25%)
+		//! @return threshold to detect small clusters
+		const double								GetSmallClusterThreshold() const { return m_smallClusterThreshold;}
+		//! Sets the call-back function
+		//! @param callBack pointer to the call-back function
+		void										SetCallBack(CallBackFunction  callBack) { m_callBack = callBack;}
+		//! Gives the call-back function
+		//! @return pointer to the call-back function
+		const CallBackFunction                      GetCallBack() const { return m_callBack;}
+        
+        //! Specifies whether faces points should be added when computing the concavity
+		//! @param addFacesPoints true = faces points should be added
+		void										SetAddFacesPoints(bool  addFacesPoints) { m_addFacesPoints = addFacesPoints;}
+		//! Specifies wheter faces points should be added when computing the concavity
+		//! @return true = faces points should be added
+		const bool									GetAddFacesPoints() const { return m_addFacesPoints;}
+        //! Specifies whether extra points should be added when computing the concavity
+		//! @param addExteraDistPoints true = extra points should be added
+		void										SetAddExtraDistPoints(bool  addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;}
+		//! Specifies wheter extra points should be added when computing the concavity
+		//! @return true = extra points should be added
+		const bool									GetAddExtraDistPoints() const { return m_addExtraDistPoints;}
+        //! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
+		//! @param points pointer to the input points
+		void										SetPoints(Vec3<Real>  * points) { m_points = points;}
+		//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
+		//! @return pointer to the input points 
+		const Vec3<Real> *                          GetPoints() const { return m_points;}
+		//! Gives the points of the decimated mesh
+		//! @return pointer to the decimated mesh points 
+		const Vec3<Real> *                          GetDecimatedPoints() const { return m_pointsDecimated;}
+		//! Gives the triangles in the decimated mesh 
+		//! @return pointer to the decimated mesh triangles 
+		const Vec3<long>   *			            GetDecimatedTriangles() const { return m_trianglesDecimated;}        
+		//! Gives the number of points in the decimated mesh.
+		//! @return number of points the decimated mesh mesh
+		const size_t								GetNDecimatedPoints() const { return m_nPointsDecimated;}
+		//! Gives the number of triangles in the decimated mesh.
+		//! @return number of triangles the decimated mesh
+		const size_t								GetNDecimatedTriangles() const { return m_nTrianglesDecimated;}
+		//! Sets the triangles of the input mesh.
+		//! @param triangles points pointer to the input points
+		void										SetTriangles(Vec3<long>  * triangles) { m_triangles = triangles;}
+		//! Gives the triangles in the input mesh 
+		//! @return pointer to the input triangles 
+		const Vec3<long>   *			            GetTriangles() const { return m_triangles;}
+		//! Sets the number of points in the input mesh.
+		//! @param nPoints number of points the input mesh
+		void										SetNPoints(size_t nPoints) { m_nPoints = nPoints;}
+		//! Gives the number of points in the input mesh.
+		//! @return number of points the input mesh
+		const size_t								GetNPoints() const { return m_nPoints;}
+		//! Sets the number of triangles in the input mesh.
+		//! @param nTriangles number of triangles in the input mesh
+		void										SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;}
+		//! Gives the number of triangles in the input mesh.
+		//! @return number of triangles the input mesh
+		const size_t								GetNTriangles() const { return m_nTriangles;}
+		//! Sets the minimum number of clusters to be generated.
+		//! @param nClusters minimum number of clusters
+		void										SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;}
+		//! Gives the number of generated clusters.
+		//! @return number of generated clusters
+		const size_t								GetNClusters() const { return m_nClusters;}
+		//! Sets the maximum allowed concavity.
+		//! @param concavity maximum concavity
+		void										SetConcavity(double concavity) { m_concavity = concavity;}
+		//! Gives the maximum allowed concavity.
+		//! @return maximum concavity
+		double                                      GetConcavity() const { return m_concavity;}
+		//! Sets the maximum allowed distance to get CCs connected.
+		//! @param concavity maximum distance to get CCs connected
+		void										SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist;}
+		//! Gives the maximum allowed distance to get CCs connected.
+		//! @return maximum distance to get CCs connected
+		double                                      GetConnectDist() const { return m_ccConnectDist;}        
+        //! Sets the volume weight.
+		//! @param beta volume weight
+        void										SetVolumeWeight(double beta) { m_beta = beta;}
+		//! Gives the volume weight.
+		//! @return volume weight
+        double                                      GetVolumeWeight() const { return m_beta;}	
+		//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
+		//! @param alpha compacity weight
+        void										SetCompacityWeight(double alpha) { m_alpha = alpha;}
+		//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
+		//! @return compacity weight
+        double                                      GetCompacityWeight() const { return m_alpha;}	
+		//! Sets the maximum number of vertices for each generated convex-hull.
+		//! @param nVerticesPerCH maximum # vertices per CH
+        void										SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;}
+		//! Gives the maximum number of vertices for each generated convex-hull.
+		//! @return maximum # vertices per CH
+		const size_t								GetNVerticesPerCH() const { return m_nVerticesPerCH;}
+		//! Gives the number of vertices for the cluster number numCH.
+		//! @return number of vertices
+		size_t                                      GetNPointsCH(size_t numCH) const;
+		//! Gives the number of triangles for the cluster number numCH.
+		//! @param numCH cluster's number
+		//! @return number of triangles
+        size_t                                      GetNTrianglesCH(size_t numCH) const;
+		//! Gives the vertices and the triangles of the cluster number numCH.
+		//! @param numCH cluster's number
+		//! @param points pointer to the vector of points to be filled
+		//! @param triangles pointer to the vector of triangles to be filled
+		//! @return true if sucess
+        bool                                        GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles);     
+		//! Computes the HACD decomposition.
+		//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
+        //! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
+		//! @return true if sucess
+        bool										Compute(bool fullCH=false, bool exportDistPoints=false);
+#if 0
+		//! Saves the generated convex-hulls in a VRML 2.0 file.
+		//! @param fileName the output file name
+		//! @param uniColor specifies whether the different convex-hulls should have the same color or not
+        //! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
+        //! @return true if sucess
+		bool										Save(const char * fileName, bool uniColor, long numCluster=-1) const;
+#endif
+		//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
+		void										NormalizeData();
+		//! Inverse the operations applied by NormalizeData().
+		void										DenormalizeData();
+		//! Destructor.
+													~HACD(void);
+
+	private:
+        //! Constructor.
+													HACD(HeapManager * heapManager = 0);
+
+		//! Gives the edge index.
+		//! @param a first vertex id
+		//! @param b second vertex id
+		//! @return edge's index
+		static unsigned long long					GetEdgeIndex(unsigned long long a, unsigned long long b) 
+													{ 
+														if (a > b) return (a << 32) + b;
+														else	   return (b << 32) + a;
+													}
+		//! Computes the concavity of a cluster.
+		//! @param ch the cluster's convex-hull
+		//! @param distPoints the cluster's points 
+		//! @return cluster's concavity
+		double										Concavity(ICHull & ch, std::map<long, DPoint> & distPoints);
+		//! Computes the perimeter of a cluster.
+		//! @param triIndices the cluster's triangles
+		//! @param distPoints the cluster's points 
+		//! @return cluster's perimeter
+        double										ComputePerimeter(const std::vector<long> & triIndices) const;
+		//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
+        void										CreateGraph();	
+		//! Initializes the graph costs and computes the vertices normals
+        void										InitializeDualGraph();
+		//! Computes the cost of an edge
+		//! @param e edge's id
+        void                                        ComputeEdgeCost(size_t e);
+		//! Initializes the priority queue
+		//! @param fast specifies whether fast mode is used
+		//! @return true if success
+        bool                                        InitializePriorityQueue();
+        //! Cleans the intersection between convex-hulls
+        void                                        CleanClusters();
+        //! Computes convex-hulls from partition information
+        //! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
+		void										ComputeConvexHulls(bool fullCH);
+		//! Simplifies the graph
+		//! @param fast specifies whether fast mode is used
+		void										Simplify();
+
+	private:
+        Vec3<long> *								m_trianglesDecimated;		//>! pointer the triangles array
+        Vec3<Real> *                                m_pointsDecimated;			//>! pointer the points array
+        Vec3<long> *								m_triangles;				//>! pointer the triangles array
+        Vec3<Real> *                                m_points;					//>! pointer the points array
+        Vec3<Real> *                                m_facePoints;               //>! pointer to the faces points array
+        Vec3<Real> *                                m_faceNormals;              //>! pointer to the faces normals array
+        Vec3<Real> *                                m_normals;					//>! pointer the normals array
+        Vec3<Real> *                                m_extraDistPoints;          //>! pointer to the faces points array
+        Vec3<Real> *                                m_extraDistNormals;         //>! pointer to the faces normals array
+        size_t										m_nTrianglesDecimated;		//>! number of triangles in the original mesh
+        size_t										m_nPointsDecimated;			//>! number of vertices in the original mesh
+        size_t										m_nTriangles;				//>! number of triangles in the original mesh
+        size_t										m_nPoints;					//>! number of vertices in the original mesh
+        size_t										m_nClusters;				//>! number of clusters
+        size_t										m_nMinClusters;				//>! minimum number of clusters
+        double										m_ccConnectDist;			//>! maximum allowed distance to connect CCs
+        double										m_concavity;				//>! maximum concavity
+		double										m_alpha;					//>! compacity weigth
+        double                                      m_beta;                     //>! volume weigth
+		double										m_gamma;					//>! computation cost
+        double										m_diag;						//>! length of the BB diagonal
+		double										m_scale;					//>! scale factor used for NormalizeData() and DenormalizeData()
+		double										m_flatRegionThreshold;		//>! threshhold to control the contirbution of flat regions concavity (default 1% of m_scale)
+		double										m_smallClusterThreshold;	//>! threshhold to detect small clusters (default 0.25% of the total mesh surface)
+		double										m_area;						//>! surface area
+		Vec3<Real>                                  m_barycenter;				//>! barycenter of the mesh
+        std::vector< long >                         m_cVertices;				//>! array of vertices each belonging to a different cluster
+        ICHull *                                    m_convexHulls;				//>! convex-hulls associated with the final HACD clusters
+		Graph										m_graph;					//>! simplification graph
+        size_t                                      m_nVerticesPerCH;			//>! maximum number of vertices per convex-hull
+		reservable_priority_queue<GraphEdgePriorityQueue, 
+            std::vector<GraphEdgePriorityQueue>,
+			std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue;		//!> priority queue
+													HACD(const HACD & rhs);
+		CallBackFunction							m_callBack;					//>! call-back function
+		long *										m_partition;				//>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
+		size_t										m_targetNTrianglesDecimatedMesh; //>! specifies the target number of triangles in the decimated mesh. If set to 0 no decimation is applied.
+        HeapManager *                               m_heapManager;              //>! Heap Manager
+        bool                                        m_addFacesPoints;           //>! specifies whether to add faces points or not
+        bool                                        m_addExtraDistPoints;       //>! specifies whether to add extra points for concave shapes or not
+
+        friend HACD * const                         CreateHACD(HeapManager * heapManager = 0);
+        friend void                                 DestroyHACD(HACD * const hacd);
+	};
+    inline HACD * const CreateHACD(HeapManager * heapManager) 
+    { 
+        return new HACD(heapManager);
+    }
+    inline void DestroyHACD(HACD * const hacd) 
+    { 
+        delete hacd;
+    }
+}
+#endif
+

indra/libhacd/hacdICHull.h

@@ -0,0 +1,133 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_ICHULL_H
+#define HACD_ICHULL_H
+#include "hacdVersion.h"
+#include "hacdManifoldMesh.h"
+#include "hacdVector.h"
+#include <vector>
+#include <map>
+#include "hacdMicroAllocator.h"
+
+namespace HACD
+{
+	class DPoint;
+	class HACD;
+	//!	Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
+	enum ICHullError
+	{
+		ICHullErrorOK = 0,
+		ICHullErrorCoplanarPoints,
+		ICHullErrorNoVolume,
+		ICHullErrorInconsistent,
+		ICHullErrorNotEnoughPoints
+	};
+	class ICHull
+	{
+		public:
+			static const double									sc_eps;
+			//! 
+            HeapManager * const     							GetHeapManager() const { return m_heapManager;}
+			//!
+			void												SetHeapManager(HeapManager * const heapManager)
+                                                                { 
+                                                                    m_heapManager = heapManager;
+                                                                    m_mesh.SetHeapManager(m_heapManager);
+                                                                }
+			//!
+			bool												IsFlat() { return m_isFlat;}
+			//! 
+            std::map<long, DPoint> *							GetDistPoints() const { return m_distPoints;}
+			//!
+			void												SetDistPoints(std::map<long, DPoint> * distPoints) { m_distPoints = distPoints;}
+			//! Returns the computed mesh
+            TMMesh &                                            GetMesh() { return m_mesh;}
+			//!	Add one point to the convex-hull    
+            bool                                                AddPoint(const Vec3<Real> & point) {return AddPoints(&point, 1);}
+			//!	Add one point to the convex-hull    
+            bool                                                AddPoint(const Vec3<Real> & point, long id);
+			//!	Add points to the convex-hull
+			bool                                                AddPoints(const Vec3<Real> * points, size_t nPoints);	
+			bool												AddPoints(std::vector< Vec3<Real> > points);
+			//!	
+			ICHullError                                         Process();
+            //! 
+            ICHullError                                         Process(unsigned long nPointsCH);
+            //!
+            double                                              ComputeVolume();
+			//!
+			double												ComputeArea();
+            //!
+            bool                                                IsInside(const Vec3<Real> & pt0, const double eps = 0.0);
+			//!
+			double												ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints);
+            //!
+            const ICHull &                                      operator=(ICHull & rhs);        
+
+			//!	Constructor
+																ICHull(HeapManager * const heapManager=0);
+			//! Destructor
+			virtual                                             ~ICHull(void) {};
+
+		private:
+            //!	DoubleTriangle builds the initial double triangle.  It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face.  The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up. 
+			ICHullError                                         DoubleTriangle();
+            //!	MakeFace creates a new face structure from three vertices (in ccw order).  It returns a pointer to the face.
+            CircularListElement<TMMTriangle> *                  MakeFace(CircularListElement<TMMVertex> * v0,  
+                                                                         CircularListElement<TMMVertex> * v1,
+                                                                         CircularListElement<TMMVertex> * v2,
+                                                                         CircularListElement<TMMTriangle> * fold);			
+            //!	
+            CircularListElement<TMMTriangle> *                  MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * v);
+			//!	
+			bool                                                ProcessPoint();
+            //!
+            bool                                                ComputePointVolume(double &totalVolume, bool markVisibleFaces);
+            //!
+            bool                                                FindMaxVolumePoint();
+            //!	
+            bool                                                CleanEdges();
+            //!	
+            bool                                                CleanVertices(unsigned long & addedPoints);
+            //!	
+            bool                                                CleanTriangles();
+            //!	
+            bool                                                CleanUp(unsigned long & addedPoints);
+            //!
+            bool                                                MakeCCW(CircularListElement<TMMTriangle> * f,
+                                                                        CircularListElement<TMMEdge> * e, 
+                                                                        CircularListElement<TMMVertex> * v);
+			void												Clear(); 
+		private:
+            static const long                                   sc_dummyIndex;
+            static const double                                 sc_distMin;
+			TMMesh                                              m_mesh;
+            std::vector<CircularListElement<TMMEdge> *>         m_edgesToDelete;
+            std::vector<CircularListElement<TMMEdge> *>         m_edgesToUpdate;
+            std::vector<CircularListElement<TMMTriangle> *>     m_trianglesToDelete; 
+			std::map<long, DPoint> *							m_distPoints;            
+//			CircularListElement<TMMVertex> *					m_dummyVertex;
+			Vec3<Real>                                          m_normal;
+			bool												m_isFlat;
+            HeapManager *                                       m_heapManager;
+					                                           
+																ICHull(const ICHull & rhs);
+        
+			friend class HACD;
+	};
+
+}
+#endif

indra/libhacd/hacdManifoldMesh.cpp

@@ -0,0 +1,604 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdManifoldMesh.h"
+using namespace std;
+
+
+namespace HACD
+{    
+    Material::Material(void)
+    {
+        m_diffuseColor.X()  = 0.5;
+        m_diffuseColor.Y()  = 0.5;
+        m_diffuseColor.Z()  = 0.5;
+        m_specularColor.X() = 0.5;
+        m_specularColor.Y() = 0.5;
+        m_specularColor.Z() = 0.5;
+        m_ambientIntensity  = 0.4;
+        m_emissiveColor.X() = 0.0;
+        m_emissiveColor.Y() = 0.0;
+        m_emissiveColor.Z() = 0.0;
+        m_shininess         = 0.4;
+        m_transparency      = 0.0;
+    }
+    
+	TMMVertex::TMMVertex(void)
+	{
+        Initialize();
+	}
+    void TMMVertex::Initialize()
+	{
+		m_name = 0;
+        m_id = 0;
+		m_duplicate = 0;
+		m_onHull = false;
+		m_tag = false;
+	}
+
+	TMMVertex::~TMMVertex(void)
+	{
+	}
+	TMMEdge::TMMEdge(void)
+	{
+        Initialize();
+	}
+    void TMMEdge::Initialize()
+	{
+        m_id = 0;
+		m_triangles[0] = m_triangles[1] = m_newFace = 0;
+		m_vertices[0] = m_vertices[1] = 0;
+    }
+	TMMEdge::~TMMEdge(void)
+	{
+	}
+    void TMMTriangle::Initialize()
+	{
+        m_id = 0;
+		for(int i = 0; i < 3; i++)
+		{
+			m_edges[i] = 0;
+			m_vertices[0] = 0;
+		}
+		m_visible = false;
+        m_incidentPoints.Initialize();
+    }
+	TMMTriangle::TMMTriangle(void)
+	{
+        Initialize();
+	}
+	TMMTriangle::~TMMTriangle(void)
+	{
+	}
+	TMMesh::TMMesh(HeapManager * const heapManager):
+        m_vertices(heapManager), 
+        m_edges(heapManager),
+        m_triangles(heapManager)
+	{
+		m_barycenter = Vec3<Real>(0,0,0);
+		m_diag = 1;
+        m_heapManager = heapManager;   
+	}
+	TMMesh::~TMMesh(void)
+	{
+	}
+
+	void TMMesh::Print() 
+	{
+		size_t nV = m_vertices.GetSize();
+		std::cout << "-----------------------------" << std::endl;
+        std::cout << "vertices (" << nV << ")" << std::endl;
+        for(size_t v = 0; v < nV; v++)
+		{
+			const TMMVertex & currentVertex = m_vertices.GetData();
+			std::cout  << currentVertex.m_id	  << ", " 
+		 			   << currentVertex.m_pos.X() << ", " 
+					   << currentVertex.m_pos.Y() << ", "
+					   << currentVertex.m_pos.Z() << std::endl;
+			m_vertices.Next();
+		}
+    
+
+		size_t nE = m_edges.GetSize();
+		std::cout << "edges (" << nE << ")" << std::endl;
+		for(size_t e = 0; e < nE; e++)
+		{
+			const TMMEdge & currentEdge = m_edges.GetData();
+            const CircularListElement<TMMVertex> * v0 = currentEdge.m_vertices[0];
+            const CircularListElement<TMMVertex> * v1 = currentEdge.m_vertices[1];
+            const CircularListElement<TMMTriangle> * f0 = currentEdge.m_triangles[0];
+            const CircularListElement<TMMTriangle> * f1 = currentEdge.m_triangles[1];
+
+			std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl; 
+            std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << f0->GetData().m_vertices[1]->GetData().m_name << ", "
+                                   << f0->GetData().m_vertices[2]->GetData().m_name <<")" << std::endl; 
+            std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << f1->GetData().m_vertices[1]->GetData().m_name << ", "
+                                   << f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;                         
+			m_edges.Next();
+		}
+		size_t nT = m_triangles.GetSize();
+		std::cout << "triangles (" << nT << ")" << std::endl;
+		for(size_t t = 0; t < nT; t++)
+		{
+			const TMMTriangle & currentTriangle = m_triangles.GetData();
+            const CircularListElement<TMMVertex> * v0 = currentTriangle.m_vertices[0];
+            const CircularListElement<TMMVertex> * v1 = currentTriangle.m_vertices[1];
+            const CircularListElement<TMMVertex> * v2 = currentTriangle.m_vertices[2];
+            const CircularListElement<TMMEdge> * e0 = currentTriangle.m_edges[0];
+            const CircularListElement<TMMEdge> * e1 = currentTriangle.m_edges[1];
+            const CircularListElement<TMMEdge> * e2 = currentTriangle.m_edges[2];
+            
+			std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", "<< v2->GetData().m_name << ")" << std::endl; 
+         
+            std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl; 
+            std::cout << "-> E1 (" << e1->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e1->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
+            std::cout << "-> E2 (" << e2->GetData().m_vertices[0]->GetData().m_name << ", " 
+                                   << e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;   
+			m_triangles.Next();
+		}   
+	}
+#if 0
+    bool TMMesh::Save(const char *fileName)
+    {
+        std::ofstream fout(fileName);
+        std::cout << "Saving " <<  fileName << std::endl;
+		if (SaveVRML2(fout))
+		{
+           fout.close();
+		   return true;
+		}
+        return false;
+    }
+    bool TMMesh::SaveVRML2(std::ofstream &fout)
+    {
+        return SaveVRML2(fout, Material());
+    }
+    bool TMMesh::SaveVRML2(std::ofstream &fout, const Material & material)
+    {
+        if (fout.is_open()) 
+        {
+            size_t nV = m_vertices.GetSize();
+            size_t nT = m_triangles.GetSize();            
+            fout <<"#VRML V2.0 utf8" << std::endl;	    	
+            fout <<"" << std::endl;
+            fout <<"# Vertices: " << nV << std::endl;		
+            fout <<"# Triangles: " << nT << std::endl;		
+            fout <<"" << std::endl;
+            fout <<"Group {" << std::endl;
+            fout <<"	children [" << std::endl;
+            fout <<"		Shape {" << std::endl;
+            fout <<"			appearance Appearance {" << std::endl;
+            fout <<"				material Material {" << std::endl;
+            fout <<"					diffuseColor "      << material.m_diffuseColor.X()      << " " 
+                                                            << material.m_diffuseColor.Y()      << " "
+                                                            << material.m_diffuseColor.Z()      << std::endl;  
+            fout <<"					ambientIntensity "  << material.m_ambientIntensity      << std::endl;
+            fout <<"					specularColor "     << material.m_specularColor.X()     << " " 
+                                                            << material.m_specularColor.Y()     << " "
+                                                            << material.m_specularColor.Z()     << std::endl; 
+            fout <<"					emissiveColor "     << material.m_emissiveColor.X()     << " " 
+                                                            << material.m_emissiveColor.Y()     << " "
+                                                            << material.m_emissiveColor.Z()     << std::endl; 
+            fout <<"					shininess "         << material.m_shininess             << std::endl;
+            fout <<"					transparency "      << material.m_transparency          << std::endl;
+            fout <<"				}" << std::endl;
+            fout <<"			}" << std::endl;
+            fout <<"			geometry IndexedFaceSet {" << std::endl;
+            fout <<"				ccw TRUE" << std::endl;
+            fout <<"				solid TRUE" << std::endl;
+            fout <<"				convex TRUE" << std::endl;
+            if (GetNVertices() > 0) {
+                fout <<"				coord DEF co Coordinate {" << std::endl;
+                fout <<"					point [" << std::endl;
+                for(size_t v = 0; v < nV; v++)
+                {
+                    TMMVertex & currentVertex = m_vertices.GetData();
+                    fout <<"						" << currentVertex.m_pos.X() << " " 
+                                                      << currentVertex.m_pos.Y() << " " 
+                                                      << currentVertex.m_pos.Z() << "," << std::endl;
+                    currentVertex.m_id = v;
+                    m_vertices.Next();
+                }
+                fout <<"					]" << std::endl;
+                fout <<"				}" << std::endl;
+            }
+            if (GetNTriangles() > 0) {
+                fout <<"				coordIndex [ " << std::endl;
+                for(size_t f = 0; f < nT; f++)
+                {
+                    TMMTriangle & currentTriangle = m_triangles.GetData();
+                    fout <<"						" << currentTriangle.m_vertices[0]->GetData().m_id << ", " 
+                                                      << currentTriangle.m_vertices[1]->GetData().m_id << ", "                                                  
+                                                      << currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
+                    m_triangles.Next();
+                }
+                fout <<"				]" << std::endl;
+            }
+            fout <<"			}" << std::endl;
+            fout <<"		}" << std::endl;
+            fout <<"	]" << std::endl;
+            fout <<"}" << std::endl;	
+        }
+        return true;
+    }
+#endif
+    void TMMesh::GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles)
+    {
+        size_t nV = m_vertices.GetSize();
+        size_t nT = m_triangles.GetSize(); 
+
+        for(size_t v = 0; v < nV; v++)
+        {
+            points[v] = m_vertices.GetData().m_pos;
+            m_vertices.GetData().m_id = v;
+            m_vertices.Next();
+        }
+        for(size_t f = 0; f < nT; f++)
+        {
+            TMMTriangle & currentTriangle = m_triangles.GetData();
+            triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
+            triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
+            triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
+            m_triangles.Next();
+        }
+    }
+	void TMMesh::Clear()
+    {
+		m_vertices.Clear();
+		m_edges.Clear();
+		m_triangles.Clear();
+	}
+    void TMMesh::Copy(TMMesh & mesh)
+    {
+        Clear();
+        // updating the id's
+        size_t nV = mesh.m_vertices.GetSize();
+        size_t nE = mesh. m_edges.GetSize();
+        size_t nT = mesh.m_triangles.GetSize();
+        for(size_t v = 0; v < nV; v++)
+        {
+            mesh.m_vertices.GetData().m_id = v;
+            mesh.m_vertices.Next();            
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            mesh.m_edges.GetData().m_id = e;
+            mesh.m_edges.Next();
+            
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+            mesh.m_triangles.GetData().m_id = f;
+            mesh.m_triangles.Next();
+        }
+        // copying data
+        m_vertices  = mesh.m_vertices;
+        m_edges     = mesh.m_edges;
+        m_triangles = mesh.m_triangles;
+        m_heapManager = mesh.m_heapManager;
+ 
+        // generating mapping
+        CircularListElement<TMMVertex> ** vertexMap     = new CircularListElement<TMMVertex> * [nV];
+        CircularListElement<TMMEdge> ** edgeMap         = new CircularListElement<TMMEdge> * [nE];
+        CircularListElement<TMMTriangle> ** triangleMap = new CircularListElement<TMMTriangle> * [nT];
+        for(size_t v = 0; v < nV; v++)
+        {
+            vertexMap[v] = m_vertices.GetHead();
+            m_vertices.Next();            
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            edgeMap[e] = m_edges.GetHead();
+            m_edges.Next();            
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+            triangleMap[f] = m_triangles.GetHead();
+            m_triangles.Next();
+        }
+        
+        // updating pointers
+        for(size_t v = 0; v < nV; v++)
+        {
+            if (vertexMap[v]->GetData().m_duplicate)
+            {
+                vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
+            }
+        }
+        for(size_t e = 0; e < nE; e++)
+        {
+            if (edgeMap[e]->GetData().m_newFace)
+            {
+                edgeMap[e]->GetData().m_newFace = triangleMap[edgeMap[e]->GetData().m_newFace->GetData().m_id];
+            }
+			if (nT > 0)
+			{
+				for(int f = 0; f < 2; f++)
+				{
+					if (edgeMap[e]->GetData().m_triangles[f])
+					{
+						edgeMap[e]->GetData().m_triangles[f] = triangleMap[edgeMap[e]->GetData().m_triangles[f]->GetData().m_id];
+					}
+				}            
+			}
+            for(int v = 0; v < 2; v++)
+            {
+                if (edgeMap[e]->GetData().m_vertices[v])
+                {
+                    edgeMap[e]->GetData().m_vertices[v] = vertexMap[edgeMap[e]->GetData().m_vertices[v]->GetData().m_id];
+                }
+            }
+        }        
+        for(size_t f = 0; f < nT; f++)
+        {
+			if (nE > 0)
+			{
+				for(int e = 0; e < 3; e++)
+				{
+					if (triangleMap[f]->GetData().m_edges[e])
+					{
+						triangleMap[f]->GetData().m_edges[e] = edgeMap[triangleMap[f]->GetData().m_edges[e]->GetData().m_id];
+					}
+				}            
+			}
+            for(int v = 0; v < 3; v++)
+            {
+                if (triangleMap[f]->GetData().m_vertices[v])
+                {
+                    triangleMap[f]->GetData().m_vertices[v] = vertexMap[triangleMap[f]->GetData().m_vertices[v]->GetData().m_id];
+                }
+            }
+        }
+        delete [] vertexMap;
+        delete [] edgeMap;
+        delete [] triangleMap;
+        
+    }
+	long  IntersectRayTriangle(const Vec3<double> & P0, const Vec3<double> & dir, 
+							   const Vec3<double> & V0, const Vec3<double> & V1, 
+							   const Vec3<double> & V2, double &t)
+	{
+        const double EPS = 1e-9;
+        const double EPS1 = 1e-6;
+		t = 0.0;
+		Vec3<double> edge1, edge2, edge3;
+		double det;
+		edge1 = V1 - V2;
+		edge2 = V2 - V0;
+		Vec3<double> pvec = dir ^ edge2;
+		det = edge1 * pvec;
+		if (det < EPS && det > -EPS)
+			return 0;
+		Vec3<double> tvec = P0 - V0;
+		Vec3<double> qvec = tvec ^ edge1;
+		t = (edge2 * qvec) / det;
+        if (t < 0.0)
+        {
+            return 0;
+        }
+		edge3 = V0 - V1;
+		Vec3<double> I(P0 + t * dir);
+		Vec3<double> s0 = (I-V0) ^ edge3;
+		Vec3<double> s1 = (I-V1) ^ edge1;
+		Vec3<double> s2 = (I-V2) ^ edge2;
+
+        Vec3<double> normal = edge1 ^ edge2;
+        double diff = normal.GetNorm() - s0.GetNorm() - s1.GetNorm() - s2.GetNorm();            
+
+        if (diff < EPS1 && diff > -EPS1)
+        {
+            return 1;			
+        }
+		return 0;
+	}
+
+    bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2, 
+                          const Vec3<double> & p3, const Vec3<double> & p4,
+                          Vec3<double> & pa, Vec3<double> & pb, 
+                          double & mua, double & mub)
+    {
+        Vec3<double> p13,p43,p21;
+        double d1343,d4321,d1321,d4343,d2121;
+        double numer,denom;
+        
+        p13.X() = p1.X() - p3.X();
+        p13.Y() = p1.Y() - p3.Y();
+        p13.Z() = p1.Z() - p3.Z();
+        p43.X() = p4.X() - p3.X();
+        p43.Y() = p4.Y() - p3.Y();
+        p43.Z() = p4.Z() - p3.Z();
+        if (p43.X()==0.0 && p43.Y()==0.0 && p43.Z()==0.0)
+            return false;
+        p21.X() = p2.X() - p1.X();
+        p21.Y() = p2.Y() - p1.Y();
+        p21.Z() = p2.Z() - p1.Z();
+        if (p21.X()==0.0 && p21.Y()==0.0 && p21.Z()==0.0)
+            return false;
+        
+        d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
+        d4321 = p43.X() * p21.X() + p43.Y() * p21.Y() + p43.Z() * p21.Z();
+        d1321 = p13.X() * p21.X() + p13.Y() * p21.Y() + p13.Z() * p21.Z();
+        d4343 = p43.X() * p43.X() + p43.Y() * p43.Y() + p43.Z() * p43.Z();
+        d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
+        
+        denom = d2121 * d4343 - d4321 * d4321;
+        if (denom==0.0)
+            return false;
+        numer = d1343 * d4321 - d1321 * d4343;
+        
+        mua = numer / denom;
+        mub = (d1343 + d4321 * (mua)) / d4343;
+        
+        pa.X() = p1.X() + mua * p21.X();
+        pa.Y() = p1.Y() + mua * p21.Y();
+        pa.Z() = p1.Z() + mua * p21.Z();
+        pb.X() = p3.X() + mub * p43.X();
+        pb.Y() = p3.Y() + mub * p43.Y();
+        pb.Z() = p3.Z() + mub * p43.Z();
+        
+        return true;
+    }
+
+	long  IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir, 
+							   const Vec3<double> & V0, const Vec3<double> & V1, 
+							   const Vec3<double> & V2, double &r)
+	{
+		Vec3<double> u, v, n;          // triangle vectors
+		Vec3<double> w0, w;          // ray vectors
+		double     a, b;             // params to calc ray-plane intersect
+
+		// get triangle edge vectors and plane normal
+		u = V1 - V0;
+		v = V2 - V0;
+		n = u ^ v;             // cross product
+		if (n.GetNorm() == 0.0)            // triangle is degenerate
+			return -1;                 // do not deal with this case
+
+		w0 = P0 - V0;
+		a = - n * w0;
+		b =   n * dir;
+		if (fabs(b) <= 0.0) {     // ray is parallel to triangle plane
+			if (a == 0.0)                // ray lies in triangle plane
+				return 2;
+			else return 0;             // ray disjoint from plane
+		}
+
+		// get intersect point of ray with triangle plane
+		r = a / b;
+		if (r < 0.0)                   // ray goes away from triangle
+			return 0;                  // => no intersect
+		// for a segment, also test if (r > 1.0) => no intersect
+
+		Vec3<double> I = P0 + r * dir;           // intersect point of ray and plane
+
+		// is I inside T?
+		double uu, uv, vv, wu, wv, D;
+		uu = u * u;
+		uv = u * v;
+		vv = v * v;
+		w  = I - V0;
+		wu = w * u;
+		wv = w * v;
+		D = uv * uv - uu * vv;
+
+		// get and test parametric coords
+		double s, t;
+		s = (uv * wv - vv * wu) / D;
+		if (s < 0.0 || s > 1.0)        // I is outside T
+			return 0;
+		t = (uv * wu - uu * wv) / D;
+		if (t < 0.0 || (s + t) > 1.0)  // I is outside T
+			return 0;
+		return 1;                      // I is in T
+	}
+    
+    
+	bool TMMesh::CheckConsistancy()
+    {
+        size_t nE = m_edges.GetSize();
+        size_t nT = m_triangles.GetSize();
+        for(size_t e = 0; e < nE; e++)
+        {
+            for(int f = 0; f < 2; f++)
+            {
+                if (!m_edges.GetHead()->GetData().m_triangles[f])
+                {
+                    return false;
+                }
+            }            
+			m_edges.Next();
+        }        
+
+        for(size_t f = 0; f < nT; f++)
+        {
+            for(int e = 0; e < 3; e++)
+            {
+                int found = 0;
+                for(int k = 0; k < 2; k++)
+                {
+                    if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
+                    {
+                        found++;
+                    }
+                }
+                if (found != 1)
+                {
+                    return false;
+                }
+            }            
+			m_triangles.Next();
+        }
+
+		return true;
+    }
+	bool TMMesh::Normalize()
+    {
+        size_t nV = m_vertices.GetSize();
+		if (nV == 0)
+		{
+			return false;
+		}
+        m_barycenter = m_vertices.GetHead()->GetData().m_pos;
+		Vec3<Real> min = m_barycenter;
+		Vec3<Real> max = m_barycenter;
+		Real x, y, z;
+        for(size_t v = 1; v < nV; v++)
+        {
+			m_barycenter +=  m_vertices.GetHead()->GetData().m_pos;
+            x = m_vertices.GetHead()->GetData().m_pos.X();
+            y = m_vertices.GetHead()->GetData().m_pos.Y();
+            z = m_vertices.GetHead()->GetData().m_pos.Z();
+            if ( x < min.X()) min.X() = x;
+			else if ( x > max.X()) max.X() = x;
+            if ( y < min.Y()) min.Y() = y;
+			else if ( y > max.Y()) max.Y() = y;
+            if ( z < min.Z()) min.Z() = z;
+			else if ( z > max.Z()) max.Z() = z;
+			m_vertices.Next();
+        }
+		m_barycenter /= static_cast<Real>(nV);
+        m_diag = static_cast<Real>(0.001 * (max-min).GetNorm());
+        const Real invDiag = static_cast<Real>(1.0 / m_diag);
+		if (m_diag != 0.0)
+		{
+	        for(size_t v = 0; v < nV; v++)
+		    {
+				m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
+				m_vertices.Next();
+		    }
+		}
+		return true;
+	}
+	bool TMMesh::Denormalize()
+	{
+        size_t nV = m_vertices.GetSize();
+		if (nV == 0)
+		{
+			return false;
+		}
+		if (m_diag != 0.0)
+		{
+	        for(size_t v = 0; v < nV; v++)
+		    {
+				m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
+				m_vertices.Next();
+			}
+		}
+		return false;
+    }
+}

indra/libhacd/hacdManifoldMesh.h

@@ -0,0 +1,269 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+All rights reserved.
+
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_MANIFOLD_MESH_H
+#define HACD_MANIFOLD_MESH_H
+#include <iostream>
+#include <fstream>
+#include "hacdVersion.h"
+#include "hacdCircularList.h"
+#include "hacdVector.h"
+#include "hacdSArray.h"
+#include <set>
+#include "hacdMicroAllocator.h"
+namespace HACD
+{
+	class TMMTriangle;
+	class TMMEdge;
+    class TMMesh;
+    class ICHull;
+	class HACD;
+
+    class DPoint  
+    {
+    public:       
+																DPoint(long name=0, Real dist=0, bool computed=false, bool distOnly=false)
+																	:m_name(name),
+																	 m_dist(dist),
+																	 m_computed(computed),
+                                                                     m_distOnly(distOnly){};
+                                                				~DPoint(){};      
+    private:
+		long													m_name;
+		Real                                                    m_dist;
+		bool													m_computed;
+        bool                                                    m_distOnly;
+		friend class TMMTriangle;
+	    friend class TMMesh;
+		friend class GraphVertex;
+        friend class GraphEdge;
+        friend class Graph;
+		friend class ICHull;
+		friend class HACD;
+    };
+
+	//!	Vertex data structure used in a triangular manifold mesh (TMM).
+	class TMMVertex
+	{
+		public:
+            void                                                Initialize();                                                    
+																TMMVertex(void);
+                                                                ~TMMVertex(void);
+        
+        private:
+			Vec3<Real>											m_pos;
+			long												m_name;
+            size_t												m_id;
+			CircularListElement<TMMEdge> *						m_duplicate;		// pointer to incident cone edge (or NULL)
+			bool												m_onHull;
+			bool												m_tag;
+																TMMVertex(const TMMVertex & rhs);
+            
+			friend class HACD;            
+			friend class ICHull;
+            friend class TMMesh;
+            friend class TMMTriangle;
+            friend class TMMEdge;
+	};
+
+	//!	Edge data structure used in a triangular manifold mesh (TMM).
+	class TMMEdge
+	{		
+		public:
+            void                                                Initialize(); 
+																TMMEdge(void);
+																~TMMEdge(void);
+        private:
+            size_t												m_id;
+			CircularListElement<TMMTriangle> *					m_triangles[2];
+			CircularListElement<TMMVertex> *					m_vertices[2];
+			CircularListElement<TMMTriangle> *					m_newFace;
+
+
+																TMMEdge(const TMMEdge & rhs);
+                
+		friend class HACD;
+		friend class ICHull;
+        friend class TMMTriangle;
+        friend class TMMVertex;
+        friend class TMMesh;
+	};
+
+	//!	Triangle data structure used in a triangular manifold mesh (TMM).
+	class TMMTriangle
+	{
+		public:
+            void                                                Initialize(); 
+																TMMTriangle(void);
+																~TMMTriangle(void);
+        private:
+            size_t												m_id;
+			CircularListElement<TMMEdge> *						m_edges[3];
+			CircularListElement<TMMVertex> *					m_vertices[3];
+			SArray<long, SARRAY_DEFAULT_MIN_SIZE>				m_incidentPoints;
+			bool												m_visible;
+																
+																TMMTriangle(const TMMTriangle & rhs);
+        
+		friend class HACD;
+        friend class ICHull;
+        friend class TMMesh;
+        friend class TMMVertex;
+        friend class TMMEdge;
+	};
+    
+    class Material
+    {
+    public:    
+                                                                Material(void);
+                                                                ~Material(void){}        
+//    private:
+        Vec3<double>                                            m_diffuseColor;
+        double                                                  m_ambientIntensity;
+        Vec3<double>                                            m_specularColor;
+        Vec3<double>                                            m_emissiveColor;
+        double                                                  m_shininess;
+        double                                                  m_transparency;
+        
+        friend class TMMesh;
+		friend class HACD;
+    };
+
+	//!	triangular manifold mesh data structure.
+	class TMMesh
+	{
+		public:
+			//! 
+            HeapManager * const     							GetHeapManager() const { return m_heapManager;}
+			//!
+			void												SetHeapManager(HeapManager * const heapManager)
+                                                                { 
+                                                                    m_heapManager = heapManager;
+                                                                    m_vertices.SetHeapManager(m_heapManager);
+                                                                    m_edges.SetHeapManager(m_heapManager);
+                                                                    m_triangles.SetHeapManager(m_heapManager);
+                                                                }
+			//! Returns the number of vertices>
+			inline size_t										GetNVertices() const { return m_vertices.GetSize();}
+			//! Returns the number of edges
+			inline size_t										GetNEdges() const { return m_edges.GetSize();}
+			//! Returns the number of triangles
+			inline size_t										GetNTriangles() const { return m_triangles.GetSize();}
+            //! Returns the vertices circular list
+            inline const CircularList<TMMVertex> &              GetVertices() const { return m_vertices;}
+            //! Returns the edges circular list
+            inline const CircularList<TMMEdge> &				GetEdges() const { return m_edges;}
+            //! Returns the triangles circular list
+            inline const CircularList<TMMTriangle> &			GetTriangles() const { return m_triangles;}
+            //! Returns the vertices circular list
+            inline CircularList<TMMVertex> &                    GetVertices() { return m_vertices;}
+            //! Returns the edges circular list
+            inline CircularList<TMMEdge> &                      GetEdges() { return m_edges;}
+            //! Returns the triangles circular list
+            inline CircularList<TMMTriangle> &                  GetTriangles() { return m_triangles;}               
+			//! Add vertex to the mesh
+			CircularListElement<TMMVertex> *					AddVertex() {return m_vertices.Add();}
+			//! Add vertex to the mesh
+			CircularListElement<TMMEdge> *						AddEdge() {return m_edges.Add();}
+			//! Add vertex to the mesh
+			CircularListElement<TMMTriangle> *					AddTriangle() {return m_triangles.Add();}
+			//! Print mesh information 
+			void												Print();
+            //!
+            void                                                GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
+#if 0
+            //! Save mesh 
+            bool												Save(const char *fileName);        
+            //! Save mesh to VRML 2.0 format 
+            bool												SaveVRML2(std::ofstream &fout);             
+            //! Save mesh to VRML 2.0 format 
+            bool												SaveVRML2(std::ofstream &fout, const Material & material);  			
+#endif
+            //!  
+            void												Clear();
+            //!
+            void                                                Copy(TMMesh & mesh);
+			//!
+			bool												CheckConsistancy();
+			//!
+			bool												Normalize();
+			//!
+			bool												Denormalize();
+            //!	Constructor
+																TMMesh(HeapManager * const heapManager);
+			//! Destructor
+			virtual												~TMMesh(void);
+
+		private:
+			CircularList<TMMVertex>								m_vertices;
+			CircularList<TMMEdge>								m_edges;
+			CircularList<TMMTriangle>							m_triangles;
+			Real                                                m_diag;						//>! length of the BB diagonal
+			Vec3<Real>                                          m_barycenter;				//>! barycenter of the mesh
+            HeapManager *                                       m_heapManager;
+
+			// not defined
+																TMMesh(const TMMesh & rhs);
+			friend class ICHull;
+			friend class HACD;
+	};
+	//! IntersectRayTriangle(): intersect a ray with a 3D triangle
+	//!    Input:  a ray R, and a triangle T
+	//!    Output: *I = intersection point (when it exists)
+	//!             0 = disjoint (no intersect)
+	//!             1 = intersect in unique point I1
+	long														IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir, 
+																					  const Vec3<double> & V0, const Vec3<double> & V1, 
+																					  const Vec3<double> & V2, double &t);
+
+	// intersect_RayTriangle(): intersect a ray with a 3D triangle
+	//    Input:  a ray R, and a triangle T
+	//    Output: *I = intersection point (when it exists)
+	//    Return: -1 = triangle is degenerate (a segment or point)
+	//             0 = disjoint (no intersect)
+	//             1 = intersect in unique point I1
+	//             2 = are in the same plane
+	long														IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir, 
+																					   const Vec3<double> & V0, const Vec3<double> & V1, 
+																					   const Vec3<double> & V2, double &r);
+
+    /*
+     Calculate the line segment PaPb that is the shortest route between
+     two lines P1P2 and P3P4. Calculate also the values of mua and mub where
+     Pa = P1 + mua (P2 - P1)
+     Pb = P3 + mub (P4 - P3)
+     Return FALSE if no solution exists.
+     */
+    bool                                                        IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2, 
+                                                                                  const Vec3<double> & p3, const Vec3<double> & p4,
+                                                                                  Vec3<double> & pa, Vec3<double> & pb, 
+                                                                                  double & mua, double &mub);
+}
+#endif

indra/libhacd/hacdMeshDecimator.cpp

@@ -0,0 +1,684 @@
+#include <sstream>
+#include <iostream>
+#include <stdlib.h>
+#include <algorithm>
+#include <vector>
+#include "hacdMeshDecimator.h"
+
+namespace HACD
+{
+	MeshDecimator::MeshDecimator(void)
+	{
+		m_triangles					= 0;
+		m_points   					= 0;
+		m_nPoints					= 0;
+		m_nInitialTriangles 		= 0;
+		m_nVertices					= 0;
+		m_nTriangles				= 0;
+		m_nEdges					= 0;
+		m_trianglesTags				= 0;
+		m_ecolManifoldConstraint	= true;
+		m_callBack					= 0;
+	}
+
+	MeshDecimator::~MeshDecimator(void)
+	{
+		ReleaseMemory();
+	}
+	void MeshDecimator::ReleaseMemory()
+	{
+		delete [] m_trianglesTags;
+        std::vector< MDVertex > emptyVertices(0);
+		m_vertices.swap(emptyVertices);
+        std::vector<MDEdge> emptyEdges(0);
+		m_edges.swap(emptyEdges);
+		m_pqueue = 		std::priority_queue<
+				 MDEdgePriorityQueue, 
+				 std::vector<MDEdgePriorityQueue>, 
+				 std::less<MDEdgePriorityQueue> >();
+		m_triangles					= 0;
+		m_points   					= 0;
+		m_nPoints					= 0;
+		m_nInitialTriangles 		= 0;
+		m_nVertices					= 0;
+		m_nTriangles				= 0;
+		m_nEdges					= 0;
+		m_trianglesTags				= 0;
+	}
+	void MeshDecimator::Initialize(size_t nVertices, size_t nTriangles,   Vec3<Float> * points,  Vec3<long> * triangles)
+	{
+		m_nVertices			= nVertices;
+		m_nTriangles		= nTriangles;
+		m_nInitialTriangles = nTriangles;
+		m_points			= points;
+		m_nPoints			= nVertices;
+		m_triangles			= triangles;
+		m_trianglesTags		= new bool[m_nTriangles];
+		m_edges.reserve(3*m_nTriangles);
+		m_vertices.resize(m_nVertices);
+		for(size_t v = 0; v < m_nVertices; ++v)
+		{
+			m_vertices[v].m_tag = true;
+		}
+		long tri[3];
+		MDEdge edge;
+		edge.m_tag = true;
+		edge.m_onBoundary = true;
+        long nEdges = 0;
+		long idEdge;
+		long nTris = static_cast<long>(m_nTriangles);
+		for(long t = 0; t < nTris; ++t)
+		{
+			tri[0] = m_triangles[t].X();
+			tri[1] = m_triangles[t].Y();
+			tri[2] = m_triangles[t].Z();
+			m_trianglesTags[t] = true;
+			for(int k = 0; k < 3; ++k)
+			{
+				edge.m_v1 = tri[k];
+				edge.m_v2 = tri[(k+1)%3];
+				m_vertices[edge.m_v1].m_triangles.Insert(t);
+				idEdge = GetEdge(edge.m_v1, edge.m_v2);
+				if (idEdge == -1)
+				{
+					m_edges.push_back(edge);
+					m_vertices[edge.m_v1].m_edges.Insert(nEdges);
+					m_vertices[edge.m_v2].m_edges.Insert(nEdges);
+					++nEdges;
+				}
+				else
+				{
+					m_edges[idEdge].m_onBoundary = false;
+				}
+			}
+		}
+        m_nEdges = static_cast<size_t>(nEdges);
+		for(size_t v = 0; v < m_nVertices; ++v)
+		{
+			m_vertices[v].m_onBoundary = false;
+			for(size_t itE = 0; itE < m_vertices[v].m_edges.Size(); ++itE)
+			{
+				idEdge = m_vertices[v].m_edges[itE];
+				if (m_edges[idEdge].m_onBoundary)
+				{
+					m_vertices[v].m_onBoundary = true;
+					break;
+				}
+			}
+		}
+	}
+	long MeshDecimator::GetTriangle(long v1, long v2, long v3) const
+	{
+		long i, j, k;
+        long idTriangle;
+		for(size_t it = 0; it < m_vertices[v1].m_triangles.Size(); ++it)
+		{
+            idTriangle = m_vertices[v1].m_triangles[it];
+			i = m_triangles[idTriangle].X();
+			j = m_triangles[idTriangle].Y();
+			k = m_triangles[idTriangle].Z();
+			if ( (i==v1 && j==v2 && k==v3) || (i==v1 && j==v3 && k==v2) ||
+				 (i==v2 && j==v1 && k==v3) || (i==v2 && j==v3 && k==v1) ||
+				 (i==v3 && j==v2 && k==v1) || (i==v3 && j==v1 && k==v2)  )
+			{
+				return idTriangle;
+			}
+		}
+		return -1;
+	}
+	long MeshDecimator::GetEdge(long v1, long v2) const
+	{
+		long idEdge;
+        for(size_t it = 0; it < m_vertices[v1].m_edges.Size(); ++it)
+		{
+            idEdge = m_vertices[v1].m_edges[it];
+			if ( (m_edges[idEdge].m_v1==v1 && m_edges[idEdge].m_v2==v2) || 
+				 (m_edges[idEdge].m_v1==v2 && m_edges[idEdge].m_v2==v1) )
+			{
+				return idEdge;
+			}
+		}
+		return -1;
+	}
+	void MeshDecimator::EdgeCollapse(long v1, long v2)
+	{
+		long u, w;
+		int shift;
+		long idTriangle;
+		for(size_t itT = 0; itT < m_vertices[v2].m_triangles.Size(); ++itT)
+		{
+            idTriangle =  m_vertices[v2].m_triangles[itT];
+			if (m_triangles[idTriangle].X() == v2)
+			{
+				shift = 0;
+				u = m_triangles[idTriangle].Y();
+				w = m_triangles[idTriangle].Z();
+			}
+			else if (m_triangles[idTriangle].Y() == v2)
+			{
+				shift = 1;
+				u = m_triangles[idTriangle].X();
+				w = m_triangles[idTriangle].Z();
+			}
+			else
+			{
+				shift = 2;
+				u = m_triangles[idTriangle].X();
+				w = m_triangles[idTriangle].Y();
+			}
+
+			if ((u == v1) || (w == v1))
+			{
+				m_trianglesTags[idTriangle] = false;
+				m_vertices[u].m_triangles.Erase(idTriangle);						
+				m_vertices[w].m_triangles.Erase(idTriangle);
+				m_nTriangles--;
+			}
+			else if (GetTriangle(v1, u, w) == -1)
+			{
+				m_vertices[v1].m_triangles.Insert(idTriangle);
+				m_triangles[idTriangle][shift] = v1;
+			}
+			else
+			{
+				m_trianglesTags[idTriangle] = false;
+				m_vertices[u].m_triangles.Erase(idTriangle);						
+				m_vertices[w].m_triangles.Erase(idTriangle);
+				m_nTriangles--;
+			}
+		}
+        long idEdge = 0;
+		for(size_t itE = 0; itE < m_vertices[v2].m_edges.Size(); ++itE)
+		{
+            idEdge = m_vertices[v2].m_edges[itE];
+			w = (m_edges[idEdge].m_v1 == v2)? m_edges[idEdge].m_v2 : m_edges[idEdge].m_v1;
+			if (w==v1)
+			{
+				m_edges[idEdge].m_tag = false;
+				m_vertices[w].m_edges.Erase(idEdge);
+				m_nEdges--;
+			}
+			else if ( GetEdge(v1, w) == -1)
+			{
+				if (m_edges[idEdge].m_v1 == v2)	m_edges[idEdge].m_v1 = v1;
+				else							m_edges[idEdge].m_v2 = v1;
+				m_vertices[v1].m_edges.Insert(idEdge);			
+			}
+			else
+			{
+				m_edges[idEdge].m_tag = false;
+				m_vertices[w].m_edges.Erase(idEdge);
+				m_nEdges--;
+			}
+		}
+		m_vertices[v2].m_tag = false;
+		m_nVertices--;
+		// update boundary edges
+		SArray<long, 64> incidentVertices;
+		incidentVertices.PushBack(v1);
+		for(size_t itE = 0; itE < m_vertices[v1].m_edges.Size(); ++itE)
+		{
+			incidentVertices.PushBack((m_edges[idEdge].m_v1!= v1)?m_edges[idEdge].m_v1:m_edges[idEdge].m_v2);
+            idEdge = m_vertices[v1].m_edges[itE];
+			m_edges[idEdge].m_onBoundary = (IsBoundaryEdge(m_edges[idEdge].m_v1, m_edges[idEdge].m_v2) != -1);
+		}		
+		// update boundary vertices
+		long idVertex;
+		for(size_t itV = 0; itV < incidentVertices.Size(); ++itV)
+		{
+			idVertex = incidentVertices[itV];
+			m_vertices[idVertex].m_onBoundary = false;
+			for(size_t itE = 0; itE < m_vertices[idVertex].m_edges.Size(); ++itE)
+			{
+				idEdge = m_vertices[idVertex].m_edges[itE];
+				if (m_edges[idEdge].m_onBoundary)
+				{
+					m_vertices[idVertex].m_onBoundary = true;
+					break;
+				}
+			}
+		}		
+	}
+	long MeshDecimator::IsBoundaryEdge(long v1, long v2) const
+	{
+		long commonTri = -1;
+		long itTriangle1, itTriangle2;
+		for(size_t itT1 = 0; itT1 < m_vertices[v1].m_triangles.Size(); ++itT1)
+		{
+            itTriangle1 = m_vertices[v1].m_triangles[itT1];
+			for(size_t itT2 = 0; itT2 < m_vertices[v2].m_triangles.Size(); ++itT2)
+			{
+                itTriangle2 = m_vertices[v2].m_triangles[itT2];
+				if (itTriangle1 == itTriangle2)
+				{
+					if (commonTri == -1)
+					{
+						commonTri = itTriangle1;
+					}
+					else
+					{
+						return -1;
+					}
+				}
+			}
+		}
+		return commonTri;
+	}
+	bool MeshDecimator::IsBoundaryVertex(long v) const
+	{
+		long idEdge;
+		for(size_t itE = 0; itE < m_vertices[v].m_edges.Size(); ++itE)
+		{
+            idEdge =  m_vertices[v].m_edges[itE];
+			if ( IsBoundaryEdge(m_edges[idEdge].m_v1, m_edges[idEdge].m_v2) != -1) return true;
+		}
+		return false;
+	}
+
+	void MeshDecimator::GetMeshData(Vec3<Float> * points, Vec3<long> * triangles) const
+	{
+		long * map = new long [m_nPoints];
+		long counter = 0;
+		for (size_t v = 0; v < m_nPoints; ++v)
+		{
+			if ( m_vertices[v].m_tag )
+			{
+				points[counter] = m_points[v];
+				map[v] = counter++;
+			}
+		}
+		counter = 0;
+		for (size_t t = 0; t < m_nInitialTriangles; ++t)
+		{
+			if ( m_trianglesTags[t] )
+			{
+				triangles[counter].X() = map[m_triangles[t].X()];
+				triangles[counter].Y() = map[m_triangles[t].Y()];
+				triangles[counter].Z() = map[m_triangles[t].Z()];
+				counter++;
+			}
+		}
+		delete [] map;
+	}
+
+	void MeshDecimator::InitializeQEM()
+	{
+		Vec3<Float> coordMin = m_points[0];
+		Vec3<Float> coordMax = m_points[0];
+		Vec3<Float> coord;
+		for (size_t p = 1; p < m_nPoints ; ++p) 
+		{
+			coord = m_points[p];
+			if (coordMin.X() > coord.X()) coordMin.X() = coord.X();
+			if (coordMin.Y() > coord.Y()) coordMin.Y() = coord.Y();
+			if (coordMin.Z() > coord.Z()) coordMin.Z() = coord.Z();
+			if (coordMax.X() < coord.X()) coordMax.X() = coord.X();
+			if (coordMax.Y() < coord.Y()) coordMax.Y() = coord.Y();
+			if (coordMax.Z() < coord.Z()) coordMax.Z() = coord.Z();
+		}
+		coordMax -= coordMin;
+		m_diagBB = coordMax.GetNorm();
+
+		long i, j, k;
+		Vec3<Float> n;	
+		Float d = 0;
+		Float area = 0;
+		for(size_t v = 0; v < m_nPoints; ++v)
+		{
+			memset(m_vertices[v].m_Q, 0, 10 * sizeof(Float));
+            long idTriangle;
+			for(size_t itT = 0; itT < m_vertices[v].m_triangles.Size(); ++itT)
+			{
+                idTriangle = m_vertices[v].m_triangles[itT];
+				i = m_triangles[idTriangle].X();
+				j = m_triangles[idTriangle].Y();
+				k = m_triangles[idTriangle].Z();
+				n = (m_points[j] - m_points[i])^(m_points[k] - m_points[i]);
+				area = n.GetNorm();
+				n.Normalize();
+				d = - (m_points[v] * n);
+				m_vertices[v].m_Q[0] += area * (n.X() * n.X());
+				m_vertices[v].m_Q[1] += area * (n.X() * n.Y());
+				m_vertices[v].m_Q[2] += area * (n.X() * n.Z());
+				m_vertices[v].m_Q[3] += area * (n.X() * d);
+				m_vertices[v].m_Q[4] += area * (n.Y() * n.Y());
+				m_vertices[v].m_Q[5] += area * (n.Y() * n.Z());
+				m_vertices[v].m_Q[6] += area * (n.Y() * d);
+				m_vertices[v].m_Q[7] += area * (n.Z() * n.Z());
+				m_vertices[v].m_Q[8] += area * (n.Z() * d);
+				m_vertices[v].m_Q[9] += area * (d     * d);
+			}
+		}
+		Vec3<Float> u1, u2;
+		const Float w = static_cast<Float>(1000);
+		long t, v1, v2, v3;
+		for(size_t e = 0; e < m_edges.size(); ++e)
+		{
+			v1 = m_edges[e].m_v1;
+			v2 = m_edges[e].m_v2;
+			t = IsBoundaryEdge(v1, v2);
+			if (t != -1)
+			{
+				if      (m_triangles[t].X() != v1 && m_triangles[t].X() != v2) v3 = m_triangles[t].X();
+				else if (m_triangles[t].Y() != v1 && m_triangles[t].Y() != v2) v3 = m_triangles[t].Y();
+				else														   v3 = m_triangles[t].Z();
+				u1 = m_points[v2] - m_points[v1];
+				u2 = m_points[v3] - m_points[v1];
+				area = w * (u1^u2).GetNorm();
+				u1.Normalize();
+				n =  u2 - (u2 * u1) * u1;
+				n.Normalize();
+
+				d = - (m_points[v1] * n);
+				m_vertices[v1].m_Q[0] += area * (n.X() * n.X());
+				m_vertices[v1].m_Q[1] += area * (n.X() * n.Y());
+				m_vertices[v1].m_Q[2] += area * (n.X() * n.Z());
+				m_vertices[v1].m_Q[3] += area * (n.X() * d);
+				m_vertices[v1].m_Q[4] += area * (n.Y() * n.Y());
+				m_vertices[v1].m_Q[5] += area * (n.Y() * n.Z());
+				m_vertices[v1].m_Q[6] += area * (n.Y() * d);
+				m_vertices[v1].m_Q[7] += area * (n.Z() * n.Z());
+				m_vertices[v1].m_Q[8] += area * (n.Z() * d);
+				m_vertices[v1].m_Q[9] += area * (d * d);
+
+				d = - (m_points[v2] * n);
+				m_vertices[v2].m_Q[0] += area * (n.X() * n.X());
+				m_vertices[v2].m_Q[1] += area * (n.X() * n.Y());
+				m_vertices[v2].m_Q[2] += area * (n.X() * n.Z());
+				m_vertices[v2].m_Q[3] += area * (n.X() * d);
+				m_vertices[v2].m_Q[4] += area * (n.Y() * n.Y());
+				m_vertices[v2].m_Q[5] += area * (n.Y() * n.Z());
+				m_vertices[v2].m_Q[6] += area * (n.Y() * d);
+				m_vertices[v2].m_Q[7] += area * (n.Z() * n.Z());
+				m_vertices[v2].m_Q[8] += area * (n.Z() * d);
+				m_vertices[v2].m_Q[9] += area * (d * d);
+			}
+		}
+	}
+	void MeshDecimator::InitializePriorityQueue()
+	{	
+		double progressOld = -1.0;
+		double progress = 0.0;    
+		char msg[1024];
+		double ptgStep = 1.0;
+		long v1, v2;
+		MDEdgePriorityQueue pqEdge;
+		size_t nE = m_edges.size();
+		for(size_t e = 0; e < nE; ++e)
+		{
+			progress = e * 100.0 / nE;
+			if (fabs(progress-progressOld) > ptgStep && m_callBack)
+			{
+				sprintf(msg, "%3.2f %% \t \t \r", progress);
+				(*m_callBack)(msg, progress, 0.0, m_nVertices);
+				progressOld = progress;
+			}
+
+			if (m_edges[e].m_tag)
+			{
+				v1 = m_edges[e].m_v1;
+				v2 = m_edges[e].m_v2;
+				if ( (!m_ecolManifoldConstraint) || (ManifoldConstraint(v1, v2)))
+				{
+					pqEdge.m_qem = m_edges[e].m_qem = ComputeEdgeCost(v1, v2, m_edges[e].m_pos);
+					pqEdge.m_name = static_cast<long>(e);
+					m_pqueue.push(pqEdge);
+				}
+			}
+		}
+	}
+	double MeshDecimator::ComputeEdgeCost(long v1, long v2, Vec3<Float> & newPos) const
+	{
+		double Q[10];
+		double M[12];
+		Vec3<double> pos;
+		for(int i = 0; i < 10; ++i) Q[i] = m_vertices[v1].m_Q[i] + m_vertices[v2].m_Q[i];
+		M[0] = Q[0]; // (0, 0)
+		M[1] = Q[1]; // (0, 1) 
+		M[2] = Q[2]; // (0, 2)
+		M[3] = Q[3]; // (0, 3)
+		M[4] = Q[1]; // (1, 0)
+		M[5] = Q[4]; // (1, 1)
+		M[6] = Q[5]; // (1, 2)
+		M[7] = Q[6]; // (1, 3)
+		M[8] = Q[2]; // (2, 0)
+		M[9] = Q[5]; // (2, 1)
+		M[10] = Q[7]; // (2, 2);
+		M[11] = Q[8]; // (2, 3);
+		double det =   M[0] * M[5] * M[10] + M[1] * M[6] * M[8] + M[2] * M[4] * M[9]   
+					 - M[0] * M[6] * M[9]  - M[1] * M[4] * M[10]- M[2] * M[5] * M[8]; 
+		if (det != 0.0)
+		{
+			double d = 1.0 / det;
+			pos.X() = d * (M[1]*M[7]*M[10] + M[2]*M[5]*M[11] + M[3]*M[6]*M[9]
+						  -M[1]*M[6]*M[11] - M[2]*M[7]*M[9]  - M[3]*M[5]*M[10]);
+			pos.Y() = d * (M[0]*M[6]*M[11] + M[2]*M[7]*M[8]  + M[3]*M[4]*M[10]
+						  -M[0]*M[7]*M[10] - M[2]*M[4]*M[11] - M[3]*M[6]*M[8]);
+			pos.Z() = d * (M[0]*M[7]*M[9]  + M[1]*M[4]*M[11] + M[3]*M[5]*M[8]
+						  -M[0]*M[5]*M[11] - M[1]*M[7]*M[8]  - M[3]*M[4]*M[9]);
+	  		newPos.X() = static_cast<Float>(pos.X());
+			newPos.Y() = static_cast<Float>(pos.Y());
+			newPos.Z() = static_cast<Float>(pos.Z());
+		}
+		else
+		{
+			const Float w = static_cast<Float>(0.5f);
+			newPos = w * m_points[v1] + w * m_points[v2];
+	  		pos.X() = static_cast<double>(newPos.X());
+			pos.Y() = static_cast<double>(newPos.Y());
+			pos.Z() = static_cast<double>(newPos.Z());
+		}
+
+		double qem = pos.X()  * (Q[0] * pos.X() + Q[1] * pos.Y() + Q[2] * pos.Z() + Q[3]) +  
+					 pos.Y()  * (Q[1] * pos.X() + Q[4] * pos.Y() + Q[5] * pos.Z() + Q[6]) +
+					 pos.Z()  * (Q[2] * pos.X() + Q[5] * pos.Y() + Q[7] * pos.Z() + Q[8]) +
+								(Q[3] * pos.X() + Q[6] * pos.Y() + Q[8] * pos.Z() + Q[9]) ;
+
+		Vec3<Float> d1;
+		Vec3<Float> d2;
+		Vec3<Float> n1;
+		Vec3<Float> n2;
+        Vec3<Float> oldPosV1 =  m_points[v1];
+        Vec3<Float> oldPosV2 =  m_points[v2];
+
+		SArray<long, SARRAY_DEFAULT_MIN_SIZE> triangles = m_vertices[v1].m_triangles;
+		long idTriangle;
+		for(size_t itT = 0; itT < m_vertices[v2].m_triangles.Size(); ++itT)
+		{
+            idTriangle = m_vertices[v2].m_triangles[itT];
+			triangles.Insert(idTriangle);
+		}
+		long a[3];
+        for(size_t itT = 0; itT != triangles.Size(); ++itT)
+		{
+            idTriangle = triangles[itT];
+			a[0] = m_triangles[idTriangle].X();
+			a[1] = m_triangles[idTriangle].Y();
+			a[2] = m_triangles[idTriangle].Z();
+
+			d1 = m_points[a[1]] - m_points[a[0]];
+			d2 = m_points[a[2]] - m_points[a[0]];
+			n1 = d1^d2;
+
+            m_points[v1] = newPos;
+            m_points[v2] = newPos;
+
+			d1 = m_points[a[1]] - m_points[a[0]];
+			d2 = m_points[a[2]] - m_points[a[0]];
+            n2 = d1^d2;
+
+            m_points[v1] = oldPosV1;
+            m_points[v2] = oldPosV2;
+
+            n1.Normalize();
+            n2.Normalize();
+			if (n1*n2 < 0.0) 
+            {
+                return std::numeric_limits<double>::max();
+            }
+		}
+		if ( m_ecolManifoldConstraint && !ManifoldConstraint(v1, v2))
+		{
+			return std::numeric_limits<double>::max();
+		}
+		return qem;
+	}
+	bool MeshDecimator::ManifoldConstraint(long v1, long v2) const
+	{
+		std::set<long> vertices;
+		long a, b;
+        long idEdge1;
+        long idEdge2;
+		long idEdgeV1V2 = 0;
+		for(size_t itE1 = 0; itE1 < m_vertices[v1].m_edges.Size(); ++itE1)
+		{
+            idEdge1 = m_vertices[v1].m_edges[itE1];
+			a = (m_edges[idEdge1].m_v1 == v1) ? m_edges[idEdge1].m_v2 : m_edges[idEdge1].m_v1;
+			vertices.insert(a);
+			if (a != v2)
+			{
+				for(size_t itE2 = 0; itE2 < m_vertices[v2].m_edges.Size(); ++itE2)
+				{
+                    idEdge2 = m_vertices[v2].m_edges[itE2];
+					b = (m_edges[idEdge2].m_v1 == v2) ? m_edges[idEdge2].m_v2 : m_edges[idEdge2].m_v1;
+					vertices.insert(b);
+					if ( a==b )
+					{
+						if (GetTriangle(v1, v2, a) == -1)
+						{
+							return false;
+						}
+					}
+				}
+			}
+			else
+			{
+				idEdgeV1V2 = idEdge1;
+			}
+		}
+		if (vertices.size() <= 4 || ( m_vertices[v1].m_onBoundary && m_vertices[v2].m_onBoundary && !m_edges[idEdgeV1V2].m_onBoundary))
+		{
+			return false;
+		}
+		return true;
+	}
+	bool MeshDecimator::EdgeCollapse(double & qem)
+	{
+		MDEdgePriorityQueue currentEdge;
+		long v1, v2;
+		bool done = false;
+		do
+		{
+			done = false;
+			if (m_pqueue.size() == 0)
+			{
+				done = true;
+				break;
+			}
+			else
+			{
+				currentEdge = m_pqueue.top();
+				m_pqueue.pop();
+			}
+		}
+		while ( (!m_edges[currentEdge.m_name].m_tag) || (m_edges[currentEdge.m_name].m_qem != currentEdge.m_qem));
+		
+		if (done) return false;
+		v1 = m_edges[currentEdge.m_name].m_v1;
+		v2 = m_edges[currentEdge.m_name].m_v2;
+
+		qem = currentEdge.m_qem;
+		EdgeCollapse(v1, v2);
+		m_points[v1] = m_edges[currentEdge.m_name].m_pos ;
+		for(int k = 0; k < 10; k++) m_vertices[v1].m_Q[k] += m_vertices[v2].m_Q[k];
+
+		// Update priority queue
+		long idEdge;
+        long a, b;
+        SArray<long, SARRAY_DEFAULT_MIN_SIZE> incidentVertices;
+		for(size_t itE = 0; itE < m_vertices[v1].m_edges.Size(); ++itE)
+		{
+            idEdge = m_vertices[v1].m_edges[itE];
+			a = m_edges[idEdge].m_v1;
+			b = m_edges[idEdge].m_v2;
+            incidentVertices.PushBack((a != v1)?a:b);
+			MDEdgePriorityQueue pqEdge;
+			pqEdge.m_qem = m_edges[idEdge].m_qem = ComputeEdgeCost(a, b, m_edges[idEdge].m_pos);
+			pqEdge.m_name = idEdge;
+			m_pqueue.push(pqEdge);
+		}
+        long idVertex;
+		for(size_t itV = 0; itV< incidentVertices.Size(); ++itV)
+		{
+            idVertex = incidentVertices[itV];
+		    for(size_t itE = 0; itE < m_vertices[idVertex].m_edges.Size(); ++itE)
+		    {
+                idEdge = m_vertices[idVertex].m_edges[itE];
+			    a = m_edges[idEdge].m_v1;
+			    b = m_edges[idEdge].m_v2;
+			    if ( a!=v1 && b!=v1)
+			    {
+				    MDEdgePriorityQueue pqEdge;
+				    pqEdge.m_qem = m_edges[idEdge].m_qem = ComputeEdgeCost(a, b, m_edges[idEdge].m_pos);
+				    pqEdge.m_name = idEdge;
+				    m_pqueue.push(pqEdge);
+			    }
+		    }
+        }
+		return true;	
+	}
+	bool MeshDecimator::Decimate(size_t targetNVertices, size_t targetNTriangles, double targetError)
+	{
+		double qem = 0.0;
+		double progressOld = -1.0;
+		double progress = 0.0;    
+		char msg[1024];
+		double ptgStep = 1.0;
+
+		if (m_callBack)
+		{
+			std::ostringstream msg;
+			msg << "+ Mesh" << std::endl;
+			msg << "\t # vertices                     \t" << m_nPoints << std::endl;
+			msg << "\t # triangles                    \t" << m_nTriangles << std::endl;
+			msg << "+ Parameters" << std::endl;
+			msg << "\t target # of vertices           \t" << targetNVertices << std::endl;
+			msg << "\t target # of triangles          \t" << targetNTriangles << std::endl;
+			msg << "\t QEM			                  \t" << targetError << std::endl;
+			(*m_callBack)(msg.str().c_str(), 0.0, 0.0, m_nPoints);
+		}
+		
+		if (m_callBack) (*m_callBack)("+ Initialize QEM \n", 0.0, 0.0, m_nPoints);
+		InitializeQEM();
+		if (m_callBack) (*m_callBack)("+ Initialize priority queue \n", 0.0, 0.0, m_nPoints);
+		InitializePriorityQueue();
+		if (m_callBack) (*m_callBack)("+ Simplification \n", 0.0, 0.0, m_nPoints);
+		double invDiag2 = 1.0 / (m_diagBB * m_diagBB);
+		while((m_pqueue.size() > 0) && 
+			  (m_nEdges > 0) && 
+			  (m_nVertices > targetNVertices) &&
+			  (m_nTriangles > targetNTriangles) &&
+			  (qem < targetError))
+		{
+			progress = 100.0 - m_nVertices * 100.0 / m_nPoints;
+			if (fabs(progress-progressOld) > ptgStep && m_callBack)
+			{
+				sprintf(msg, "%3.2f %% V = %lu \t QEM = %f \t \t \r", progress, static_cast<unsigned long>(m_nVertices), sqrt(qem));
+				(*m_callBack)(msg, progress, qem, m_nVertices);
+				progressOld = progress;
+			}
+			if (!EdgeCollapse(qem)) break;
+			qem *= invDiag2;
+		}
+		if (m_callBack)
+		{
+			std::ostringstream msg;
+			msg << "+ Simplification output" << std::endl;
+			msg << "\t # vertices                     \t" << m_nVertices << std::endl;
+			msg << "\t # triangles                    \t" << m_nTriangles << std::endl;
+			msg << "\t QEM					          \t" << qem << std::endl;
+			(*m_callBack)(msg.str().c_str(), 100.0, qem, m_nVertices);
+		}
+		return true;
+	}
+}

indra/libhacd/hacdMeshDecimator.h

@@ -0,0 +1,116 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+All rights reserved.
+
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+#ifndef HACD_MESH_DECEMATOR_H
+#define HACD_MESH_DECEMATOR_H
+#include <queue>
+#include <set>
+#include <vector>
+#include <limits>
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdSArray.h"
+#include "hacdHACD.h"
+
+namespace HACD
+{
+	typedef double Float;
+	struct MDVertex
+	{
+		SArray<long, SARRAY_DEFAULT_MIN_SIZE>   m_edges;	
+		SArray<long, SARRAY_DEFAULT_MIN_SIZE>	m_triangles;	
+		Float									m_Q[10];
+												// 0 1 2 3
+	  											//   4 5 6
+	   											//     7 8
+		  										//       9
+		bool									m_tag;
+		bool									m_onBoundary;
+	};
+	
+	struct MDEdge
+	{
+		long									m_v1;		
+		long									m_v2;		
+		double									m_qem;	
+		Vec3<Float>								m_pos;
+		bool									m_onBoundary;
+		bool									m_tag;
+	};
+	struct MDEdgePriorityQueue
+	{
+		long									m_name;		
+		double									m_qem;	
+		inline	friend bool						operator<(const MDEdgePriorityQueue & lhs, const MDEdgePriorityQueue & rhs) { return (lhs.m_qem > rhs.m_qem);}
+		inline	friend bool						operator>(const MDEdgePriorityQueue & lhs, const MDEdgePriorityQueue & rhs) { return (lhs.m_qem < rhs.m_qem);}
+	};
+
+	class MeshDecimator
+	{
+	public:
+		//! Sets the call-back function
+		//! @param callBack pointer to the call-back function
+		void									SetCallBack(CallBackFunction  callBack) { m_callBack = callBack;}
+		//! Gives the call-back function
+		//! @return pointer to the call-back function
+		const CallBackFunction                  GetCallBack() const { return m_callBack;}
+
+		inline void								SetEColManifoldConstraint(bool ecolManifoldConstraint) { m_ecolManifoldConstraint = ecolManifoldConstraint; }
+		inline size_t							GetNVertices()const {return m_nVertices;};
+		inline size_t							GetNTriangles() const {return m_nTriangles;};
+		inline size_t							GetNEdges() const {return m_nEdges;};
+		void									GetMeshData(Vec3<Float> * points, Vec3<long> * triangles) const;
+		void									ReleaseMemory();
+		void									Initialize(size_t nVertices, size_t nTriangles, 
+														   Vec3<Float> *  points, 
+														   Vec3<long> * triangles);		
+		bool 									Decimate(size_t targetNVertices = 100, 
+														 size_t targetNTriangles = 0, 
+														 double targetError = std::numeric_limits<double>::max());
+
+												MeshDecimator(void);
+												~MeshDecimator(void);
+	private : 
+		void									EdgeCollapse(long v1, long v2);
+		long									GetTriangle(long v1, long v2, long v3) const;
+		long									GetEdge(long v1, long v2) const;
+		long									IsBoundaryEdge(long v1, long v2) const;
+		bool									IsBoundaryVertex(long v) const;
+		void									InitializePriorityQueue();
+		void									InitializeQEM();
+		bool									ManifoldConstraint(long v1, long v2) const;
+		double									ComputeEdgeCost(long v1, long v2, Vec3<Float> & pos) const;
+		bool									EdgeCollapse(double & error);
+	private:
+		Vec3<long> *							m_triangles;			
+		Vec3<Float> *							m_points;		
+		size_t									m_nPoints;
+		size_t									m_nInitialTriangles;
+		size_t									m_nVertices;
+		size_t									m_nTriangles;
+		size_t									m_nEdges;
+		double									m_diagBB;
+		std::vector<MDVertex>					m_vertices;
+		std::vector<MDEdge>						m_edges;
+		std::priority_queue<
+			 MDEdgePriorityQueue, 
+			 std::vector<MDEdgePriorityQueue>, 
+			 std::less<MDEdgePriorityQueue> >	m_pqueue;
+		CallBackFunction						m_callBack;					//>! call-back function
+		bool *									m_trianglesTags;
+		bool									m_ecolManifoldConstraint;
+	};
+}
+#endif

indra/libhacd/hacdMicroAllocator.cpp

@@ -0,0 +1,994 @@
+#include "hacdMicroAllocator.h"
+
+/*!
+**
+** Copyright (c) 2009 by John W. Ratcliff mailto:jratcliffscarab@gmail.com
+**
+** If you find this code useful or you are feeling particularily generous I would
+** ask that you please go to http://www.amillionpixels.us and make a donation
+** to Troy DeMolay.
+**
+**
+** If you wish to contact me you can use the following methods:
+**
+** Skype ID: jratcliff63367
+** email: jratcliffscarab@gmail.com
+**
+**
+** The MIT license:
+**
+** 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.
+
+*/
+
+
+#include <new>
+#include <assert.h>
+#include <string.h>
+#include <stdlib.h>
+
+#ifdef WIN32
+#include <windows.h>
+#endif
+
+#if defined(__APPLE__) || defined(LINUX)
+#include <pthread.h>
+#endif
+
+#if defined(_WIN32)
+#pragma warning(disable:4100)
+#endif
+
+namespace HACD
+{
+
+//==================================================================================
+class MemMutex
+{
+	public:
+		MemMutex(void);
+		~MemMutex(void);
+
+	public:
+		// Blocking Lock.
+		void Lock(void);
+
+		// Unlock.
+		void Unlock(void);
+
+private:
+		#if defined(_WIN32) || defined(_XBOX)
+		CRITICAL_SECTION m_Mutex;
+		#elif defined(__APPLE__) || defined(LINUX)
+		pthread_mutex_t  m_Mutex;
+		#endif
+};
+
+//==================================================================================
+MemMutex::MemMutex(void)
+{
+#if defined(_WIN32) || defined(_XBOX)
+	InitializeCriticalSection(&m_Mutex);
+#elif defined(__APPLE__) || defined(LINUX)
+	pthread_mutexattr_t mta;
+	pthread_mutexattr_init(&mta);
+	pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE);
+	pthread_mutex_init(&m_Mutex, &mta);
+	pthread_mutexattr_destroy(&mta);
+#endif
+}
+
+//==================================================================================
+MemMutex::~MemMutex(void)
+{
+#if defined(_WIN32) || defined(_XBOX)
+	DeleteCriticalSection(&m_Mutex);
+#elif defined(__APPLE__) || defined(LINUX)
+	pthread_mutex_destroy(&m_Mutex);
+#endif
+}
+
+//==================================================================================
+// Blocking Lock.
+//==================================================================================
+void MemMutex::Lock(void)
+{
+#if defined(_WIN32) || defined(_XBOX)
+	EnterCriticalSection(&m_Mutex);
+#elif defined(__APPLE__) || defined(LINUX)
+	pthread_mutex_lock(&m_Mutex);
+#endif
+}
+
+//==================================================================================
+// Unlock.
+//==================================================================================
+void MemMutex::Unlock(void)
+{
+#if defined(_WIN32) || defined(_XBOX)
+	LeaveCriticalSection(&m_Mutex);
+#elif defined(__APPLE__) || defined(LINUX)
+	pthread_mutex_unlock(&m_Mutex);
+#endif
+}
+
+
+
+struct ChunkHeader
+{
+  ChunkHeader   *mNextChunk;
+};
+
+// interface to add and remove new chunks to the master list.
+class MicroChunkUpdate
+{
+public:
+  virtual void addMicroChunk(NxU8 *memStart,NxU8 *memEnd,MemoryChunk *chunk) = 0;
+  virtual void removeMicroChunk(MemoryChunk *chunk) = 0;
+};
+
+class MemoryHeader
+{
+public:
+  MemoryHeader *mNext;
+};
+
+// a single fixed size chunk for micro-allocations.
+class MemoryChunk
+{
+public:
+  MemoryChunk(void)
+  {
+    mData       = 0;
+    mDataEnd    = 0;
+    mUsedCount  = 0;
+    mFreeList   = 0;
+    mMyHeap     = false;
+    mChunkSize  = 0;
+  }
+
+  NxU8 * init(NxU8 *chunkBase,NxU32 chunkSize,NxU32 maxChunks)
+  {
+    mChunkSize  = chunkSize;
+    mData     =  chunkBase;
+    mDataEnd  = mData+(chunkSize*maxChunks);
+    mFreeList = (MemoryHeader *) mData;
+    MemoryHeader *scan = mFreeList;
+    NxU8 *data = mData;
+    data+=chunkSize;
+    for (NxU32 i=0; i<(maxChunks-1); i++)
+    {
+        MemoryHeader *next = (MemoryHeader *)data;
+        scan->mNext = next;
+        data+=chunkSize;
+        scan = next;
+    }
+    scan->mNext = 0;
+    return mDataEnd;
+  }
+
+  inline void * allocate(MicroHeap *heap,NxU32 chunkSize,NxU32 maxChunks,MicroChunkUpdate *update)
+  {
+    void *ret = 0;
+
+    if ( mData == 0 )
+    {
+        mMyHeap = true;
+        mData = (NxU8 *)heap->micro_malloc( chunkSize * maxChunks );
+        init(mData,chunkSize,maxChunks);
+        update->addMicroChunk(mData,mDataEnd,this);
+    }
+    if ( mFreeList )
+    {
+        mUsedCount++;
+        ret = mFreeList;
+        mFreeList = mFreeList->mNext;
+    }
+    return ret;
+  }
+
+  inline void deallocate(void *p,MicroHeap *heap,MicroChunkUpdate *update)
+  {
+#ifdef _DEBUG
+    assert(mUsedCount);
+    NxU8 *s = (NxU8 *)p;
+    assert( s >= mData && s < mDataEnd );
+#endif
+    MemoryHeader *mh = mFreeList;
+    mFreeList = (MemoryHeader *)p;
+    mFreeList->mNext = mh;
+    mUsedCount--;
+    if ( mUsedCount == 0 && mMyHeap  ) // free the heap back to the application if we are done with this.
+    {
+        update->removeMicroChunk(this);
+        heap->micro_free(mData);
+        mMyHeap = false;
+        mData   = 0;
+        mDataEnd = 0;
+        mFreeList = 0;
+    }
+  }
+
+  NxU32 getChunkSize(void) const { return mChunkSize; };
+
+  bool isInside(const NxU8 *p) const
+  {
+	  return p>=mData && p < mDataEnd; 
+  }
+
+private:
+  bool          mMyHeap;
+  NxU8         *mData;
+  NxU8         *mDataEnd;
+  NxU32         mUsedCount;
+  MemoryHeader *mFreeList;
+  NxU32         mChunkSize;
+};
+
+#define DEFAULT_CHUNKS 32
+
+class MemoryChunkChunk
+{
+public:
+  MemoryChunkChunk(void)
+  {
+    mNext = 0;
+    mChunkSize = 0;
+	mMaxChunks = 0;
+  }
+
+  ~MemoryChunkChunk(void)
+  {
+  }
+
+  inline void * allocate(MemoryChunk *&current,MicroChunkUpdate *update)
+  {
+    void *ret = 0;
+
+    MemoryChunkChunk *scan = this;
+    while ( scan && ret == 0 )
+    {
+      for (NxU32 i=0; i<DEFAULT_CHUNKS; i++)
+      {
+          ret = scan->mChunks[i].allocate(mHeap,mChunkSize,mMaxChunks,update);
+          if ( ret )
+          {
+            current = &scan->mChunks[i];
+            scan = 0;
+            break;
+          }
+      }
+      if ( scan )
+        scan = scan->mNext;
+    }
+
+    if ( !ret )
+    {
+        MemoryChunkChunk *mcc = (MemoryChunkChunk *)mHeap->micro_malloc( sizeof(MemoryChunkChunk) );
+        new ( mcc ) MemoryChunkChunk;
+        MemoryChunkChunk *onext = mNext;
+        mNext = mcc;
+        mcc->mNext = onext;
+        ret = mcc->mChunks[0].allocate(mHeap,mChunkSize,mMaxChunks,update);
+        current = &mcc->mChunks[0];
+    }
+
+    return ret;
+  }
+
+  NxU8 * init(NxU8 *chunkBase,NxU32 fixedSize,NxU32 chunkSize,MemoryChunk *&current,MicroHeap *heap)
+  {
+    mHeap = heap;
+    mChunkSize = chunkSize;
+	mMaxChunks = fixedSize/chunkSize;
+    current = &mChunks[0];
+    chunkBase = mChunks[0].init(chunkBase,chunkSize,mMaxChunks);
+    return chunkBase;
+  }
+
+  MicroHeap        *mHeap;
+  NxU32             mChunkSize;
+  NxU32             mMaxChunks;
+  MemoryChunkChunk *mNext;
+  MemoryChunk       mChunks[DEFAULT_CHUNKS];
+};
+
+class FixedMemory
+{
+public:
+  FixedMemory(void)
+  {
+    mCurrent = 0;
+  }
+
+  void * allocate(MicroChunkUpdate *update)
+  {
+    void *ret = mCurrent->allocate(mChunks.mHeap,mChunks.mChunkSize,mChunks.mMaxChunks,update);
+    if ( ret == 0 )
+    {
+        ret = mChunks.allocate(mCurrent,update);
+    }
+	return ret;
+  }
+
+  NxU8 * init(NxU8 *chunkBase,NxU32 chunkSize,NxU32 fixedSize,MicroHeap *heap)
+  {
+	mMemBegin = chunkBase;
+	mMemEnd   = chunkBase+fixedSize;
+    mChunks.init(chunkBase,fixedSize,chunkSize,mCurrent,heap);
+	return mMemEnd;
+  }
+
+  NxU8            *mMemBegin;
+  NxU8            *mMemEnd;
+  MemoryChunk     *mCurrent; // the current memory chunk we are operating in.
+  MemoryChunkChunk mChunks;  // the collection of all memory chunks used.
+};
+
+class MicroChunk
+{
+public:
+
+  void set(NxU8 *memStart,NxU8 *memEnd,MemoryChunk *mc)
+  {
+    mMemStart = memStart;
+    mMemEnd   = memEnd;
+    mChunk    = mc;
+    mPad      = 0;
+  }
+
+  inline bool inside(const NxU8 *p) const
+  {
+    return p >= mMemStart && p < mMemEnd;
+  }
+
+  NxU8        *mMemStart;
+  NxU8        *mMemEnd;
+  MemoryChunk *mChunk;
+  NxU8        *mPad; // padding to make it 16 byte aligned.
+};
+
+class MyMicroAllocator : public MicroAllocator, public MicroChunkUpdate, public MemMutex
+{
+public:
+  MyMicroAllocator(MicroHeap *heap,void *baseMem,NxU32 initialSize,NxU32 chunkSize)
+  {
+    mLastMicroChunk     = 0;
+    mMicroChunks        = 0;
+    mMicroChunkCount    = 0;
+    mMaxMicroChunks		= 0;
+	mHeap               = heap;
+	mChunkSize          = chunkSize;
+
+    // 0 through 8 bytes
+    for (NxU32 i=0; i<=8; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[0];
+    }
+
+    // 9 through 16 bytes
+    for (NxU32 i=9; i<=16; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[1];
+    }
+
+    // 17 through 32 bytes
+    for (NxU32 i=17; i<=32; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[2];
+    }
+
+    // 33 through 64
+    for (NxU32 i=33; i<=64; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[3];
+    }
+
+    // 65 through 128
+    for (NxU32 i=65; i<=128; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[4];
+    }
+
+    // 129 through 255
+    for (NxU32 i=129; i<257; i++)
+    {
+        mFixedAllocators[i] = &mAlloc[5];
+    }
+
+    mBaseMem = (NxU8 *)baseMem;
+    mBaseMemEnd = mBaseMem+initialSize;
+
+    NxU8 *chunkBase = (NxU8 *)baseMem+sizeof(MyMicroAllocator);
+
+
+    chunkBase+=32;
+	NxU64 ptr = (NxU64)chunkBase;
+	ptr = ptr>>4;
+	ptr = ptr<<4; // make sure it is 16 byte aligned.
+	chunkBase = (NxU8 *)ptr;
+
+    mChunkStart = chunkBase;
+    chunkBase = mAlloc[0].init(chunkBase,8,chunkSize,heap);
+    chunkBase = mAlloc[1].init(chunkBase,16,chunkSize,heap);
+    chunkBase = mAlloc[2].init(chunkBase,32,chunkSize,heap);
+    chunkBase = mAlloc[3].init(chunkBase,64,chunkSize,heap);
+    chunkBase = mAlloc[4].init(chunkBase,128,chunkSize,heap);
+    chunkBase = mAlloc[5].init(chunkBase,256,chunkSize,heap);
+	mChunkEnd = chunkBase;
+
+    assert(chunkBase <= mBaseMemEnd );
+
+  }
+
+  ~MyMicroAllocator(void)
+  {
+    if ( mMicroChunks )
+    {
+        mHeap->micro_free(mMicroChunks);
+    }
+  }
+
+  virtual NxU32           getChunkSize(MemoryChunk *chunk) 
+  {
+	  return chunk ? chunk->getChunkSize() : 0;
+  }
+
+  // we have to steal one byte out of every allocation to record the size, so we can efficiently de-allocate it later.
+  virtual void * malloc(size_t size)
+  {
+    void *ret = 0;
+	Lock();
+   assert( size <= 256 );
+   if ( size <= 256 )
+   {
+     ret = mFixedAllocators[size]->allocate(this);
+   }
+   Unlock();
+    return ret;
+  }
+
+  virtual void   free(void *p,MemoryChunk *chunk)
+  {
+    Lock();
+    chunk->deallocate(p,mHeap,this);
+	Unlock();
+  }
+
+  // perform a binary search on the sorted list of chunks.
+  MemoryChunk * binarySearchMicroChunks(const NxU8 *p)
+  {
+	  MemoryChunk *ret = 0;
+
+	  NxU32 low = 0;
+	  NxU32 high = mMicroChunkCount;
+
+	  while ( low != high )
+	  {
+		  NxU32 mid = (high-low)/2+low;
+		  MicroChunk &chunk = mMicroChunks[mid];
+		  if ( chunk.inside(p))
+		  {
+			  mLastMicroChunk = &chunk;
+			  ret = chunk.mChunk;
+			  break;
+		  }
+		  else
+		  {
+			  if ( p > chunk.mMemEnd )
+			  {
+				  low = mid+1;
+			  }
+			  else
+			  {
+				  high = mid;
+			  }
+		  }
+	  }
+
+	  return ret;
+  }
+
+  virtual MemoryChunk *   isMicroAlloc(const void *p)  // returns true if this pointer is handled by the micro-allocator.
+  {
+    MemoryChunk *ret = 0;
+
+	Lock();
+
+    const NxU8 *s = (const NxU8 *)p;
+
+    if ( s >= mChunkStart && s < mChunkEnd )
+    {
+        NxU32 index = (NxU32)(s-mChunkStart)/mChunkSize;
+        assert(index>=0 && index < 6 );
+        ret = &mAlloc[index].mChunks.mChunks[0];
+		assert( ret->isInside(s) );
+    }
+	else if ( mMicroChunkCount )
+	{
+        if ( mLastMicroChunk && mLastMicroChunk->inside(s) )
+        {
+            ret = mLastMicroChunk->mChunk;
+        }
+        else
+        {
+			if ( mMicroChunkCount >= 4 )
+			{
+				ret = binarySearchMicroChunks(s);
+#ifdef _DEBUG
+				if (ret )
+				{
+					assert( ret->isInside(s) );
+				}
+				else 
+				{
+					for (NxU32 i=0; i<mMicroChunkCount; i++)
+					{
+						assert( !mMicroChunks[i].inside(s) );
+					}
+				}
+#endif
+			}
+			else
+			{
+				for (NxU32 i=0; i<mMicroChunkCount; i++)
+				{
+					if ( mMicroChunks[i].inside(s) )
+					{
+						ret = mMicroChunks[i].mChunk;
+						assert( ret->isInside(s) );
+						mLastMicroChunk = &mMicroChunks[i];
+						break;
+					}
+				}
+			}
+        }
+	}
+#ifdef _DEBUG
+	if ( ret )
+		assert( ret->isInside(s) );
+#endif
+	Unlock();
+    return ret;
+  }
+
+  MicroHeap * getMicroHeap(void) const { return mHeap; };
+
+  void allocateMicroChunks(void)
+  {
+    if ( mMaxMicroChunks == 0 )
+    {
+        mMaxMicroChunks = 64; // initial reserve.
+        mMicroChunks = (MicroChunk *)mHeap->micro_malloc( sizeof(MicroChunk)*mMaxMicroChunks );
+    }
+    else
+    {
+        mMaxMicroChunks*=2;
+        mMicroChunks = (MicroChunk *)mHeap->micro_realloc( mMicroChunks, sizeof(MicroChunk)*mMaxMicroChunks);
+    }
+  }
+
+  // perform an insertion sort of the new chunk.
+  virtual void addMicroChunk(NxU8 *memStart,NxU8 *memEnd,MemoryChunk *chunk)
+  {
+    if ( mMicroChunkCount >= mMaxMicroChunks )
+    {
+        allocateMicroChunks();
+    }
+
+    bool inserted = false;
+    for (NxU32 i=0; i<mMicroChunkCount; i++)
+    {
+        if ( memEnd < mMicroChunks[i].mMemStart )
+        {
+            for (NxU32 j=mMicroChunkCount; j>i; j--)
+            {
+                mMicroChunks[j] = mMicroChunks[j-1];
+            }
+            mMicroChunks[i].set( memStart, memEnd, chunk );
+			mLastMicroChunk = &mMicroChunks[i];
+            mMicroChunkCount++;
+            inserted = true;
+            break;
+        }
+    }
+    if ( !inserted )
+    {
+        mMicroChunks[mMicroChunkCount].set(memStart,memEnd,chunk);
+		mLastMicroChunk = &mMicroChunks[mMicroChunkCount];
+        mMicroChunkCount++;
+    }
+  }
+
+  virtual void removeMicroChunk(MemoryChunk *chunk)
+  {
+    mLastMicroChunk = 0;
+    #ifdef _DEBUG
+    bool removed = false;
+    #endif
+    for (NxU32 i=0; i<mMicroChunkCount; i++)
+    {
+        if ( mMicroChunks[i].mChunk == chunk )
+        {
+            mMicroChunkCount--;
+            for (NxU32 j=i; j<mMicroChunkCount; j++)
+            {
+                mMicroChunks[j] = mMicroChunks[j+1];
+            }
+            #ifdef _DEBUG
+            removed = true;
+            #endif
+            break;
+        }
+    }
+#ifdef _DEBUG
+    assert(removed);
+#endif
+  }
+
+  inline void * inline_malloc(size_t size)
+  {
+     Lock();
+     void *ret = mFixedAllocators[size]->allocate(this);
+	 Unlock();
+	 return ret;
+  }
+
+  inline void            inline_free(void *p,MemoryChunk *chunk) // free relative to previously located MemoryChunk
+  {
+	Lock();
+    chunk->deallocate(p,mHeap,this);
+	Unlock();
+  }
+
+  inline MemoryChunk *   inline_isMicroAlloc(const void *p) // returns pointer to the chunk this memory belongs to, or null if not a micro-allocated block.
+  {
+    MemoryChunk *ret = 0;
+
+	Lock();
+
+    const NxU8 *s = (const NxU8 *)p;
+
+    if ( s >= mChunkStart && s < mChunkEnd )
+    {
+        NxU32 index = (NxU32)(s-mChunkStart)/mChunkSize;
+        assert(index>=0 && index < 6 );
+        ret = &mAlloc[index].mChunks.mChunks[0];
+    }
+	else if ( mMicroChunkCount )
+	{
+        if ( mLastMicroChunk && mLastMicroChunk->inside(s) )
+        {
+            ret = mLastMicroChunk->mChunk;
+        }
+        else
+        {
+			if ( mMicroChunkCount >= 4 )
+			{
+				ret = binarySearchMicroChunks(s);
+			}
+			else
+			{
+				for (NxU32 i=0; i<mMicroChunkCount; i++)
+				{
+					if ( mMicroChunks[i].inside(s) )
+					{
+						ret = mMicroChunks[i].mChunk;
+						mLastMicroChunk = &mMicroChunks[i];
+						break;
+					}
+				}
+			}
+        }
+	}
+
+	Unlock();
+
+    return ret;
+  }
+
+
+private:
+  MicroHeap   *mHeap;
+  NxU8        *mBaseMem;
+  NxU8        *mBaseMemEnd;
+  FixedMemory *mFixedAllocators[257];
+  NxU32        mChunkSize;
+  NxU8        *mChunkStart;
+  NxU8        *mChunkEnd;
+
+  NxU32        mMaxMicroChunks;
+  NxU32        mMicroChunkCount;
+  MicroChunk  *mLastMicroChunk;
+  MicroChunk  *mMicroChunks;
+
+  FixedMemory  mAlloc[6];
+};
+
+
+MicroAllocator *createMicroAllocator(MicroHeap *heap,NxU32 chunkSize)
+{
+    NxU32 initialSize = chunkSize*6+sizeof(MyMicroAllocator)+32;
+    void *baseMem = heap->micro_malloc(initialSize);
+    MyMicroAllocator *mc = (MyMicroAllocator *)baseMem;
+    new ( mc ) MyMicroAllocator(heap,baseMem,initialSize,chunkSize);
+    return static_cast< MicroAllocator *>(mc);
+}
+
+void releaseMicroAllocator(MicroAllocator *m)
+{
+    MyMicroAllocator *mc = static_cast< MyMicroAllocator *>(m);
+	MicroHeap *mh = mc->getMicroHeap();
+    mc->~MyMicroAllocator();
+	mh->micro_free(mc);
+}
+
+class MyHeapManager : public MicroHeap, public HeapManager
+{
+public:
+  MyHeapManager(NxU32 defaultChunkSize)
+  {
+    mMicro = createMicroAllocator(this,defaultChunkSize);
+  }
+
+  ~MyHeapManager(void)
+  {
+    releaseMicroAllocator(mMicro);
+  }
+
+  // heap allocations used by the micro allocator.
+  virtual void * micro_malloc(size_t size)
+  {
+    return ::malloc(size);
+  }
+
+  virtual void   micro_free(void *p)
+  {
+    return ::free(p);
+  }
+
+  virtual void * micro_realloc(void *oldMem,size_t newSize)
+  {
+    return ::realloc(oldMem,newSize);
+  }
+
+  virtual void * heap_malloc(size_t size)
+  {
+    void *ret;
+
+    if ( size <= 256 ) // micro allocator only handles allocations between 0 and 256 bytes in length.
+    {
+        ret = mMicro->malloc(size);
+    }
+    else
+    {
+        ret = ::malloc(size);
+    }
+    return ret;
+  }
+
+  virtual void   heap_free(void *p)
+  {
+    MemoryChunk *chunk = mMicro->isMicroAlloc(p);
+    if ( chunk )
+    {
+        mMicro->free(p,chunk);
+    }
+    else
+    {
+        ::free(p);
+    }
+  }
+
+  virtual void * heap_realloc(void *oldMem,size_t newSize)
+  {
+    void *ret = 0;
+
+    MemoryChunk *chunk = mMicro->isMicroAlloc(oldMem);
+    if ( chunk )
+    {
+        ret = heap_malloc(newSize);
+        NxU32 oldSize = chunk->getChunkSize();
+        if ( oldSize < newSize )
+        {
+            memcpy(ret,oldMem,oldSize);
+        }
+        else
+        {
+            memcpy(ret,oldMem,newSize);
+        }
+        mMicro->free(oldMem,chunk);
+    }
+    else
+    {
+        ret = ::realloc(oldMem,newSize);
+    }
+
+    return ret;
+  }
+
+  inline void * inline_heap_malloc(size_t size)
+  {
+    return size<=256 ? ((MyMicroAllocator *)mMicro)->inline_malloc(size) : ::malloc(size);
+  }
+
+  inline void   inline_heap_free(void *p)
+  {
+	  MemoryChunk *chunk = ((MyMicroAllocator *)mMicro)->inline_isMicroAlloc(p);
+	  if ( chunk )
+	  {
+		  ((MyMicroAllocator *)mMicro)->inline_free(p,chunk);
+	  }
+	  else
+	  {
+		  ::free(p);
+	  }
+
+  }
+
+private:
+  MicroAllocator *mMicro;
+};
+
+
+HeapManager * createHeapManager(NxU32 defaultChunkSize)
+{
+    MyHeapManager *m = (MyHeapManager *)::malloc(sizeof(MyHeapManager));
+    new ( m ) MyHeapManager(defaultChunkSize);
+    return static_cast< HeapManager *>(m);
+}
+
+void          releaseHeapManager(HeapManager *heap)
+{
+    MyHeapManager *m = static_cast< MyHeapManager *>(heap);
+    m->~MyHeapManager();
+	free(m);
+}
+
+
+#define TEST_SIZE 63
+#define TEST_ALLOC_COUNT 8192
+#define TEST_RUN 40000000
+#define TEST_INLINE 1
+
+#ifdef WIN32
+#include <windows.h>
+#pragma comment(lib,"winmm.lib")
+#else
+static NxU32 timeGetTime(void)
+{
+	return 0;
+}
+#endif
+#include <stdio.h>
+
+void performUnitTests(void)
+{
+    void *allocs[TEST_ALLOC_COUNT];
+    for (NxU32 i=0; i<TEST_ALLOC_COUNT; i++)
+    {
+        allocs[i] = 0;
+    }
+
+
+    HeapManager *hm = createHeapManager(65536*32);
+
+
+    {
+
+      NxU32 stime = timeGetTime();
+      srand(0);
+
+
+      for (NxU32 i=0; i<TEST_RUN; i++)
+      {
+          NxU32 index = rand()&(TEST_ALLOC_COUNT-1);
+          if ( allocs[index] )
+          {
+#if TEST_INLINE
+              heap_free(hm, allocs[index] );
+#else
+              hm->heap_free( allocs[index] );
+#endif
+              allocs[index] = 0;
+          }
+          else
+          {
+              NxU32 asize = (rand()&TEST_SIZE);
+			  if ( (rand()&127)==0) asize+=256; // one out of every 15 allocs is larger than 256 bytes.
+#if TEST_INLINE
+              allocs[index] = heap_malloc(hm,asize);
+#else
+              allocs[index] = hm->heap_malloc(asize);
+#endif
+          }
+      }
+
+      for (NxU32 i=0; i<TEST_ALLOC_COUNT; i++)
+      {
+          if ( allocs[i] )
+          {
+#if TEST_INLINE
+              heap_free(hm,allocs[i] );
+#else
+              hm->heap_free(allocs[i] );
+#endif
+			  allocs[i] = 0;
+          }
+      }
+
+      NxU32 etime = timeGetTime();
+      printf("Micro allocation test took %d milliseconds.\r\n", etime - stime );
+
+    }
+
+    {
+
+      NxU32 stime = timeGetTime();
+      srand(0);
+
+
+      for (NxU32 i=0; i<TEST_RUN; i++)
+      {
+          NxU32 index = rand()&(TEST_ALLOC_COUNT-1);
+          if ( allocs[index] )
+          {
+              ::free( allocs[index] );
+              allocs[index] = 0;
+          }
+          else
+          {
+              NxU32 asize = (rand()&TEST_SIZE);
+			  if ( (rand()&127)==0) asize+=256; // one out of every 15 allocs is larger than 256 bytes.
+              allocs[index] = ::malloc(asize);
+          }
+      }
+
+      for (NxU32 i=0; i<TEST_ALLOC_COUNT; i++)
+      {
+          if ( allocs[i] )
+          {
+              ::free(allocs[i] );
+			  allocs[i] = 0;
+          }
+      }
+
+      NxU32 etime = timeGetTime();
+      printf("Standard malloc/free test took %d milliseconds.\r\n", etime - stime );
+
+    }
+
+    releaseHeapManager(hm);
+}
+
+void * heap_malloc(HeapManager *hm,size_t size)
+{
+    return ((MyHeapManager *)hm)->inline_heap_malloc(size);
+}
+
+void   heap_free(HeapManager *hm,void *p)
+{
+    ((MyHeapManager *)hm)->inline_heap_free(p);
+}
+
+void * heap_realloc(HeapManager *hm,void *oldMem,size_t newSize)
+{
+    return hm->heap_realloc(oldMem,newSize);
+}
+
+}; // end of namespace

indra/libhacd/hacdMicroAllocator.h

@@ -0,0 +1,204 @@
+#ifndef MICRO_ALLOCATOR_H
+
+#define MICRO_ALLOCATOR_H
+
+/*!
+**
+** Copyright (c) 2009 by John W. Ratcliff mailto:jratcliffscarab@gmail.com
+**
+** If you find this code useful or you are feeling particularily generous I would
+** ask that you please go to http://www.amillionpixels.us and make a donation
+** to Troy DeMolay.
+**
+** If you wish to contact me you can use the following methods:
+**
+** Skype ID: jratcliff63367
+** email: jratcliffscarab@gmail.com
+**
+**
+** The MIT license:
+**
+** 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.
+
+*/
+
+
+// This code snippet provides a high speed micro-allocator.
+//
+// The concept is that you reserve an initial bank of memory for small allocations.  Ideally a megabyte or two.
+// The amount of memory reserved is equal to chunkSize*6
+//
+// All micro-allocations are split into 6 seperate pools.
+//    They are: 0-8 bytes
+//              9-32 bytes
+//              33-64 bytes
+//              65-128 bytes
+//              129-256 bytes
+//
+// On creation of the micro-allocation system you preserve a certiain amount of memory for each of these banks.
+//
+// The user provides a heap interface to callback for additional memory as needed.
+//
+// In most cases allocations are order-N and frees are order-N as well.
+//
+// The larger a buffer you provide, the closer to 'order-N' the allocator behaves.
+//
+// This kind of a micro-allocator is ideal for use with STL as it does many tiny allocations.
+// All allocations are 16 byte aligned (with the exception of the 8 byte allocations, which are 8 byte aligned every other one).
+//
+#include <stdio.h>
+
+#ifdef WIN32
+	typedef __int64				NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned __int64	NxU64;
+	typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+	typedef unsigned char		NxU8;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#elif __gnu_linux__
+	typedef long long			NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned long long	NxU64;
+    typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+	typedef unsigned char		NxU8;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#elif __APPLE__
+	typedef long long			NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned long long	NxU64;
+	typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+	typedef unsigned char		NxU8;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#elif __CELLOS_LV2__
+	typedef long long			NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned long long	NxU64;
+	typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+	typedef unsigned char		NxU8;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#elif _XBOX
+	typedef __int64				NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned __int64	NxU64;
+	typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+	typedef unsigned char		NxU8;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#elif defined(__PPCGEKKO__)
+	typedef long long			NxI64;
+	typedef signed int			NxI32;
+	typedef signed short		NxI16;
+	typedef signed char			NxI8;
+
+	typedef unsigned long long	NxU64;
+	typedef unsigned int		NxU32;
+	typedef unsigned short		NxU16;
+
+	typedef float				NxF32;
+	typedef double				NxF64;
+
+#else
+	#error Unknown platform!
+#endif
+
+
+namespace HACD
+{
+
+// user provided heap allocator
+class MicroHeap
+{
+public:
+  virtual void * micro_malloc(size_t size) = 0;
+  virtual void   micro_free(void *p) = 0;
+  virtual void * micro_realloc(void *oldMen,size_t newSize) = 0;
+};
+
+class MemoryChunk;
+
+class MicroAllocator
+{
+public:
+  virtual void *          malloc(size_t size) = 0;
+  virtual void            free(void *p,MemoryChunk *chunk) = 0; // free relative to previously located MemoryChunk
+  virtual MemoryChunk *   isMicroAlloc(const void *p) = 0; // returns pointer to the chunk this memory belongs to, or null if not a micro-allocated block.
+  virtual NxU32           getChunkSize(MemoryChunk *chunk) = 0;
+};
+
+MicroAllocator *createMicroAllocator(MicroHeap *heap,NxU32 chunkSize=32768); // initial chunk size 32k per block.
+void            releaseMicroAllocator(MicroAllocator *m);
+
+class HeapManager
+{
+public:
+  virtual void * heap_malloc(size_t size) = 0;
+  virtual void   heap_free(void *p) = 0;
+  virtual void * heap_realloc(void *oldMem,size_t newSize) = 0;
+};
+
+
+// creates a heap manager that uses micro-allocations for all allocations < 256 bytes and standard malloc/free for anything larger.
+HeapManager * createHeapManager(NxU32 defaultChunkSize=32768);
+void          releaseHeapManager(HeapManager *heap);
+
+// about 10% faster than using the virtual interface, inlines the functions as much as possible.
+void * heap_malloc(HeapManager *hm,size_t size);
+void   heap_free(HeapManager *hm,void *p);
+void * heap_realloc(HeapManager *hm,void *oldMem,size_t newSize);
+
+void performUnitTests(void);
+
+//
+
+}; // end of namespace
+
+#endif

indra/libhacd/hacdRaycastMesh.cpp

@@ -0,0 +1,280 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#include "hacdRaycastMesh.h"
+#include <math.h>
+#include <assert.h>
+#include <limits>
+#include "hacdManifoldMesh.h"
+namespace HACD
+{
+	bool BBox::Raycast(const Vec3<Float> & origin, const Vec3<Float> & dir, Float & distMin) const
+	{
+		Vec3<Float> d = m_max - m_min;
+		Float r2 = 0.25 * (d.X()*d.X()+d.Y()*d.Y()+d.Z()*d.Z());
+		Vec3<Float> c = 0.5 * m_max + 0.5 * m_min;
+		Vec3<Float> u = (c-origin);
+		Vec3<Float> a = u - (u * dir) * dir;
+		Float dist2 = (a.X()*a.X()+a.Y()*a.Y()+a.Z()*a.Z());
+		distMin = (u.X()*u.X()+u.Y()*u.Y()+u.Z()*u.Z());
+		if ( distMin > r2 ) // origin outside the sphere of center c and radius r 
+		{
+			distMin = sqrt(distMin) - sqrt(r2); // the distance to any point inside the sphere is higher than |origin - c| - r
+		}
+		else
+		{
+			distMin = 0.0;
+		}
+		if (dist2 > r2) return false;
+		return true;
+	}	
+	void RMNode::ComputeBB()
+	{
+		if (m_triIDs.Size() == 0)
+		{
+			return;
+		}
+		Vec3<long> * const triangles = m_rm->m_triangles;			
+		Vec3<Float> * const vertices = m_rm->m_vertices;
+		const Float minFloat = std::numeric_limits<Float>::min();
+		const Float maxFloat = std::numeric_limits<Float>::max();
+		m_bBox.m_max = Vec3<Float>(minFloat, minFloat, minFloat);
+		m_bBox.m_min = Vec3<Float>(maxFloat, maxFloat, maxFloat);
+		Float x, y, z;
+		long v, f;
+		for(size_t id = 0; id < m_triIDs.Size(); ++id)
+		{
+			f = m_triIDs[id];
+			for(size_t k = 0; k < 3; ++k)
+			{
+				v = triangles[f][k];
+				x = vertices[v].X();
+				y = vertices[v].Y();
+				z = vertices[v].Z();
+				if ( x < m_bBox.m_min.X()) m_bBox.m_min.X() = x;
+				if ( x > m_bBox.m_max.X()) m_bBox.m_max.X() = x;
+				if ( y < m_bBox.m_min.Y()) m_bBox.m_min.Y() = y;
+				if ( y > m_bBox.m_max.Y()) m_bBox.m_max.Y() = y;
+				if ( z < m_bBox.m_min.Z()) m_bBox.m_min.Z() = z;
+				if ( z > m_bBox.m_max.Z()) m_bBox.m_max.Z() = z;
+			}
+        }
+	}
+	void RaycastMesh::ComputeBB()
+	{
+		if (m_nVertices == 0)
+		{
+			return;
+		}
+		m_bBox.m_min = m_vertices[0];
+		m_bBox.m_max = m_vertices[0];
+		Float x, y, z;
+        for (size_t v = 1; v < m_nVertices ; v++) 
+        {
+            x = m_vertices[v].X();
+            y = m_vertices[v].Y();
+            z = m_vertices[v].Z();
+            if ( x < m_bBox.m_min.X()) m_bBox.m_min.X() = x;
+			else if ( x > m_bBox.m_max.X()) m_bBox.m_max.X() = x;
+            if ( y < m_bBox.m_min.Y()) m_bBox.m_min.Y() = y;
+			else if ( y > m_bBox.m_max.Y()) m_bBox.m_max.Y() = y;
+            if ( z < m_bBox.m_min.Z()) m_bBox.m_min.Z() = z;
+			else if ( z > m_bBox.m_max.Z()) m_bBox.m_max.Z() = z;
+        }
+	}
+	void RaycastMesh::Initialize(size_t nVertices, size_t nTriangles, 
+								Vec3<Float> *  vertices,  Vec3<long> * triangles, 
+								size_t maxDepth, size_t minLeafSize, Float minAxisSize)
+	{
+		m_triangles  = triangles;			
+		m_vertices   = vertices;		
+		m_nVertices  = nVertices;
+		m_nTriangles = nTriangles;
+		delete [] m_nodes;
+		m_nNodes = 0;
+		m_nMaxNodes = 0;
+		for(size_t k = 0; k < maxDepth; k++)
+		{
+			m_nMaxNodes += (1 << maxDepth);
+		}
+		m_nodes = new RMNode[m_nMaxNodes];
+		RMNode & root = m_nodes[AddNode()];
+		root.m_triIDs.Resize(nTriangles);
+		for(size_t t = 0; t < m_nTriangles; ++t) root.m_triIDs.PushBack(t);
+		root.m_rm = this;
+		root.m_id = 0;
+		root.Create(0, maxDepth, minLeafSize, minAxisSize);
+	}
+	RaycastMesh::RaycastMesh(void)
+	{
+		m_triangles  = 0;			
+		m_vertices   = 0;		
+		m_nVertices  = 0;
+		m_nTriangles = 0;
+		m_nodes		 = 0;
+		m_nNodes	 = 0;
+		m_nMaxNodes  = 0;
+	}
+	RaycastMesh::~RaycastMesh(void)
+	{
+		delete [] m_nodes;
+	}
+	void RMNode::Create(size_t depth, size_t maxDepth, size_t minLeafSize, Float minAxisSize)
+	{
+		ComputeBB();
+		Vec3<Float> d = m_bBox.m_max - m_bBox.m_min;
+		Float maxDiff = std::max<Float>(d.X(), std::max<Float>(d.Y(), d.Z()));
+		RMSplitAxis split;
+		if		(d.X() == maxDiff) split = RMSplitAxis_X;
+		else if (d.Y() == maxDiff) split = RMSplitAxis_Y;
+		else					   split = RMSplitAxis_Z;
+	
+		if (depth == maxDepth || minLeafSize >= m_triIDs.Size() || maxDiff < minAxisSize)
+		{
+			m_leaf = true;
+			return;
+		}
+		m_idLeft  = m_rm->AddNode();
+		m_idRight = m_rm->AddNode();
+		RMNode & leftNode  = m_rm->m_nodes[m_idLeft];	
+		RMNode & rightNode = m_rm->m_nodes[m_idRight];
+		leftNode.m_id      = m_idLeft;
+		rightNode.m_id     = m_idRight;
+		leftNode.m_bBox    = m_bBox;
+		rightNode.m_bBox   = m_bBox;
+		leftNode.m_rm	   = m_rm;
+		rightNode.m_rm	   = m_rm;
+
+		if ( split == RMSplitAxis_X)
+		{
+			leftNode.m_bBox.m_max.X() = leftNode.m_bBox.m_max.X() - d.X() * 0.5;
+			rightNode.m_bBox.m_min.X() = leftNode.m_bBox.m_max.X();
+		}
+		else if ( split == RMSplitAxis_Y)
+		{
+			leftNode.m_bBox.m_max.Y() = leftNode.m_bBox.m_max.Y() - d.Y() * 0.5;
+			rightNode.m_bBox.m_min.Y() = leftNode.m_bBox.m_max.Y();
+		}
+		else
+		{
+			leftNode.m_bBox.m_max.Z() = leftNode.m_bBox.m_max.Z() - d.Z() * 0.5;
+			rightNode.m_bBox.m_min.Z() = leftNode.m_bBox.m_max.Z();
+		}
+		long f;
+		long pts[3];
+		long v;
+		Vec3<long> * const triangles = m_rm->m_triangles;			
+		Vec3<Float> * const vertices = m_rm->m_vertices;
+		leftNode.m_triIDs.Resize(m_triIDs.Size());
+		rightNode.m_triIDs.Resize(m_triIDs.Size());
+		bool found;
+		for(size_t id = 0; id < m_triIDs.Size(); ++id)
+		{
+			f = m_triIDs[id];
+			pts[0] = triangles[f].X();
+            pts[1] = triangles[f].Y();
+            pts[2] = triangles[f].Z();
+
+			found = false;
+			for (int k = 0; k < 3; ++k)
+			{
+				v = pts[k];
+				if ( vertices[v].X() <= leftNode.m_bBox.m_max.X() && 
+					 vertices[v].X() >= leftNode.m_bBox.m_min.X() &&
+					 vertices[v].Y() <= leftNode.m_bBox.m_max.Y() && 
+					 vertices[v].Y() >= leftNode.m_bBox.m_min.Y() &&
+					 vertices[v].Z() <= leftNode.m_bBox.m_max.Z() && 
+					 vertices[v].Z() >= leftNode.m_bBox.m_min.Z() )
+				{
+					leftNode.m_triIDs.PushBack(f);
+					found = true;
+					break;
+				}
+			}
+			if (!found)
+			{
+				for (int k = 0; k < 3; ++k)
+				{
+					v = pts[k];
+					if ( vertices[v].X() <= rightNode.m_bBox.m_max.X() && 
+						 vertices[v].X() >= rightNode.m_bBox.m_min.X() &&
+						 vertices[v].Y() <= rightNode.m_bBox.m_max.Y() && 
+						 vertices[v].Y() >= rightNode.m_bBox.m_min.Y() &&
+						 vertices[v].Z() <= rightNode.m_bBox.m_max.Z() && 
+						 vertices[v].Z() >= rightNode.m_bBox.m_min.Z() )
+					{
+						rightNode.m_triIDs.PushBack(f);
+						break;
+					}
+				}		
+			}
+		}
+		rightNode.Create(depth+1, maxDepth, minLeafSize, minAxisSize);
+		leftNode.Create(depth+1, maxDepth, minLeafSize, minAxisSize);
+		m_triIDs.Clear();
+	}
+	bool RaycastMesh::Raycast(const Vec3<Float> & from, const Vec3<Float> & dir, long & triID, Float & distance, Vec3<Real> & hitPoint, Vec3<Real> & hitNormal) const
+	{
+		distance = std::numeric_limits<Float>::max();
+		if (m_nNodes == 0) return false;
+		return m_nodes[0].Raycast(from, dir, triID, distance, hitPoint, hitNormal);
+	}
+	bool RMNode::Raycast(const Vec3<Float> & from, const Vec3<Float> & dir, long & triID, Float & distance, Vec3<Real> & hitPoint, Vec3<Real> & hitNormal) const 
+	{
+		Float distToSphere;
+		if (m_bBox.Raycast(from, dir, distToSphere) && (distToSphere < distance))
+		{
+			if (m_leaf)
+			{
+				long f, i1, j1, k1;
+				Vec3<long> * const triangles = m_rm->m_triangles;			
+				Vec3<Float> * const vertices = m_rm->m_vertices;
+				Vec3<Real> u1, v1, normal1;
+				double dist = 0.0;
+				long nhit = 0;
+				bool ret = false;
+				for(size_t id = 0; id < m_triIDs.Size(); ++id)
+				{
+					f = m_triIDs[id];
+					i1 = triangles[f].X();
+					j1 = triangles[f].Y();
+					k1 = triangles[f].Z();
+					u1 = vertices[j1] - vertices[i1];
+					v1 = vertices[k1] - vertices[i1];
+					normal1 = (u1 ^ v1);
+					if (dir * normal1 > 0.0)
+					{
+						nhit = IntersectRayTriangle(from, dir, vertices[i1], vertices[j1], vertices[k1], dist);
+						if (nhit==1 && distance>dist)
+						{
+							normal1.Normalize();
+							hitNormal = normal1;
+							hitPoint = from + dist * dir;
+							distance = dist;
+							triID = f;
+							ret = true;
+						}						
+					}
+				}
+				return ret;
+			}
+			bool ret1 = false;
+			bool ret2 = false;
+			if (m_idRight >= 0) ret1 = m_rm->m_nodes[m_idRight].Raycast(from, dir, triID, distance, hitPoint, hitNormal);
+			if (m_idLeft >= 0)  ret2 = m_rm->m_nodes[m_idLeft].Raycast(from, dir, triID, distance, hitPoint, hitNormal);
+			return ret1 || ret2;
+		}
+		return false;
+	}
+}

indra/libhacd/hacdRaycastMesh.h

@@ -0,0 +1,97 @@
+
+
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef RAYCAST_MESH_H
+#define RAYCAST_MESH_H
+#include "hacdSArray.h"
+#include <vector>
+#include "hacdVersion.h"
+#include "hacdVector.h"
+#include "hacdSArray.h"
+
+namespace HACD
+{
+	typedef double Float;
+	class RaycastMesh;
+	class RMNode;
+	class BBox
+	{
+	public:
+		bool									Raycast(const Vec3<Float> & origin, const Vec3<Float> & dir, Float & distance) const;
+												BBox(void){}
+												~BBox(void){}
+	private:
+		Vec3<Float>								m_min;	
+		Vec3<Float>								m_max;
+		friend class RMNode;
+		friend class RaycastMesh;
+	};
+
+	enum RMSplitAxis
+	{
+		RMSplitAxis_X,
+		RMSplitAxis_Y,
+		RMSplitAxis_Z
+	};
+	class RMNode
+	{
+	public:
+		void									ComputeBB();
+		bool									Raycast(const Vec3<Float> & from, const Vec3<Float> & dir, long & triID, Float & distance, Vec3<Real> & hitPoint, Vec3<Real> & hitNormal) const;
+		void									Create(size_t depth, size_t maxDepth, size_t minLeafSize, Float minAxisSize);
+												~RMNode(void){}
+												RMNode(void)
+												{
+													m_idRight = m_idLeft = m_id = -1;
+													m_rm = 0;
+													m_leaf = false;
+												}
+		long									m_id;
+		long									m_idLeft;
+		long									m_idRight;
+		BBox									m_bBox;		
+		SArray<long, SARRAY_DEFAULT_MIN_SIZE>	m_triIDs;
+		RaycastMesh *							m_rm;
+		bool									m_leaf;
+	};
+
+	class RaycastMesh
+	{
+	public:
+	size_t										GetNNodes() const { return m_nNodes;}
+	size_t										AddNode() { m_nNodes++; return m_nNodes-1; }
+	void										ComputeBB();
+	bool										Raycast(const Vec3<Float> & from, const Vec3<Float> & dir, long & triID, Float & distance, Vec3<Real> & hitPoint, Vec3<Real> & hitNormal) const;
+	void										Initialize(size_t nVertices, size_t nTriangles, 
+														   Vec3<Float> *  vertices,  Vec3<long> * triangles, 
+														   size_t maxDepth=15, size_t minLeafSize = 4, Float minAxisSize = 2.0);	
+												RaycastMesh(void);
+												~RaycastMesh(void);
+	private : 
+
+	private:
+		Vec3<long> *							m_triangles;			
+		Vec3<Float> *							m_vertices;		
+		size_t									m_nVertices;
+		size_t									m_nTriangles;
+		RMNode *								m_nodes;
+		BBox									m_bBox;
+		size_t									m_nNodes;
+		size_t									m_nMaxNodes;
+		friend class RMNode;
+	};
+}
+#endif

indra/libhacd/hacdSArray.h

@@ -0,0 +1,154 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_SARRAY_H
+#define HACD_SARRAY_H
+#include "hacdVersion.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#define SARRAY_DEFAULT_MIN_SIZE 16
+
+namespace HACD
+{
+	//!	SArray.
+    template < typename T, size_t N > class SArray
+    {
+        public:
+            T &                     operator[](size_t i)       
+                                    {
+                                        T * const data = Data();
+                                        return data[i];
+                                    }
+            const T &               operator[](size_t i) const 
+                                    {
+                                        const T * const data = Data();
+                                        return data[i];
+                                    }
+            size_t                  Size() const               
+                                    { 
+                                        return m_size;
+                                    }
+            T * const               Data()
+                                    { 
+                                        return (m_maxSize == N)? m_data0 : m_data;
+                                    }
+            const T * const         Data() const
+                                    { 
+                                        return (m_maxSize == N)? m_data0 : m_data;
+                                    }
+            void                    Clear()
+                                    {
+                                        m_size = 0;
+                                        delete [] m_data;
+                                        m_data    = 0;
+                                        m_maxSize = N;
+                                    }
+            void                    PopBack()
+                                    {
+                                        --m_size;
+                                    }
+			void                    Resize(size_t size)
+									{
+										if (size > m_maxSize)
+										{
+                                            T * temp = new T[size];
+											memcpy(temp, Data(), m_size*sizeof(T));
+                                            delete [] m_data;
+                                            m_data = temp;
+                                            m_maxSize = size;
+										}
+									}
+            void                    PushBack(const T &  value)
+                                    {
+                                        if (m_size==m_maxSize)
+                                        {
+                                            size_t maxSize = (m_maxSize << 1);                                            
+                                            T * temp = new T[maxSize];
+                                            memcpy(temp, Data(), m_maxSize*sizeof(T));
+                                            delete [] m_data;
+                                            m_data = temp;
+                                            m_maxSize = maxSize;
+                                        }
+                                        T * const data = Data();
+                                        data[m_size++] = value;
+                                    }
+            bool                    Find(const T & value, size_t & pos)
+                                    {
+                                        T * const data = Data();
+                                        for(pos = 0; pos < m_size; ++pos)
+                                            if (value == data[pos]) return true;
+                                        return false;
+                                    }
+            bool                    Insert(const T & value)
+                                    {
+                                        size_t pos;
+                                        if (Find(value, pos)) return false;
+                                        PushBack(value);
+                                        return true;
+                                    }
+            bool                    Erase(const T & value)
+                                    {
+                                        size_t pos;
+                                        T * const data = Data();
+                                        if (Find(value, pos))
+                                        {
+                                            for(size_t j = pos+1;  j < m_size; ++j)
+                                                data[j-1] = data[j];
+                                            --m_size;
+                                            return true;
+                                        }
+                                        return false;
+                                    }
+            void                    operator=(const SArray & rhs)       
+                                    {
+                                        if (m_maxSize < rhs.m_size)
+                                        {
+                                            delete [] m_data;
+                                            m_maxSize = rhs.m_maxSize;
+                                            m_data = new T[m_maxSize];
+                                        }
+                                        m_size = rhs.m_size;
+                                        memcpy(Data(), rhs.Data(), m_size*sizeof(T));
+                                    }
+            void                    Initialize()
+                                    {
+                                        m_data    = 0;
+                                        m_size    = 0;
+                                        m_maxSize = N;
+                                    }
+                                    SArray(const SArray & rhs)
+                                    {
+                                        m_data    = 0;
+                                        m_size    = 0;
+                                        m_maxSize = N;
+                                        *this    = rhs;
+                                    }
+                                    SArray()
+                                    {
+                                        Initialize();
+                                    }
+                                    ~SArray()
+                                    {
+                                        delete [] m_data;
+                                    }
+        private:
+            T                       m_data0[N];
+            T *                     m_data;
+            size_t                  m_size;
+            size_t                  m_maxSize;
+       };    
+}
+#endif

indra/libhacd/hacdVector.h

@@ -0,0 +1,69 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_VECTOR_H
+#define HACD_VECTOR_H
+#include <math.h>
+#include <iostream>
+#include "hacdVersion.h"
+
+namespace HACD
+{
+    typedef double Real;
+	//!	Vector dim 3.
+	template < typename T > class Vec3
+	{
+	public:
+		T &					operator[](size_t i) { return m_data[i];}
+		const T	&			operator[](size_t i) const { return m_data[i];}
+		T &					X();
+		T &					Y();
+		T &					Z();
+		const T	&			X() const;
+		const T	&			Y() const;
+		const T	&			Z() const;
+		void				Normalize();
+		T					GetNorm() const;
+		void				operator= (const Vec3 & rhs);
+		void				operator+=(const Vec3 & rhs);
+		void				operator-=(const Vec3 & rhs);
+		void				operator-=(T a);
+		void				operator+=(T a);
+		void				operator/=(T a);
+		void				operator*=(T a);
+		Vec3				operator^ (const Vec3 & rhs) const;
+		T			    	operator* (const Vec3 & rhs) const;
+		Vec3				operator+ (const Vec3 & rhs) const;
+		Vec3				operator- (const Vec3 & rhs) const;
+		Vec3				operator- () const;
+		Vec3				operator* (T rhs) const;
+		Vec3				operator/ (T rhs) const;
+							Vec3();
+							Vec3(T a);
+							Vec3(T x, T y, T z);
+							Vec3(const Vec3 & rhs);
+		/*virtual*/			~Vec3(void);
+
+	private:
+		T					m_data[3];
+	};
+    template<typename T>
+    const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c);
+    template<typename T>
+    const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d);
+    
+}
+#include "hacdVector.inl"	// template implementation
+#endif

indra/libhacd/hacdVector.inl

@@ -0,0 +1,178 @@
+#pragma once
+#ifndef HACD_VECTOR_INL
+#define HACD_VECTOR_INL
+namespace HACD
+{
+	template <typename T> 
+	inline Vec3<T> operator*(T lhs, const Vec3<T> & rhs)
+	{
+		return Vec3<T>(lhs * rhs.X(), lhs * rhs.Y(), lhs * rhs.Z());
+	}
+	template <typename T> 
+	inline T & Vec3<T>::X() 
+	{
+		return m_data[0];
+	}
+	template <typename T>	
+	inline  T &	Vec3<T>::Y() 
+	{
+		return m_data[1];
+	}
+	template <typename T>	
+	inline  T &	Vec3<T>::Z() 
+	{
+		return m_data[2];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::X() const 
+	{
+		return m_data[0];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::Y() const 
+	{
+		return m_data[1];
+	}
+	template <typename T>	
+	inline  const T & Vec3<T>::Z() const 
+	{
+		return m_data[2];
+	}
+	template <typename T>	
+	inline  void Vec3<T>::Normalize()
+	{
+		T n = sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
+		if (n != 0.0) (*this) /= n;
+	}
+	template <typename T>	
+	inline  T Vec3<T>::GetNorm() const 
+	{ 
+		return sqrt(m_data[0]*m_data[0]+m_data[1]*m_data[1]+m_data[2]*m_data[2]);
+	}
+	template <typename T>	
+	inline  void Vec3<T>::operator= (const Vec3 & rhs)
+	{ 
+		this->m_data[0] = rhs.m_data[0]; 
+		this->m_data[1] = rhs.m_data[1]; 
+		this->m_data[2] = rhs.m_data[2]; 
+	}
+	template <typename T>	
+	inline  void Vec3<T>::operator+=(const Vec3 & rhs)
+	{ 
+		this->m_data[0] += rhs.m_data[0]; 
+		this->m_data[1] += rhs.m_data[1]; 
+		this->m_data[2] += rhs.m_data[2]; 
+	}     
+	template <typename T>  
+	inline void Vec3<T>::operator-=(const Vec3 & rhs)
+	{ 
+		this->m_data[0] -= rhs.m_data[0]; 
+		this->m_data[1] -= rhs.m_data[1]; 
+		this->m_data[2] -= rhs.m_data[2]; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator-=(T a)
+	{ 
+		this->m_data[0] -= a; 
+		this->m_data[1] -= a; 
+		this->m_data[2] -= a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator+=(T a)
+	{ 
+		this->m_data[0] += a; 
+		this->m_data[1] += a; 
+		this->m_data[2] += a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator/=(T a)
+	{ 
+		this->m_data[0] /= a; 
+		this->m_data[1] /= a; 
+		this->m_data[2] /= a; 
+	}
+	template <typename T>  
+	inline void Vec3<T>::operator*=(T a)
+	{ 
+		this->m_data[0] *= a; 
+		this->m_data[1] *= a; 
+		this->m_data[2] *= a; 
+	}  
+	template <typename T>	
+	inline Vec3<T> Vec3<T>::operator^ (const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[1] * rhs.m_data[2] - m_data[2] * rhs.m_data[1],
+					   m_data[2] * rhs.m_data[0] - m_data[0] * rhs.m_data[2],
+					   m_data[0] * rhs.m_data[1] - m_data[1] * rhs.m_data[0]);
+	}
+	template <typename T>
+	inline T Vec3<T>::operator*(const Vec3<T> & rhs) const
+	{
+		return (m_data[0] * rhs.m_data[0] + m_data[1] * rhs.m_data[1] + m_data[2] * rhs.m_data[2]);
+	}        
+	template <typename T>
+	inline Vec3<T> Vec3<T>::operator+(const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[0] + rhs.m_data[0],m_data[1] + rhs.m_data[1],m_data[2] + rhs.m_data[2]);
+	}
+	template <typename T> 
+	inline  Vec3<T> Vec3<T>::operator-(const Vec3<T> & rhs) const
+	{
+		return Vec3<T>(m_data[0] - rhs.m_data[0],m_data[1] - rhs.m_data[1],m_data[2] - rhs.m_data[2]) ;
+	}     
+	template <typename T> 
+	inline  Vec3<T> Vec3<T>::operator-() const
+	{
+		return Vec3<T>(-m_data[0],-m_data[1],-m_data[2]) ;
+	}     
+
+	template <typename T> 
+	inline Vec3<T> Vec3<T>::operator*(T rhs) const
+	{
+		return Vec3<T>(rhs * this->m_data[0], rhs * this->m_data[1], rhs * this->m_data[2]);
+	}
+	template <typename T>
+	inline Vec3<T> Vec3<T>::operator/ (T rhs) const
+	{
+		return Vec3<T>(m_data[0] / rhs, m_data[1] / rhs, m_data[2] / rhs);
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(T a) 
+	{ 
+		m_data[0] = m_data[1] = m_data[2] = a; 
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(T x, T y, T z)
+	{
+		m_data[0] = x;
+		m_data[1] = y;
+		m_data[2] = z;
+	}
+	template <typename T>
+	inline Vec3<T>::Vec3(const Vec3 & rhs)
+	{		
+		m_data[0] = rhs.m_data[0];
+		m_data[1] = rhs.m_data[1];
+		m_data[2] = rhs.m_data[2];
+	}
+	template <typename T>
+	inline Vec3<T>::~Vec3(void){};
+
+	template <typename T>
+	inline Vec3<T>::Vec3() {}
+    
+    template<typename T>
+    inline const bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c)
+    {
+        return  ((c.Z() - a.Z()) * (b.Y() - a.Y()) - (b.Z() - a.Z()) * (c.Y() - a.Y()) == 0.0 /*EPS*/) &&
+                ((b.Z() - a.Z()) * (c.X() - a.X()) - (b.X() - a.X()) * (c.Z() - a.Z()) == 0.0 /*EPS*/) &&
+                ((b.X() - a.X()) * (c.Y() - a.Y()) - (b.Y() - a.Y()) * (c.X() - a.X()) == 0.0 /*EPS*/);
+    }
+    
+    template<typename T>
+    inline const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d)
+    {
+        return (a-d) * ((b-d) ^ (c-d));
+    }
+}
+#endif //HACD_VECTOR_INL

indra/libhacd/hacdVersion.h

@@ -0,0 +1,20 @@
+/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#pragma once
+#ifndef HACD_VERSION_H
+#define HACD_VERSION_H
+#define HACD_VERSION_MAJOR 0
+#define HACD_VERSION_MINOR 0
+#endif

indra/libndhacd/CMakeLists.txt

@@ -0,0 +1,35 @@
+# -*- cmake -*-
+
+project(libndhacd)
+
+include(00-Common)
+
+include_directories(${LIBS_OPEN_DIR}/libhacd)
+
+set (libndhacd_SOURCE_FILES
+    LLConvexDecomposition.cpp
+    nd_hacdConvexDecomposition.cpp
+    nd_hacdStructs.cpp
+    nd_hacdUtils.cpp
+    nd_EnterExitTracer.cpp
+    nd_StructTracer.cpp
+)
+
+set (libndhacd_HEADER_FILES
+    LLConvexDecomposition.h
+    ndConvexDecomposition.h
+    nd_hacdConvexDecomposition.h
+    nd_hacdStructs.h
+    nd_StructTracer.h
+    LLConvexDecompositionStubImpl.h
+    nd_EnterExitTracer.h
+    nd_hacdDefines.h
+    nd_hacdUtils.h
+    windowsincludes.h
+)
+
+set_source_files_properties(${libndhacd_HEADER_FILES}
+                            PROPERTIES HEADER_FILE_ONLY TRUE)
+
+add_library( nd_hacdConvexDecomposition STATIC ${libndhacd_SOURCE_FILES} ${libndhacd_HEADER_FILES})
+

indra/libndhacd/LLConvexDecomposition.cpp

@@ -0,0 +1,80 @@
+/** 
+ * @file   LLConvexDecomposition.cpp
+ * @author falcon@lindenlab.com
+ * @brief  A stub implementation of LLConvexDecomposition interface
+ *
+ * $LicenseInfo:firstyear=2002&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ * 
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
+ * $/LicenseInfo$
+ */
+
+#if defined(_WINDOWS)
+#	include "windowsincludes.h"
+#endif
+
+#ifndef NULL
+#define NULL 0 
+#endif
+
+#include "nd_hacdConvexDecomposition.h"
+
+#include "LLConvexDecomposition.h"
+
+
+/*static */bool LLConvexDecomposition::s_isInitialized = false;
+
+/*static*/LLConvexDecomposition* LLConvexDecomposition::getInstance()
+{
+	if ( !s_isInitialized )
+	{
+		return NULL;
+	}
+	else
+	{
+		return nd_hacdConvexDecomposition::getInstance();
+	}
+}
+
+/*static */LLCDResult LLConvexDecomposition::initSystem()
+{
+	LLCDResult result = nd_hacdConvexDecomposition::initSystem();
+	if ( result == LLCD_OK )
+	{
+		s_isInitialized = true;
+	}
+	return result;
+}
+
+/*static */LLCDResult LLConvexDecomposition::initThread()
+{
+	return nd_hacdConvexDecomposition::initThread();
+}
+
+/*static */LLCDResult LLConvexDecomposition::quitThread()
+{
+	return nd_hacdConvexDecomposition::quitThread();
+}
+
+/*static */LLCDResult LLConvexDecomposition::quitSystem()
+{
+	return nd_hacdConvexDecomposition::quitSystem();
+}
+
+

indra/libndhacd/LLConvexDecomposition.h

@@ -0,0 +1,231 @@
+/** 
+ * @file LLConvexDecomposition.cpp
+ * @brief LLConvexDecomposition interface definition
+ *
+ * $LicenseInfo:firstyear=2011&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2011, Linden Research, Inc.
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ * 
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
+ * $/LicenseInfo$
+ */
+
+#ifndef LL_CONVEX_DECOMPOSITION
+#define LL_CONVEX_DECOMPOSITION
+
+typedef int bool32;
+
+#if defined(_WIN32) || defined(_WIN64)
+#define LLCD_CALL __cdecl
+#else
+#define LLCD_CALL
+#endif
+
+struct LLCDParam
+{
+	enum LLCDParamType
+	{
+		LLCD_INVALID = 0,
+		LLCD_INTEGER,
+		LLCD_FLOAT,
+		LLCD_BOOLEAN,
+		LLCD_ENUM
+	};
+
+	struct LLCDEnumItem
+	{
+		const char*	mName;
+		int			mValue;
+	};
+
+	union LLCDValue
+	{
+		float	mFloat;
+		int		mIntOrEnumValue;
+		bool32	mBool;
+	};
+
+	union LLCDParamDetails
+	{
+		struct {
+			LLCDValue mLow;
+			LLCDValue mHigh;
+			LLCDValue mDelta;
+		} mRange;
+
+		struct {
+			int				mNumEnums;
+			LLCDEnumItem*	mEnumsArray;
+		} mEnumValues;
+	};
+
+	const char*					mName;
+	const char*					mDescription;
+	LLCDParamType				mType;
+	LLCDParamDetails			mDetails;
+	LLCDValue					mDefault;
+	int							mStage;
+
+	// WARNING: Only the LLConvexDecomposition implementation
+	// should change this value
+	int							mReserved;
+};
+
+struct LLCDStageData 
+{
+	const char*	mName;
+	const char* mDescription;
+	bool32 mSupportsCallback;
+};
+
+struct LLCDMeshData
+{
+	enum IndexType 
+	{
+		INT_16,
+		INT_32
+	};
+
+	const float*	mVertexBase;
+	int				mVertexStrideBytes;
+	int				mNumVertices;
+	const void*		mIndexBase;
+	IndexType		mIndexType;
+	int				mIndexStrideBytes;
+	int				mNumTriangles;
+};
+
+struct LLCDHull
+{
+	const float*	mVertexBase;
+	int				mVertexStrideBytes;
+	int				mNumVertices;
+};
+
+enum LLCDResult
+{
+	LLCD_OK = 0,
+	LLCD_UNKOWN_ERROR,
+	LLCD_NULL_PTR,
+	LLCD_INVALID_STAGE,
+	LLCD_UNKNOWN_PARAM,
+	LLCD_BAD_VALUE,
+	LLCD_REQUEST_OUT_OF_RANGE,
+	LLCD_INVALID_MESH_DATA,
+	LLCD_INVALID_HULL_DATA,
+	LLCD_STAGE_NOT_READY,
+	LLCD_INVALID_THREAD,
+	LLCD_NOT_IMPLEMENTED
+};
+
+// This callback will receive a string describing the current subtask being performed 
+// as well as a pair of numbers indicating progress. (The values should not be interpreted
+// as a completion percentage as 'current' may be greater than 'final'.)
+// If the callback returns zero, the decomposition will be terminated
+typedef int				(LLCD_CALL *llcdCallbackFunc)(const char* description, int current, int final);
+
+class LLConvexDecomposition
+{
+public:
+	// Obtain a pointer to the actual implementation
+	static LLConvexDecomposition* getInstance();
+
+	static LLCDResult initSystem();
+	static LLCDResult initThread();
+	static LLCDResult quitThread();
+	static LLCDResult quitSystem();
+
+	// Generate a decomposition object handle
+	virtual void genDecomposition(int& decomp) = 0;
+	// Delete decomposition object handle
+	virtual void deleteDecomposition(int decomp) = 0;
+	// Bind given decomposition handle
+	// Commands operate on currently bound decomposition
+	virtual void bindDecomposition(int decomp) = 0;
+
+	// Sets *paramsOut to the address of the LLCDParam array and returns
+	// the number of parameters
+	virtual int getParameters(const LLCDParam** paramsOut) = 0;
+
+
+	// Sets *stagesOut to the address of the LLCDStageData array and returns
+	// the number of stages
+	virtual int getStages(const LLCDStageData** stagesOut) = 0;
+
+
+	// Set a parameter by name. Pass enum values as integers.
+	virtual LLCDResult	setParam(const char* name, float val)	= 0;
+	virtual LLCDResult	setParam(const char* name, int val)		= 0; 
+	virtual LLCDResult	setParam(const char* name, bool val)	= 0;
+
+
+	// Set incoming mesh data. Data is copied to local buffers and will
+	// persist until the next setMeshData call
+	virtual LLCDResult	setMeshData( const LLCDMeshData* data, bool vertex_based ) = 0;
+
+
+	// Register a callback to be called periodically during the specified stage
+	// See the typedef above for more information
+	virtual LLCDResult	registerCallback( int stage, llcdCallbackFunc callback ) = 0;
+
+
+	// Execute the specified decomposition stage
+	virtual LLCDResult	executeStage(int stage) = 0;
+	virtual LLCDResult	buildSingleHull() = 0 ;
+
+
+	// Gets the number of hulls generated by the specified decompositions stage
+	virtual int getNumHullsFromStage(int stage) = 0;
+
+
+	// Populates hullOut to reference the internal copy of the requested hull
+	// The data will persist only until the next executeStage call for that stage.
+	virtual LLCDResult	getHullFromStage( int stage, int hull, LLCDHull* hullOut ) = 0;
+	virtual LLCDResult  getSingleHull( LLCDHull* hullOut ) = 0 ;
+
+	// TODO: Implement lock of some kind to disallow this call if data not yet ready
+	// Populates the meshDataOut to reference the utility's copy of the mesh geometry
+	// for the hull and stage specified. 
+	// You must copy this data if you want to continue using it after the next executeStage
+	// call
+	virtual LLCDResult	getMeshFromStage( int stage, int hull, LLCDMeshData* meshDataOut) = 0;
+
+
+	// Creates a mesh from hullIn and temporarily stores it internally in the utility.
+	// The mesh data persists only until the next call to getMeshFromHull
+	virtual LLCDResult	getMeshFromHull( LLCDHull* hullIn, LLCDMeshData* meshOut ) = 0;
+
+	// Takes meshIn, generates a single convex hull from it, converts that to a mesh
+	// stored internally, and populates meshOut to reference the internally stored data.
+	// The data is persistent only until the next call to generateSingleHullMeshFromMesh
+	virtual LLCDResult generateSingleHullMeshFromMesh( LLCDMeshData* meshIn, LLCDMeshData* meshOut) = 0;
+
+	//
+	/// Debug
+	virtual void loadMeshData(const char* fileIn, LLCDMeshData** meshDataOut) = 0;
+
+	virtual bool isFunctional()=0;
+
+private:
+	static bool s_isInitialized;
+};
+
+// Pull in our trace interface
+#include "ndConvexDecomposition.h"
+
+#endif //LL_CONVEX_DECOMPOSITION
+

indra/libndhacd/LLConvexDecompositionStubImpl.cpp

@@ -0,0 +1,148 @@
+/** 
+ * @file   LLConvexDecompositionStubImpl.cpp
+ * @author falcon@lindenlab.com
+ * @brief  A stub implementation of LLConvexDecomposition
+ *
+ * $LicenseInfo:firstyear=2002&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ * 
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
+ * $/LicenseInfo$
+ */
+
+
+#include <string.h>
+#include <memory>
+#include "LLConvexDecompositionStubImpl.h"
+
+LLConvexDecomposition* LLConvexDecompositionImpl::getInstance()
+{
+	return NULL;
+}
+
+LLCDResult LLConvexDecompositionImpl::initSystem()
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::initThread()
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::quitThread()
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::quitSystem()
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+void LLConvexDecompositionImpl::genDecomposition(int& decomp)
+{
+
+}
+
+void LLConvexDecompositionImpl::deleteDecomposition(int decomp)
+{
+
+}
+
+void LLConvexDecompositionImpl::bindDecomposition(int decomp)
+{
+
+}
+
+LLCDResult LLConvexDecompositionImpl::setParam(const char* name, float val)
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::setParam(const char* name, bool val)
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::setParam(const char* name, int val)
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::setMeshData( const LLCDMeshData* data, bool vertex_based )
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::registerCallback(int stage, llcdCallbackFunc callback )
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::buildSingleHull()
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::executeStage(int stage)
+{
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+int LLConvexDecompositionImpl::getNumHullsFromStage(int stage)
+{
+	return 0;
+}
+
+LLCDResult LLConvexDecompositionImpl::getSingleHull( LLCDHull* hullOut ) 
+{
+	memset( hullOut, 0, sizeof(LLCDHull) );
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::getHullFromStage( int stage, int hull, LLCDHull* hullOut )
+{
+	memset( hullOut, 0, sizeof(LLCDHull) );
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::getMeshFromStage( int stage, int hull, LLCDMeshData* meshDataOut )
+{
+	memset( meshDataOut, 0, sizeof(LLCDMeshData) );
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult	LLConvexDecompositionImpl::getMeshFromHull( LLCDHull* hullIn, LLCDMeshData* meshOut )
+{
+	memset( meshOut, 0, sizeof(LLCDMeshData) );
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+LLCDResult LLConvexDecompositionImpl::generateSingleHullMeshFromMesh(LLCDMeshData* meshIn, LLCDMeshData* meshOut)
+{
+	memset( meshOut, 0, sizeof(LLCDMeshData) );
+	return LLCD_NOT_IMPLEMENTED;
+}
+
+void LLConvexDecompositionImpl::loadMeshData(const char* fileIn, LLCDMeshData** meshDataOut)
+{
+	static LLCDMeshData meshData;
+	memset( &meshData, 0, sizeof(LLCDMeshData) );
+	*meshDataOut = &meshData;
+}

indra/libndhacd/LLConvexDecompositionStubImpl.h

@@ -0,0 +1,97 @@
+/** 
+ * @file   LLConvexDecompositionStubImpl.h
+ * @author falcon@lindenlab.com
+ * @brief  A stub implementation of LLConvexDecomposition
+ *
+ * $LicenseInfo:firstyear=2002&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ * 
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
+ * $/LicenseInfo$
+ */
+
+
+#ifndef LL_CONVEX_DECOMP_UTIL_H
+#define LL_CONVEX_DECOMP_UTIL_H
+
+#include "LLConvexDecomposition.h"
+
+class LLConvexDecompositionImpl : public LLConvexDecomposition
+{
+	public:
+
+		virtual ~LLConvexDecompositionImpl() {}
+
+		static LLConvexDecomposition* getInstance();
+		static LLCDResult initSystem();
+		static LLCDResult initThread();
+		static LLCDResult quitThread();
+		static LLCDResult quitSystem();
+
+		// Generate a decomposition object handle
+		void genDecomposition(int& decomp);
+		// Delete decomposition object handle
+		void deleteDecomposition(int decomp);
+		// Bind given decomposition handle
+		// Commands operate on currently bound decomposition
+		void bindDecomposition(int decomp);
+
+		// Sets *paramsOut to the address of the LLCDParam array and returns
+		// the length of the array
+		int getParameters(const LLCDParam** paramsOut) 
+		{ 
+			*paramsOut = NULL; 
+			return 0; 
+		}
+
+		int getStages(const LLCDStageData** stagesOut) 
+		{ 
+			*stagesOut = NULL; 
+			return 0; 
+		}
+
+		// Set a parameter by name. Returns false if out of bounds or unsupported parameter
+		LLCDResult	setParam(const char* name, float val);
+		LLCDResult	setParam(const char* name, int val);
+		LLCDResult	setParam(const char* name, bool val);
+		LLCDResult	setMeshData( const LLCDMeshData* data, bool vertex_based );
+		LLCDResult	registerCallback(int stage, llcdCallbackFunc callback );
+
+		LLCDResult	executeStage(int stage);
+		LLCDResult	buildSingleHull() ;
+
+		int getNumHullsFromStage(int stage);
+
+		LLCDResult	getHullFromStage( int stage, int hull, LLCDHull* hullOut );
+		LLCDResult  getSingleHull( LLCDHull* hullOut ) ;
+		
+		// TODO: Implement lock of some kind to disallow this call if data not yet ready
+		LLCDResult	getMeshFromStage( int stage, int hull, LLCDMeshData* meshDataOut);
+		LLCDResult	getMeshFromHull( LLCDHull* hullIn, LLCDMeshData* meshOut );
+
+		// For visualizing convex hull shapes in the viewer physics shape display
+		LLCDResult generateSingleHullMeshFromMesh( LLCDMeshData* meshIn, LLCDMeshData* meshOut);
+
+		/// Debug
+		void loadMeshData(const char* fileIn, LLCDMeshData** meshDataOut);
+
+	private:
+		LLConvexDecompositionImpl() {}
+};
+
+#endif //LL_CONVEX_DECOMP_UTIL_H

indra/libndhacd/ndConvexDecomposition.h

@@ -0,0 +1,58 @@
+#ifndef ND_CONVEXDECOMPOSITION_H
+#define ND_CONVEXDECOMPOSITION_H
+
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef ND_HASCONVEXDECOMP_TRACER
+ #define ND_HASCONVEXDECOMP_TRACER
+#endif
+
+class ndConvexDecompositionTracer
+{
+public:
+	enum ETraceLevel
+	{
+		eNone = 0,
+		eTraceFunctions = 0x1,
+		eTraceData = 0x2,
+	};
+	
+	virtual ~ndConvexDecompositionTracer()
+	{ }
+
+	virtual void trace( char const *a_strMsg ) = 0;
+
+	virtual void startTraceData( char const *a_strWhat) = 0;
+	virtual void traceData( char const *a_strData ) = 0;
+	virtual void endTraceData() = 0;
+
+	virtual int getLevel() = 0;
+
+	virtual void addref() = 0;
+	virtual void release() = 0;
+};
+
+class ndConvexDecompositionTracable
+{
+public:
+	virtual void setTracer( ndConvexDecompositionTracer *) = 0;
+};
+
+
+#endif

indra/libndhacd/nd_EnterExitTracer.cpp

@@ -0,0 +1,51 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "nd_EnterExitTracer.h"
+
+#include <vector>
+#include <sstream>
+
+void EnterExitTracer::doTrace( char const *aPrefix )
+{
+	if( !mFunc || !mTracer )
+		return;
+
+	if( ndConvexDecompositionTracer::eTraceFunctions == (mTracer->getLevel() & ndConvexDecompositionTracer::eTraceFunctions ) )
+		return;
+
+	std::stringstream str;
+	if( aPrefix )
+		str << aPrefix;
+
+	str << mFunc;	
+	mTracer->trace( str.str().c_str() );
+}
+
+EnterExitTracer::EnterExitTracer( char const *aFunc, ndConvexDecompositionTracer *aTracer )
+	: mFunc( aFunc )
+	, mTracer( aTracer )
+{
+	doTrace( "enter: " );
+}
+
+EnterExitTracer::~EnterExitTracer( )
+{
+	doTrace( "exit: " );
+}
+

indra/libndhacd/nd_EnterExitTracer.h

@@ -0,0 +1,43 @@
+#ifndef ND_ENTEREXITTRACER_H
+#define ND_ENTEREXITTRACER_H
+
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "ndConvexDecomposition.h"
+
+class EnterExitTracer
+{
+	char const *mFunc;
+	ndConvexDecompositionTracer *mTracer;
+
+	void doTrace( char const *aPrefix );
+
+public:
+	EnterExitTracer( char const *aFunc, ndConvexDecompositionTracer *aTracer );
+	~EnterExitTracer( );
+	
+};
+
+#ifdef __GNUC__
+   #define TRACE_FUNC(ATRACER) EnterExitTracer oETTrace( __PRETTY_FUNCTION__, ATRACER );
+#else
+   #define TRACE_FUNC(ATRACER) EnterExitTracer oETTrace( __FUNCTION__, ATRACER );
+#endif
+
+#endif

indra/libndhacd/nd_StructTracer.cpp

@@ -0,0 +1,188 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "nd_StructTracer.h"
+#include <sstream>
+#include <iomanip>
+
+using namespace std;
+
+namespace ndStructTracer
+{
+	bool doTrace( ndConvexDecompositionTracer *aTracer )
+	{
+		if( !aTracer )
+			return false;
+
+		return ndConvexDecompositionTracer::eTraceData == (aTracer->getLevel() & ndConvexDecompositionTracer::eTraceData) ;
+	}
+
+
+	template<typename T> void traceVecDbl( T const &aValue, ndConvexDecompositionTracer *aTracer )
+	{
+		stringstream str;
+		str << fixed
+			<< "\tX: " << aValue.X()
+			<< " Y: " << aValue.Y()
+			<< " Z: " << aValue.Z();
+
+		aTracer->traceData( str.str().c_str() );
+	}
+
+	template< typename T> void traceVecDoubles( vector< T > const &aVertices, ndConvexDecompositionTracer *aTracer )
+	{
+		for( size_t i = 0; i < aVertices.size(); ++i )
+			traceVecDbl( aVertices[i], aTracer ); 
+	}
+
+	void traceVertices( vector< tVecDbl > const &aVertices, ndConvexDecompositionTracer *aTracer )
+	{
+		aTracer->traceData( "Triangles\n" );
+		traceVecDoubles( aVertices, aTracer );
+	}
+
+	void traceTriangles( vector< tVecLong > const &aTriangles, ndConvexDecompositionTracer *aTracer )
+	{
+		aTracer->traceData( "Vertices\n" );
+		traceVecDoubles( aTriangles, aTracer );
+	}
+
+	void trace( DecompData const &aData, ndConvexDecompositionTracer *aTracer )
+	{
+		if( !doTrace( aTracer ) )
+			return;
+
+		aTracer->startTraceData("Hulls");
+
+		stringstream str;
+		str << "Hulls: " << aData.mHulls.size();
+		aTracer->traceData( str.str().c_str() );
+		str.seekp(0);
+
+		for( size_t i = 0; i < aData.mHulls.size(); ++i )
+		{
+			str << "Hull #" << i;
+			aTracer->traceData( str.str().c_str() );
+			str.seekp(0);
+
+			DecompHull const &oHull( aData.mHulls[i] );
+			traceVertices( oHull.mVertices, aTracer );
+			traceTriangles( oHull.mTriangles, aTracer );
+		}
+
+		aTracer->endTraceData();
+	}
+
+	template< typename T> void traceVertex( T aX, T aY, T aZ, ndConvexDecompositionTracer *aTracer )
+	{
+		stringstream str;
+		str << fixed
+			<< "X: " << aX
+			<< "Y: " << aY
+			<< "Z: " << aZ;
+
+		aTracer->traceData( str.str().c_str() );
+	}
+
+	template< typename T> void traceTriangle( void *& aPtr, int aStride, ndConvexDecompositionTracer *aTracer )
+	{
+		T *pData = reinterpret_cast< T* >(aPtr);
+		long X( pData[0] ),	Y( pData[1] ),	Z( pData[2] );
+
+		traceVertex( X, Y, Z, aTracer );
+
+		pData += aStride;
+		aPtr = pData;
+	}
+
+	void traceVertices( int aNumVertices, float const *aVertices, int aStride, ndConvexDecompositionTracer *aTracer )
+	{
+		for( int i = 0; i < aNumVertices; ++i )
+		{
+			float X( aVertices[0] ), Y( aVertices[1] ), Z( aVertices[2] );
+			traceVertex( X, Y, Z, aTracer );
+			aVertices += aStride;
+		}
+	}
+
+	void traceTriangles( LLCDMeshData const *aData, ndConvexDecompositionTracer *aTracer )
+	{
+		int nCount = aData->mNumTriangles;
+		int nStride = aData->mIndexStrideBytes;
+		void *pData = const_cast<void*>( aData->mIndexBase );
+		int nIndexType = aData->mIndexType;
+
+		if ( LLCDMeshData::INT_16 == nIndexType )
+			nStride /= 2;
+		else
+			nStride /= 4;
+			
+		for ( int i = 0; i < nCount; ++i )
+		{
+			if( LLCDMeshData::INT_16  == nIndexType )
+				traceTriangle< hacdUINT16 >( pData, nStride, aTracer );
+			else
+				traceTriangle< hacdUINT32 >( pData, nStride, aTracer );
+		}
+	}
+
+	void trace( LLCDMeshData const *aData, bool aVertexBased, ndConvexDecompositionTracer *aTracer )
+	{
+		if( !doTrace( aTracer ) )
+			return;
+
+		aTracer->startTraceData("LLCDMeshData");
+
+		string strVBased("true");
+		if( !aVertexBased )
+			strVBased = "false";
+
+		stringstream str;
+		str << "LLCDMeshData vertex based: " << strVBased
+			<< "# vertices " << aData->mNumVertices
+			<< "# triangles " << aData->mNumTriangles;
+
+		aTracer->traceData( str.str().c_str() );
+
+		traceVertices( aData->mNumVertices, aData->mVertexBase, aData->mVertexStrideBytes/sizeof(float), aTracer );
+
+		if( !aVertexBased )
+			traceTriangles( aData, aTracer );
+			
+		aTracer->endTraceData();
+	}
+
+	void trace( LLCDHull const *aData, ndConvexDecompositionTracer *aTracer )
+	{
+		if( !doTrace( aTracer ) )
+			return;
+
+		aTracer->startTraceData("LLCDHull");
+
+		stringstream str;
+		str << "LLCDHull # vertices " << aData->mNumVertices;
+
+		aTracer->traceData( str.str().c_str() );
+
+		traceVertices( aData->mNumVertices, aData->mVertexBase, aData->mVertexStrideBytes/sizeof(float), aTracer );
+
+
+		aTracer->endTraceData();
+	}
+};
+

indra/libndhacd/nd_StructTracer.h

@@ -0,0 +1,34 @@
+#ifndef ND_STRUCTTRACER_H
+#define ND_STRUCTTRACER_H
+
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+
+#include "ndConvexDecomposition.h"
+#include "LLConvexDecomposition.h"
+#include "nd_hacdStructs.h"
+
+namespace ndStructTracer
+{
+	void trace( DecompData const &aData, ndConvexDecompositionTracer *aTracer );
+	void trace( LLCDMeshData const *aData, bool aVertexBased, ndConvexDecompositionTracer *aTracer );
+	void trace( LLCDHull const *aData, ndConvexDecompositionTracer *aTracer );
+};
+
+#endif

indra/libndhacd/nd_hacdConvexDecomposition.cpp

@@ -0,0 +1,393 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <string.h>
+#include <memory>
+#include "nd_hacdConvexDecomposition.h"
+
+#include "nd_hacdDefines.h"
+#include "nd_hacdStructs.h"
+#include "nd_hacdUtils.h"
+#include "ndConvexDecomposition.h"
+#include "nd_EnterExitTracer.h"
+#include "nd_StructTracer.h"
+
+LLCDStageData nd_hacdConvexDecomposition::mStages[1];
+
+LLCDParam nd_hacdConvexDecomposition::mParams[4];
+LLCDParam::LLCDEnumItem nd_hacdConvexDecomposition::mMethods[1];
+LLCDParam::LLCDEnumItem nd_hacdConvexDecomposition::mQuality[1];
+LLCDParam::LLCDEnumItem nd_hacdConvexDecomposition::mSimplify[1];
+
+LLConvexDecomposition* nd_hacdConvexDecomposition::getInstance()
+{
+	static nd_hacdConvexDecomposition sImpl;
+	return &sImpl;
+}
+
+nd_hacdConvexDecomposition::nd_hacdConvexDecomposition()
+{
+	mNextId = 0;
+	mCurrentDecoder = 0;
+	mSingleHullMeshFromMesh = new HACDDecoder();
+	mTracer = 0;
+}
+
+nd_hacdConvexDecomposition::~nd_hacdConvexDecomposition()
+{
+	if( mTracer )
+		mTracer->release();
+}
+
+LLCDResult nd_hacdConvexDecomposition::initSystem()
+{
+	memset( &mStages[0], 0, sizeof( mStages ) );
+	memset( &mParams[0], 0, sizeof( mParams ) );
+	memset( &mMethods[0], 0, sizeof( mMethods ) );
+	memset( &mQuality[0], 0, sizeof( mQuality ) );
+	memset( &mSimplify[0], 0, sizeof( mSimplify ) );
+
+	mStages[0].mName = "Decompose";
+	mStages[0].mDescription = NULL;
+
+	mMethods[0].mName = "Default";
+	mMethods[0].mValue = 0;
+
+	mQuality[0].mName = "Default";
+	mQuality[0].mValue = 0;
+
+	mSimplify[0].mName = "None";
+	mSimplify[0].mValue = 0;
+
+	mParams[0].mName = "nd_AlwaysNeedTriangles";
+	mParams[0].mDescription = 0;
+	mParams[0].mType = LLCDParam::LLCD_BOOLEAN;
+	mParams[0].mDefault.mBool = true;
+
+	mParams[1].mName = "Method";
+	mParams[1].mType = LLCDParam::LLCD_ENUM;
+	mParams[1].mDetails.mEnumValues.mNumEnums = sizeof(mMethods)/sizeof(LLCDParam::LLCDEnumItem);
+	mParams[1].mDetails.mEnumValues.mEnumsArray = mMethods;
+	mParams[1].mDefault.mIntOrEnumValue = 0;
+
+	mParams[2].mName = "Decompose Quality";
+	mParams[2].mType = LLCDParam::LLCD_ENUM;
+	mParams[2].mDetails.mEnumValues.mNumEnums = sizeof(mQuality)/sizeof(LLCDParam::LLCDEnumItem);
+	mParams[2].mDetails.mEnumValues.mEnumsArray = mQuality;
+	mParams[2].mDefault.mIntOrEnumValue = 0;
+
+	mParams[3].mName = "Simplify Method";
+	mParams[3].mType = LLCDParam::LLCD_ENUM;
+	mParams[3].mDetails.mEnumValues.mNumEnums = sizeof(mSimplify)/sizeof(LLCDParam::LLCDEnumItem);
+	mParams[3].mDetails.mEnumValues.mEnumsArray = mSimplify;
+	mParams[3].mDefault.mIntOrEnumValue = 0;
+
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::initThread()
+{
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::quitThread()
+{
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::quitSystem()
+{
+	return LLCD_OK;
+}
+
+void nd_hacdConvexDecomposition::genDecomposition( int& decomp )
+{
+	HACDDecoder *pGen = new HACDDecoder();
+	decomp = mNextId;
+	++mNextId;
+
+	mDecoders[ decomp ] = pGen;
+}
+
+void nd_hacdConvexDecomposition::deleteDecomposition( int decomp )
+{
+	delete mDecoders[ decomp ];
+	mDecoders.erase( decomp );
+}
+
+void nd_hacdConvexDecomposition::bindDecomposition( int decomp )
+{
+	TRACE_FUNC( mTracer );
+	mCurrentDecoder = decomp;
+}
+
+LLCDResult nd_hacdConvexDecomposition::setParam( const char* name, float val )
+{
+	TRACE_FUNC( mTracer );
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::setParam( const char* name, bool val )
+{
+	TRACE_FUNC( mTracer );
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::setParam( const char* name, int val )
+{
+	TRACE_FUNC( mTracer );
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::setMeshData( const LLCDMeshData* data, bool vertex_based )
+{
+	TRACE_FUNC( mTracer );
+	ndStructTracer::trace( data, vertex_based, mTracer );
+
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+	return ::setMeshData( data, vertex_based, pC );
+}
+
+LLCDResult nd_hacdConvexDecomposition::registerCallback( int stage, llcdCallbackFunc callback )
+{
+	TRACE_FUNC( mTracer );
+	if( mDecoders.end() == mDecoders.find( mCurrentDecoder ) )
+		return LLCD_STAGE_NOT_READY;
+
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+	pC->mCallback = callback;
+
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::buildSingleHull()
+{
+	TRACE_FUNC( mTracer );
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::executeStage( int stage )
+{
+	TRACE_FUNC( mTracer );
+	if ( stage < 0 || stage >= NUM_STAGES )
+		return LLCD_INVALID_STAGE;
+
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+	tHACD *pHACD = init( 1, MIN_NUMBER_OF_CLUSTERS, MAX_VERTICES_PER_HULL, CONNECT_DISTS[0], pC );
+
+	DecompData oRes = decompose( pHACD );
+	ndStructTracer::trace( oRes, mTracer );
+
+	delete pHACD;
+
+	pC->mStages[ stage ] = oRes;
+
+	return LLCD_OK;
+}
+
+int nd_hacdConvexDecomposition::getNumHullsFromStage( int stage )
+{
+	TRACE_FUNC( mTracer );
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+
+	if ( !pC )
+		return 0;
+
+	if ( stage < 0 || static_cast<size_t>(stage) >= pC->mStages.size() )
+		return 0;
+
+	return pC->mStages[stage].mHulls.size();
+}
+
+DecompData toSingleHull( HACDDecoder *aDecoder, LLCDResult &aRes, ndConvexDecompositionTracer *aTracer )
+{
+	TRACE_FUNC( aTracer );
+	aRes = LLCD_REQUEST_OUT_OF_RANGE;
+
+	for ( int i = 0; i < TO_SINGLE_HULL_TRIES; ++i )
+	{
+		tHACD *pHACD = init( CONCAVITY_FOR_SINGLE_HULL[i], 1, MAX_VERTICES_PER_HULL, CONNECT_DISTS[i], aDecoder );
+
+		DecompData oRes = decompose( pHACD );
+		delete pHACD;
+
+		ndStructTracer::trace( oRes, aTracer );
+
+		if ( oRes.mHulls.size() == 1 )
+		{
+			aRes = LLCD_OK;
+			return oRes;
+		}
+	}
+
+	return DecompData();
+}
+
+LLCDResult nd_hacdConvexDecomposition::getSingleHull( LLCDHull* hullOut )
+{
+	TRACE_FUNC( mTracer );
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+
+	memset( hullOut, 0, sizeof( LLCDHull ) );
+
+	LLCDResult res;
+
+	// Will already trace oRes
+	DecompData oRes = ::toSingleHull( pC, res, mTracer );
+
+	if ( LLCD_OK != res || oRes.mHulls.size() != 1 )
+		return res;
+
+	pC->mSingleHull = oRes.mHulls[0];
+	pC->mSingleHull.toLLHull( hullOut );
+
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::getHullFromStage( int stage, int hull, LLCDHull* hullOut )
+{
+	TRACE_FUNC( mTracer );
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+
+	memset( hullOut, 0, sizeof( LLCDHull ) );
+
+	if ( stage < 0 || static_cast<size_t>(stage) >= pC->mStages.size() )
+		return LLCD_INVALID_STAGE;
+
+	DecompData &oData = pC->mStages[ stage ];
+
+	if ( hull < 0 ||static_cast<size_t>(hull) >= oData.mHulls.size() )
+		return LLCD_REQUEST_OUT_OF_RANGE;
+
+	oData.mHulls[ hull ].toLLHull( hullOut );
+	ndStructTracer::trace( hullOut, mTracer );
+
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::getMeshFromStage( int stage, int hull, LLCDMeshData* meshDataOut )
+{
+	TRACE_FUNC( mTracer );
+	HACDDecoder *pC = mDecoders[ mCurrentDecoder ];
+
+	memset( meshDataOut, 0, sizeof( LLCDHull ) );
+
+	if ( stage < 0 || static_cast<size_t>(stage) >= pC->mStages.size() )
+		return LLCD_INVALID_STAGE;
+
+	DecompData &oData = pC->mStages[ stage ];
+
+	if ( hull < 0 || static_cast<size_t>(hull) >= oData.mHulls.size() )
+		return LLCD_REQUEST_OUT_OF_RANGE;
+
+	oData.mHulls[ hull ].toLLMesh( meshDataOut );
+	ndStructTracer::trace( meshDataOut, true, mTracer );
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::getMeshFromHull( LLCDHull* hullIn, LLCDMeshData* meshOut )
+{
+	TRACE_FUNC( mTracer );
+	memset( meshOut, 0, sizeof( LLCDMeshData ) );
+
+	mMeshToHullVertices.clear();
+	mMeshToHullTriangles.clear();
+
+	if( !hullIn || !hullIn->mVertexBase || !meshOut )
+		return LLCD_NULL_PTR;
+	if( hullIn->mVertexStrideBytes < 3*sizeof(float) || hullIn->mNumVertices < 3 )
+		return LLCD_INVALID_HULL_DATA;
+
+	LLCDResult oRet = convertHullToMesh( hullIn, mMeshToHullVertices, mMeshToHullTriangles );
+
+	if( LLCD_OK != oRet )
+		return oRet;
+
+	meshOut->mVertexStrideBytes = sizeof( float )*3;
+	meshOut->mNumVertices = mMeshToHullVertices.size()/3;
+	meshOut->mVertexBase = &mMeshToHullVertices[0];
+
+	meshOut->mIndexType = LLCDMeshData::INT_32;
+	meshOut->mIndexStrideBytes = sizeof( hacdUINT32 ) * 3;
+	meshOut->mNumTriangles = mMeshToHullTriangles.size()/3;
+	meshOut->mIndexBase = &mMeshToHullTriangles[0];
+
+	return LLCD_OK;
+}
+
+LLCDResult nd_hacdConvexDecomposition::generateSingleHullMeshFromMesh( LLCDMeshData* meshIn, LLCDMeshData* meshOut )
+{
+	TRACE_FUNC( mTracer );
+	memset( meshOut, 0, sizeof( LLCDMeshData ) );
+	mSingleHullMeshFromMesh->clear();
+	LLCDResult res = ::setMeshData( meshIn, meshIn->mNumVertices > 3, mSingleHullMeshFromMesh );
+
+	if ( LLCD_OK != res )
+		return res;
+
+	// Will already trace oRes
+	DecompData oRes = ::toSingleHull( mSingleHullMeshFromMesh, res, mTracer );
+
+	if ( LLCD_OK != res || oRes.mHulls.size() != 1 )
+		return res;
+
+	mSingleHullMeshFromMesh->mSingleHull = oRes.mHulls[0];
+	mSingleHullMeshFromMesh->mSingleHull.toLLMesh( meshOut );
+
+	return LLCD_OK;
+}
+
+void nd_hacdConvexDecomposition::loadMeshData( const char* fileIn, LLCDMeshData** meshDataOut )
+{
+	TRACE_FUNC( mTracer );
+	static LLCDMeshData meshData;
+	memset( &meshData, 0, sizeof( LLCDMeshData ) );
+	*meshDataOut = &meshData;
+}
+
+int nd_hacdConvexDecomposition::getParameters( const LLCDParam** paramsOut )
+{
+	TRACE_FUNC( mTracer );
+	*paramsOut = mParams;
+	return sizeof(mParams)/sizeof(LLCDParam);
+}
+
+int nd_hacdConvexDecomposition::getStages( const LLCDStageData** stagesOut )
+{
+	TRACE_FUNC( mTracer );
+
+	*stagesOut = mStages;
+	return sizeof(mStages)/sizeof(LLCDStageData);
+}
+
+void nd_hacdConvexDecomposition::setTracer( ndConvexDecompositionTracer * aTracer)
+{
+	if( mTracer )
+		mTracer->release();
+
+	mTracer = aTracer;
+
+	if( mTracer )
+		mTracer->addref();
+}
+
+
+bool nd_hacdConvexDecomposition::isFunctional()
+{
+	return true;
+}

indra/libndhacd/nd_hacdConvexDecomposition.h

@@ -0,0 +1,103 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef ND_HACD_CONVEXDECOMP_H
+#define ND_HACD_CONVEXDECOMP_H
+
+#include "LLConvexDecomposition.h"
+
+#include <map>
+#include <vector>
+
+struct HACDDecoder;
+
+class nd_hacdConvexDecomposition : public LLConvexDecomposition, public ndConvexDecompositionTracable
+{
+	int mNextId;
+	int mCurrentDecoder;
+	std::map< int, HACDDecoder * > mDecoders;
+	HACDDecoder *mSingleHullMeshFromMesh;
+
+	std::vector< float > mMeshToHullVertices;
+	std::vector< int > mMeshToHullTriangles;
+
+	ndConvexDecompositionTracer *mTracer;
+
+	static LLCDStageData mStages[1];
+
+	static LLCDParam mParams[4];
+	static LLCDParam::LLCDEnumItem mMethods[1];
+	static LLCDParam::LLCDEnumItem mQuality[1];
+	static LLCDParam::LLCDEnumItem mSimplify[1];
+
+public:
+	virtual ~nd_hacdConvexDecomposition();
+
+	static LLConvexDecomposition* getInstance();
+	static LLCDResult initSystem();
+	static LLCDResult initThread();
+	static LLCDResult quitThread();
+	static LLCDResult quitSystem();
+
+	// Generate a decomposition object handle
+	void genDecomposition( int& decomp );
+	// Delete decomposition object handle
+	void deleteDecomposition( int decomp );
+	// Bind given decomposition handle
+	// Commands operate on currently bound decomposition
+	void bindDecomposition( int decomp );
+
+	// Sets *paramsOut to the address of the LLCDParam array and returns
+	// the length of the array
+	int getParameters( const LLCDParam** paramsOut );
+	int getStages( const LLCDStageData** stagesOut ) ;
+
+	// Set a parameter by name. Returns false if out of bounds or unsupported parameter
+	LLCDResult	setParam( const char* name, float val );
+	LLCDResult	setParam( const char* name, int val );
+	LLCDResult	setParam( const char* name, bool val );
+	LLCDResult	setMeshData( const LLCDMeshData* data, bool vertex_based );
+	LLCDResult	registerCallback( int stage, llcdCallbackFunc callback );
+
+	LLCDResult	executeStage( int stage );
+	LLCDResult	buildSingleHull() ;
+
+	int getNumHullsFromStage( int stage );
+
+	LLCDResult	getHullFromStage( int stage, int hull, LLCDHull* hullOut );
+	LLCDResult  getSingleHull( LLCDHull* hullOut ) ;
+
+	// TODO: Implement lock of some kind to disallow this call if data not yet ready
+	LLCDResult	getMeshFromStage( int stage, int hull, LLCDMeshData* meshDataOut );
+	LLCDResult	getMeshFromHull( LLCDHull* hullIn, LLCDMeshData* meshOut );
+
+	// For visualizing convex hull shapes in the viewer physics shape display
+	LLCDResult generateSingleHullMeshFromMesh( LLCDMeshData* meshIn, LLCDMeshData* meshOut );
+
+	/// Debug
+	void loadMeshData( const char* fileIn, LLCDMeshData** meshDataOut );
+
+	virtual void setTracer( ndConvexDecompositionTracer *);
+
+	virtual bool isFunctional();
+
+private:
+	nd_hacdConvexDecomposition();
+};
+
+#endif

indra/libndhacd/nd_hacdDefines.h

@@ -0,0 +1,46 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef ND_HACD_DEFINES_H
+#define ND_HACD_DEFINES_H
+
+#include "hacdHACD.h"
+
+#define NUM_STAGES 1
+
+typedef unsigned short hacdUINT16;
+typedef unsigned int hacdUINT32;
+
+typedef HACD::HACD tHACD;
+typedef HACD::Vec3< double > tVecDbl;
+typedef HACD::Vec3< long > tVecLong;
+
+typedef tVecLong ( *fFromIXX )( void const *&, int );
+
+const int MAX_VERTICES_PER_HULL     = 256;    // see http://wiki.secondlife.com/wiki/Mesh/Mesh_physics
+const int MIN_NUMBER_OF_CLUSTERS    = 1;
+
+int const TO_SINGLE_HULL_TRIES = 10;
+
+// Use a high value so HACD will generate just one hull. For now we use the same concavity for each run.
+int const CONCAVITY_FOR_SINGLE_HULL[  TO_SINGLE_HULL_TRIES ] = { 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000 };
+
+// Max distance to connect CC. Increase this each run.
+double const CONNECT_DISTS[ TO_SINGLE_HULL_TRIES ] = { 30, 60, 120, 240, 480, 960, 1920, 3840, 7680, 10000 };
+
+#endif

indra/libndhacd/nd_hacdStructs.cpp

@@ -0,0 +1,107 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "nd_hacdStructs.h"
+#include "LLConvexDecomposition.h"
+
+void DecompHull::clear()
+{
+	mVertices.clear();
+	mTriangles.clear();
+	mLLVertices.clear();
+	mLLTriangles.clear();
+}
+
+void DecompHull::computeLLVertices()
+{
+	if ( mLLVertices.size()*3 != mVertices.size() )
+	{
+		for ( size_t i = 0; i < mVertices.size(); ++i )
+		{
+			mLLVertices.push_back( static_cast<float>( mVertices[i].X() ) );
+			mLLVertices.push_back( static_cast<float>( mVertices[i].Y() ) );
+			mLLVertices.push_back( static_cast<float>( mVertices[i].Z() ) );
+		}
+	}
+}
+
+void DecompHull::computeLLTriangles()
+{
+	if ( mLLTriangles.size()*3 != mTriangles.size() )
+	{
+		for ( size_t i = 0; i < mTriangles.size(); ++i )
+		{
+			mLLTriangles.push_back( mTriangles[i].X() );
+			mLLTriangles.push_back( mTriangles[i].Y() );
+			mLLTriangles.push_back( mTriangles[i].Z() );
+		}
+	}
+
+}
+
+void DecompHull::toLLHull( LLCDHull *aHull )
+{
+	computeLLVertices();
+
+	aHull->mVertexBase = &mLLVertices[0];
+	aHull->mVertexStrideBytes = sizeof( float ) * 3;
+	aHull->mNumVertices = mVertices.size();
+}
+
+void DecompHull::toLLMesh( LLCDMeshData *aMesh )
+{
+	computeLLVertices();
+	computeLLTriangles();
+
+	aMesh->mIndexType = LLCDMeshData::INT_32;
+	aMesh->mVertexBase = &mLLVertices[0];
+	aMesh->mNumVertices = mVertices.size();
+	aMesh->mVertexStrideBytes = sizeof( float ) * 3;
+
+	aMesh->mIndexBase = &mLLTriangles[0];
+	aMesh->mIndexStrideBytes = sizeof( hacdUINT32 ) * 3;
+	aMesh->mNumTriangles = mTriangles.size();
+}
+
+void DecompData::clear()
+{
+	mHulls.clear();
+}
+
+HACDDecoder::HACDDecoder()
+{
+	mStages.resize( NUM_STAGES );
+	mCallback = 0;
+}
+
+void HACDDecoder::clear()
+{
+	mVertices.clear();
+	mTriangles.clear();
+
+	for ( size_t i = 0;  i < mStages.size(); ++i )
+		mStages[i].clear();
+
+	mSingleHull.clear();
+
+	mCallback = 0;
+}
+
+
+
+

indra/libndhacd/nd_hacdStructs.h

@@ -0,0 +1,77 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef ND_HACD_DECOMPSTRUCTS_H
+#define ND_HACD_DECOMPSTRUCTS_H
+
+#include "nd_hacdDefines.h"
+#include "hacdHACD.h"
+#include "LLConvexDecomposition.h"
+#include <vector>
+
+struct LLCDHull;
+struct LLCDMeshData;
+
+struct DecompHull
+{
+	std::vector< tVecDbl > mVertices;
+	std::vector< tVecLong > mTriangles;
+
+	std::vector< float > mLLVertices;
+	std::vector< hacdUINT32 > mLLTriangles;
+
+	void clear();
+
+	void computeLLVertices();
+
+	void computeLLTriangles();
+
+	void toLLHull( LLCDHull *aHull );
+	void toLLMesh( LLCDMeshData *aMesh );
+};
+
+struct DecompData
+{
+	std::vector< DecompHull > mHulls;
+
+	void clear();
+};
+
+struct HACDDecoder: public HACD::ICallback
+{
+	std::vector< tVecDbl > mVertices;
+	std::vector< tVecLong > mTriangles;
+
+	std::vector< DecompData > mStages;
+	DecompHull mSingleHull;
+
+	llcdCallbackFunc mCallback;
+
+	HACDDecoder();
+	void clear();
+
+	virtual void operator()( char const *aMsg, double aProgress, double aConcavity, size_t aVertices)
+	{
+		if( mCallback )
+			(*mCallback)(aMsg, static_cast<int>(aProgress), aVertices );
+	}
+
+};
+
+
+#endif

indra/libndhacd/nd_hacdUtils.cpp

@@ -0,0 +1,183 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include "nd_hacdUtils.h"
+
+tHACD* init( int nConcavity, int nClusters, int nMaxVerticesPerHull, double dMaxConnectDist, HACDDecoder *aData )
+{
+	tHACD *pDec = HACD::CreateHACD(0);
+	pDec->SetPoints( &aData->mVertices[0] );
+	pDec->SetNPoints( aData->mVertices.size() );
+
+	if ( aData->mTriangles.size() )
+	{
+		pDec->SetTriangles( &aData->mTriangles[0] );
+		pDec->SetNTriangles( aData->mTriangles.size() );
+	}
+
+	pDec->SetCompacityWeight( 0.1f );
+	pDec->SetVolumeWeight( 0 );
+	pDec->SetNClusters( nClusters );
+	pDec->SetAddExtraDistPoints( true );
+	pDec->SetAddFacesPoints( true );
+	pDec->SetNVerticesPerCH( nMaxVerticesPerHull );
+	pDec->SetConcavity( nConcavity );
+	pDec->SetConnectDist( dMaxConnectDist );
+
+	pDec->SetCallBack( aData );
+
+	return pDec;
+}
+
+DecompData decompose( tHACD *aHACD )
+{
+	aHACD->Compute();
+
+	DecompData oRet;
+
+	int nClusters = aHACD->GetNClusters();
+
+	for ( int i = 0; i < nClusters; ++i )
+	{
+		int nVertices = aHACD->GetNPointsCH( i );
+		int nTriangles = aHACD->GetNTrianglesCH( i );
+		DecompHull oHull;
+
+		oHull.mVertices.resize( nVertices );
+		oHull.mTriangles.resize( nTriangles );
+		aHACD->GetCH( i, &oHull.mVertices[0], &oHull.mTriangles[0] );
+
+		oRet.mHulls.push_back( oHull );
+	}
+
+	return oRet;
+}
+
+tVecLong fromI16( void const *& pPtr, int aStride )
+{
+	hacdUINT16 const *pVal = reinterpret_cast< hacdUINT16 const * >( pPtr );
+	tVecLong oRet( pVal[0], pVal[1], pVal[2] );
+	pVal += aStride / 2;
+	pPtr = pVal;
+	return oRet;
+}
+
+tVecLong fromI32( void const *& pPtr, int aStride )
+{
+	hacdUINT32 const *pVal = reinterpret_cast< hacdUINT32 const * >( pPtr );
+	tVecLong oRet( pVal[0], pVal[1], pVal[2] );
+	pVal += aStride / 4;
+	pPtr = pVal;
+	return oRet;
+}
+
+LLCDResult setMeshData( const LLCDMeshData* data, bool vertex_based, HACDDecoder *aDec )
+{
+	if ( !data || !data->mVertexBase || ( data->mNumVertices < 3 ) || ( data->mVertexStrideBytes != 12 && data->mVertexStrideBytes != 16 ) )
+		return LLCD_INVALID_MESH_DATA;
+
+	if ( !vertex_based && ( ( data->mNumTriangles < 1 ) || ! data->mIndexBase ) )
+		return LLCD_INVALID_MESH_DATA;
+
+	aDec->clear();
+	int nCount = data->mNumVertices;
+	float const* pVertex = data->mVertexBase;
+	int nStride = data->mVertexStrideBytes / sizeof( float );
+
+	for ( int i = 0; i < nCount; ++i )
+	{
+		tVecDbl oPt( pVertex[0], pVertex[1], pVertex[2] );
+		aDec->mVertices.push_back( oPt );
+		pVertex += nStride;
+	}
+
+	if ( !vertex_based )
+	{
+		fFromIXX pFunc = 0;
+		nCount = data->mNumTriangles;
+		nStride = data->mIndexStrideBytes;
+		void const *pData = data->mIndexBase;
+
+		if ( data->mIndexType == LLCDMeshData::INT_16 )
+			pFunc = fromI16;
+		else
+			pFunc = fromI32;
+
+		for ( int i = 0; i < nCount; ++i )
+		{
+			tVecLong oVal( ( *pFunc )( pData, nStride ) );
+			aDec->mTriangles.push_back( oVal );
+		}
+	}
+
+	return LLCD_OK;
+}
+
+LLCDResult convertHullToMesh( const LLCDHull* aHull, std::vector< float > &aVerticesOut, std::vector< int > &aTrianglesOut )
+{
+	if( !aHull || !aHull->mVertexBase )
+		return LLCD_NULL_PTR;
+	if( aHull->mVertexStrideBytes < 3*sizeof(float) || aHull->mNumVertices < 3 )
+		return LLCD_INVALID_HULL_DATA;
+
+	HACD::ICHull oHull;
+
+	int nCount = aHull->mNumVertices;
+	float const *pVertex = aHull->mVertexBase;
+	int nStride = aHull->mVertexStrideBytes / sizeof( float );
+
+	std::vector< tVecDbl > vcPoints;
+
+	for ( int i = 0; i < nCount; ++i )
+	{
+		vcPoints.push_back( tVecDbl( pVertex[0], pVertex[1], pVertex[2] ) ); 
+		pVertex += nStride;
+	}
+
+	oHull.AddPoints( &vcPoints[0], vcPoints.size() );
+
+	HACD::ICHullError eErr = oHull.Process( MAX_VERTICES_PER_HULL );
+	if( HACD::ICHullErrorOK != eErr )
+		return LLCD_INVALID_HULL_DATA;
+
+	HACD::TMMesh &oMesh = oHull.GetMesh();
+
+	std::vector< tVecDbl > vPoints;
+	std::vector< tVecLong > vTriangles;
+
+	vPoints.resize( oMesh.GetNVertices() );
+	vTriangles.resize( oMesh.GetNTriangles() );
+
+	oMesh.GetIFS( &vPoints[0], &vTriangles[0] );
+
+	for( size_t i = 0; i < vPoints.size(); ++i )
+	{
+		aVerticesOut.push_back( static_cast<float>( vPoints[i].X() ) );
+		aVerticesOut.push_back( static_cast<float>( vPoints[i].Y() ) );
+		aVerticesOut.push_back( static_cast<float>( vPoints[i].Z() ) );
+	}
+
+	for( size_t i = 0; i < vTriangles.size(); ++i )
+	{
+		aTrianglesOut.push_back( vTriangles[i].X() );
+		aTrianglesOut.push_back( vTriangles[i].Y() );
+		aTrianglesOut.push_back( vTriangles[i].Z() );
+	}
+
+	return LLCD_OK;
+}

indra/libndhacd/nd_hacdUtils.h

@@ -0,0 +1,34 @@
+/**
+ * copyright 2011 sl.nicky.ml@googlemail.com
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef ND_HACD_UTILS_H
+#define ND_HACD_UTILS_H
+
+#include "nd_hacdStructs.h"
+#include "LLConvexDecomposition.h"
+
+tHACD* init( int nConcavity, int nClusters, int nMaxVerticesPerHull, double dMaxConnectDist, HACDDecoder *aData );
+DecompData decompose( tHACD *aHACD );
+
+tVecLong fromI16( void *& pPtr, int aStride );
+tVecLong fromI32( void *& pPtr, int aStride );
+
+LLCDResult setMeshData( const LLCDMeshData* data, bool vertex_based, HACDDecoder *aDec );
+LLCDResult convertHullToMesh( const LLCDHull* aHull, std::vector< float > &aVerticesOut, std::vector< int > &aTrianglesOut );
+
+#endif

indra/libndhacd/windowsincludes.h

@@ -0,0 +1,59 @@
+/** 
+ * @file windowsincludes.h
+ * @brief includes that need to be involved in the windows version of llconvexdecompositionstub
+ *
+ * $LicenseInfo:firstyear=2002&license=viewerlgpl$
+ * Second Life Viewer Source Code
+ * Copyright (C) 2010, Linden Research, Inc.
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation;
+ * version 2.1 of the License only.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ * 
+ * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
+ * $/LicenseInfo$
+ */
+
+
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently, but
+// are changed infrequently
+//
+
+#pragma once
+
+// Modify the following defines if you have to target a platform prior to the ones specified below.
+// Refer to MSDN for the latest info on corresponding values for different platforms.
+#ifndef WINVER				// Allow use of features specific to Windows XP or later.
+#define WINVER 0x0501		// Change this to the appropriate value to target other versions of Windows.
+#endif
+
+#ifndef _WIN32_WINNT		// Allow use of features specific to Windows XP or later.                   
+#define _WIN32_WINNT 0x0501	// Change this to the appropriate value to target other versions of Windows.
+#endif						
+
+#ifndef _WIN32_WINDOWS		// Allow use of features specific to Windows 98 or later.
+#define _WIN32_WINDOWS 0x0410 // Change this to the appropriate value to target Windows Me or later.
+#endif
+
+#ifndef _WIN32_IE			// Allow use of features specific to IE 6.0 or later.
+#define _WIN32_IE 0x0600	// Change this to the appropriate value to target other versions of IE.
+#endif
+
+#define WIN32_LEAN_AND_MEAN		// Exclude rarely-used stuff from Windows headers
+// Windows Header Files:
+#include <windows.h>
+
+
+
+// TODO: reference additional headers your program requires here

indra/libopenjpeg/CMakeLists.txt

@@ -14,8 +14,8 @@ set(OPENJPEG_VERSION
 
 set(openjpeg_SOURCE_FILES
     bio.c
-    cio.c
     cidx_manager.c
+    cio.c
     dwt.c
     event.c
     image.c
@@ -26,8 +26,8 @@ set(openjpeg_SOURCE_FILES
     mct.c
     mqc.c
     openjpeg.c
-    pi.c
     phix_manager.c
+    pi.c
     ppix_manager.c
     raw.c
     t1.c
@@ -40,8 +40,8 @@ set(openjpeg_SOURCE_FILES
 
 set(openjpeg_HEADER_FILES
     bio.h
-    cio.h
     cidx_manager.h
+    cio.h
     dwt.h
     event.h
     fix.h

indra/libopenjpeg/j2k.c

@@ -703,15 +703,15 @@ static void j2k_read_cox(opj_j2k_t *j2k, int compno) {
 	/* If user wants to remove more resolutions than the codestream contains, return error*/
 	if (cp->reduce >= tccp->numresolutions) {
 		opj_event_msg(j2k->cinfo, EVT_ERROR, "Error decoding component %d.\nThe number of resolutions to remove is higher than the number "
-					"of resolutions of this component\nModify the cp_reduce parameter.\n\n", compno);
+					  "of resolutions of this component\nModify the cp_reduce parameter.\n\n", compno);
 		j2k->state |= J2K_STATE_ERR;
 	}
-  if( tccp->numresolutions > J2K_MAXRLVLS ) {
+	if( tccp->numresolutions > J2K_MAXRLVLS ) {
-    opj_event_msg(j2k->cinfo, EVT_ERROR, "Error decoding component %d.\nThe number of resolutions is too big: %d vs max= %d. Truncating.\n\n",
+		opj_event_msg(j2k->cinfo, EVT_ERROR, "Error decoding component %d.\nThe number of resolutions is too big: %d vs max= %d. Truncating.\n\n",
-      compno, tccp->numresolutions, J2K_MAXRLVLS);
+					  compno, tccp->numresolutions, J2K_MAXRLVLS);
 		j2k->state |= J2K_STATE_ERR;
-    tccp->numresolutions = J2K_MAXRLVLS;
+		tccp->numresolutions = J2K_MAXRLVLS;
- }
+	}
 
 	tccp->cblkw = cio_read(cio, 1) + 2;	/* SPcox (E) */
 	tccp->cblkh = cio_read(cio, 1) + 2;	/* SPcox (F) */
@@ -1516,25 +1516,7 @@ static void j2k_read_sod(opj_j2k_t *j2k) {
 
 	if (len == cio_numbytesleft(cio) + 1) {
 		truncate = 1;		/* Case of a truncate codestream */
-	}	
+	}
-
-   {/* chop padding bytes: */
-    unsigned char *s, *e; 
-
-    s = cio_getbp(cio);
-    e = s + len;
-
-  if(len > 8) s = e - 8;
-
-  if(e[-2] == 0x00 && e[-1] == 0x00) /* padding bytes */
-  {
-	while(e > s)
- {
-	if(e[-2] == 0xff && e[-1] == 0xd9)	break;
-  --len; --e; truncate = 1;
- }
-  }
-   }
 
 	data = j2k->tile_data[curtileno];
 	data = (unsigned char*) opj_realloc(data, (j2k->tile_len[curtileno] + len) * sizeof(unsigned char));
@@ -1935,15 +1917,9 @@ opj_image_t* j2k_decode(opj_j2k_t *j2k, opj_cio_t *cio, opj_codestream_info_t *c
 #endif /* USE_JPWL */
 
 		if (id >> 8 != 0xff) {
-		if(cio_numbytesleft(cio) != 0) /* not end of file reached and no EOC */
+			opj_image_destroy(image);
-	   {
+			opj_event_msg(cinfo, EVT_ERROR, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
-		opj_event_msg(cinfo, EVT_ERROR, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
+			return 0;
-		opj_image_destroy(image);
-		return 0;
-	   }
-		opj_event_msg(cinfo, EVT_WARNING, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
-		j2k->state = J2K_STATE_NEOC;
-		break;
 		}
 		e = j2k_dec_mstab_lookup(id);
 		/* Check if the marker is known*/
@@ -2037,15 +2013,9 @@ opj_image_t* j2k_decode_jpt_stream(opj_j2k_t *j2k, opj_cio_t *cio,  opj_codestre
 		
 		id = cio_read(cio, 2);
 		if (id >> 8 != 0xff) {
-        if(cio_numbytesleft(cio) != 0) /* no end of file reached and no EOC */
+			opj_image_destroy(image);
-	  {
+			opj_event_msg(cinfo, EVT_ERROR, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
-		opj_event_msg(cinfo, EVT_ERROR, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
+			return 0;
-		opj_image_destroy(image);
-		return 0;
-	  }
-		opj_event_msg(cinfo, EVT_WARNING, "%.8x: expected a marker instead of %x\n", cio_tell(cio) - 2, id);
-		j2k->state = J2K_STATE_NEOC;
-		break;
 		}
 		e = j2k_dec_mstab_lookup(id);
 		if (!(j2k->state & e->states)) {

indra/libopenjpeg/t1.c

@@ -1091,14 +1091,27 @@ static double t1_getwmsedec(
 		int numcomps,
 		int mct)
 {
-	double w1, w2, wmsedec;
+	double w1 = 1, w2, wmsedec;
+	
+	// Prevent running an MCT on more than 3 components. NB openjpeg v2.0 will support this via
+	// custom MCT tables that can be passed as encode parameters, 1.3 cannot support this as it
+	// uses a static table of 3 entries and there for can only cope with 3 components with out an
+	// array overflow
+
+	if(numcomps==3) {
+	        if (qmfbid == 1) {
+			w1 = (numcomps > 1) ? mct_getnorm(compno) : 1.0;
+		} else {
+			w1 = (numcomps > 1) ? mct_getnorm_real(compno) : 1.0;	
+		}
+	}	
+
 	if (qmfbid == 1) {
-		w1 = (mct && numcomps==3) ? mct_getnorm(compno) : 1.0;
 		w2 = dwt_getnorm(level, orient);
 	} else {			/* if (qmfbid == 0) */
-		w1 = (mct && numcomps==3) ? mct_getnorm_real(compno) : 1.0;
 		w2 = dwt_getnorm_real(level, orient);
 	}
+
 	wmsedec = w1 * w2 * stepsize * (1 << bpno);
 	wmsedec *= wmsedec * nmsedec / 8192.0;
 	

indra/libopenjpeg/tcd.c

@@ -1418,15 +1418,20 @@ opj_bool tcd_decode_tile(opj_tcd_t *tcd, unsigned char *src, int len, int tileno
 		int numres2decode;
 
 		if (tcd->cp->reduce != 0) {
-			if ( tile->comps[compno].numresolutions < ( tcd->cp->reduce - 1 ) ) {				
+			if ( tile->comps[compno].numresolutions < ( tcd->cp->reduce - 1 ) ) {
 				opj_event_msg(tcd->cinfo, EVT_ERROR, "Error decoding tile. The number of resolutions to remove [%d+1] is higher than the number "
-					" of resolutions in the original codestream [%d]\nModify the cp_reduce parameter.\n", tcd->cp->reduce, tile->comps[compno].numresolutions);
+							  " of resolutions in the original codestream [%d]\nModify the cp_reduce parameter.\n", tcd->cp->reduce, tile->comps[compno].numresolutions);
 				return OPJ_FALSE;
 			}
-      else {
+			else {
-		  	tcd->image->comps[compno].resno_decoded =
+				tcd->image->comps[compno].resno_decoded =
-				tile->comps[compno].numresolutions - tcd->cp->reduce - 1;
+						tile->comps[compno].numresolutions - tcd->cp->reduce - 1;
-      }
+			}
+		}
+
+		if(!tilec->data) {
+			opj_event_msg(tcd->cinfo, EVT_ERROR, "Error decoding tile. null data\n");
+			return OPJ_FALSE;
 		}
 
 		numres2decode = tcd->image->comps[compno].resno_decoded + 1;

indra/libpathing/CMakeLists.txt

@@ -0,0 +1,34 @@
+# -*- cmake -*-
+
+project(libpathing)
+
+include(00-Common)
+include(LLCommon)
+include(LLMath)
+
+include_directories(
+    ${LLCOMMON_INCLUDE_DIRS}
+    ${LLMATH_INCLUDE_DIRS}
+)
+
+
+if( MSVC )
+   add_definitions(-D_SECURE_SCL=0 -D_CRT_SECURE_NO_WARNINGS=1)
+endif( MSVC )
+
+set(libpathing_SOURCE_FILES
+    llpathinglib.cpp
+    llphysicsextensions.cpp
+)
+
+set(libpathing_HEADER_FILES
+    llpathinglib.h
+    llphysicsextensions.h
+)
+
+set_source_files_properties(${libpathing_HEADER_FILES}
+                            PROPERTIES HEADER_FILE_ONLY TRUE)
+
+add_library(nd_Pathing STATIC ${libpathing_SOURCE_FILES} ${libpathing_HEADER_FILES} )
+add_dependencies(nd_Pathing prepare)
+

indra/libpathing/llpathinglib.cpp

@@ -0,0 +1,90 @@
+#include "sys.h"
+#include "llpathinglib.h"
+
+void LLPathingLib::initSystem()
+{
+}
+
+void LLPathingLib::quitSystem()
+{
+}
+
+LLPathingLib* LLPathingLib::getInstance()
+{
+	static LLPathingLib sObj;
+	return &sObj;
+}
+
+bool LLPathingLib::isFunctional()
+{
+	return false;
+}
+
+void LLPathingLib::extractNavMeshSrcFromLLSD( std::vector< unsigned char > const &aMeshData, int aNavigation )
+{
+}
+
+LLPathingLib::LLPLResult LLPathingLib::generatePath( PathingPacket const& )
+{
+	return LLPL_NO_PATH;
+}
+
+void LLPathingLib::cleanupResidual()
+{
+}
+
+void LLPathingLib::stitchNavMeshes( )
+{
+}
+
+void LLPathingLib::renderNavMesh( void )
+{
+}
+
+void LLPathingLib::renderNavMeshShapesVBO( unsigned int aShapeTypeBitmask )
+{
+}
+
+void LLPathingLib::renderPath()
+{
+}
+
+void LLPathingLib::cleanupVBOManager()
+{
+}
+
+void LLPathingLib::setNavMeshColors( NavMeshColors const &aColors )
+{
+}
+
+void LLPathingLib::setNavMeshMaterialType( LLPLCharacterType aType )
+{
+}
+
+void LLPathingLib::renderNavMeshEdges()
+{
+}
+
+void LLPathingLib::renderPathBookend( LLRender&, LLPLRenderType )
+{
+}
+
+void LLPathingLib::renderSimpleShapes( LLRender&, float )
+{
+}
+
+void LLPathingLib::createPhysicsCapsuleRep( float, float, bool, LLUUID const& )
+{
+}
+
+void LLPathingLib::cleanupPhysicsCapsuleRepResiduals()
+{
+}
+
+void LLPathingLib::processNavMeshData()
+{
+}
+
+void LLPathingLib::renderSimpleShapeCapsuleID( LLRender&, LLUUID const&, LLVector3 const&, LLQuaternion const& )
+{
+}

indra/libpathing/llpathinglib.h

@@ -0,0 +1,154 @@
+#ifndef LL_PATHINGLIB_H
+#define LL_PATHINGLIB_H
+
+#include <vector>
+
+#include "v3math.h"
+#include "v4coloru.h"
+#include "llquaternion.h"
+#include "lluuid.h"
+
+class LLRender;
+
+class LLPathingLib
+{
+public:
+	enum LLPLResult
+	{
+		LLPL_NO_PATH,
+		LLPL_PATH_GENERATED_OK
+	};
+
+	enum LLPLCharacterType
+	{
+		LLPL_CHARACTER_TYPE_NONE,
+		LLPL_CHARACTER_TYPE_A,
+		LLPL_CHARACTER_TYPE_B,
+		LLPL_CHARACTER_TYPE_C,
+		LLPL_CHARACTER_TYPE_D
+	};
+
+	enum LLShapeType
+	{
+		LLST_WalkableObjects = 1,
+		LLST_ObstacleObjects = 2,
+		LLST_MaterialPhantoms = 3,
+		LLST_ExclusionPhantoms = 4
+	};
+
+	enum LLPLRenderType
+	{
+		LLPL_START,
+		LLPL_END
+	};
+
+	struct Vector
+	{
+		double mX;
+		double mY;
+		double mZ;
+		
+		Vector& operator=( LLVector3 const &aRHS )
+		{
+			mX = aRHS.mV[0];
+			mY = aRHS.mV[1];
+			mZ = aRHS.mV[2];
+
+			return *this;
+		}
+		
+		operator LLVector3() const
+		{
+			LLVector3 ret;
+			ret.mV[0] = (F32) mX;
+			ret.mV[1] = (F32) mY;
+			ret.mV[2] = (F32) mZ;
+			return ret;
+		}
+	};
+
+	struct PathingPacket
+	{
+		Vector mStartPointA;
+		Vector mEndPointA;
+
+		Vector mStartPointB;
+		Vector mEndPointB;
+
+		bool mHasPointA;
+		bool mHasPointB;
+
+		double mCharacterWidth;
+		LLPLCharacterType mCharacterType;
+	};
+
+	struct NavMeshColor
+	{
+		unsigned char mR;
+		unsigned char mG;
+		unsigned char mB;
+		unsigned char mAlpha;
+
+		NavMeshColor& operator=( LLColor4U const &aRHS )
+		{
+			mR = aRHS.mV[0];
+			mG = aRHS.mV[1];
+			mB = aRHS.mV[2];
+			mAlpha = aRHS.mV[3];
+
+			return *this;
+		}
+		
+	};
+
+	struct NavMeshColors
+	{
+		NavMeshColor mWalkable;
+		NavMeshColor mObstacle;
+		NavMeshColor mMaterial;
+		NavMeshColor mExclusion;
+		NavMeshColor mConnectedEdge;
+		NavMeshColor mBoundaryEdge;
+		NavMeshColor mHeatColorBase;
+		NavMeshColor mHeatColorMax;
+		NavMeshColor mFaceColor;
+		NavMeshColor mStarValid;
+		NavMeshColor mStarInvalid;
+		NavMeshColor mTestPath;
+		NavMeshColor mWaterColor;
+	};
+
+	static void initSystem();
+	static void quitSystem();
+	static LLPathingLib* getInstance();
+
+	bool isFunctional();
+
+	void extractNavMeshSrcFromLLSD( std::vector< unsigned char> const &aMeshData, int aNavigation );
+
+	LLPLResult generatePath( PathingPacket const& );
+	void cleanupResidual();
+
+	void stitchNavMeshes( );
+
+	void renderNavMesh( void );
+	void renderNavMeshShapesVBO( unsigned int aShapeTypeBitmask );
+	void renderPath();
+	void cleanupVBOManager();
+
+	void renderNavMeshEdges();
+	void renderPathBookend( LLRender&, LLPLRenderType );
+
+	void setNavMeshColors( NavMeshColors const& );
+	void setNavMeshMaterialType( LLPLCharacterType );
+
+	void renderSimpleShapes( LLRender&, float );
+
+	void createPhysicsCapsuleRep( float, float, bool, LLUUID const& );
+	void cleanupPhysicsCapsuleRepResiduals();
+
+	void processNavMeshData();
+	void renderSimpleShapeCapsuleID( LLRender&, LLUUID const&, LLVector3 const&, LLQuaternion const& );
+};
+
+#endif

indra/libpathing/llphysicsextensions.cpp

@@ -0,0 +1,10 @@
+#include "llphysicsextensions.h"
+
+void LLPhysicsExtensions::quitSystem()
+{
+}
+
+bool LLPhysicsExtensions::isFunctional()
+{
+	return false;
+}

indra/libpathing/llphysicsextensions.h

@@ -0,0 +1,12 @@
+#ifndef LLPYHSICS_EXTENSIONS_H
+#define LLPYHSICS_EXTENSIONS_H
+
+class LLPhysicsExtensions
+{
+public:
+	static void quitSystem();
+
+	bool isFunctional();
+};
+
+#endif

indra/llappearance/llavatarappearance.cpp

@@ -169,8 +169,6 @@ LLAvatarAppearance::LLAvatarAppearance(LLWearableData* wearable_data) :
 	mRoot(NULL),
 	mWearableData(wearable_data)
 {
-	LLMemType mt(LLMemType::MTYPE_AVATAR);
-
 	llassert_always(mWearableData);
 	mBakedTextureDatas.resize(LLAvatarAppearanceDefines::BAKED_NUM_INDICES);
 	for (U32 i = 0; i < mBakedTextureDatas.size(); i++ )
@@ -465,6 +463,10 @@ void LLAvatarAppearance::computeBodySize()
 
 	LLVector3 foot  = mFootLeftp->getPosition();
 
+	LLVector3 old_offset = mAvatarOffset;
+
+	mAvatarOffset.mV[VZ] = getVisualParamWeight(AVATAR_HOVER);
+
 	mPelvisToFoot = hip.mV[VZ] * pelvis_scale.mV[VZ] -
 				 	knee.mV[VZ] * hip_scale.mV[VZ] -
 				 	ankle.mV[VZ] * knee_scale.mV[VZ] -
@@ -484,7 +486,29 @@ void LLAvatarAppearance::computeBodySize()
 	new_body_size.mV[VX] = DEFAULT_AGENT_DEPTH;
 	new_body_size.mV[VY] = DEFAULT_AGENT_WIDTH;
 
-	if (new_body_size != mBodySize)
+	mAvatarOffset.mV[VX] = 0.0f;
+	mAvatarOffset.mV[VY] = 0.0f;
+
+	// Certain configurations of avatars can force the overall height (with offset) to go negative.
+	// Enforce a constraint to make sure we don't go below 0.1 meters.
+	// Camera positioning and other things start to break down when your avatar is "walking" while being fully underground
+	if (new_body_size.mV[VZ] + mAvatarOffset.mV[VZ] < 0.1f) 
+	{
+		mAvatarOffset.mV[VZ] = -(new_body_size.mV[VZ] - 0.11f); // avoid floating point rounding making the above check continue to fail.
+
+		llassert(new_body_size.mV[VZ] + mAvatarOffset.mV[VZ] >= 0.1f);
+
+		if (mWearableData && isSelf()) 
+		{
+			LLWearable* shape = mWearableData->getWearable(LLWearableType::WT_SHAPE, 0);
+			if (shape) 
+			{
+				shape->setVisualParamWeight(AVATAR_HOVER, mAvatarOffset.mV[VZ], false);
+			}
+		}
+	}
+
+	if (new_body_size != mBodySize || old_offset != mAvatarOffset)
 	{
 		mBodySize = new_body_size;
 		bodySizeChanged();
@@ -496,8 +520,6 @@ void LLAvatarAppearance::computeBodySize()
 //-----------------------------------------------------------------------------
 BOOL LLAvatarAppearance::parseSkeletonFile(const std::string& filename)
 {
-	LLMemType mt(LLMemType::MTYPE_AVATAR);
-	
 	//-------------------------------------------------------------------------
 	// parse the file
 	//-------------------------------------------------------------------------
@@ -539,8 +561,6 @@ BOOL LLAvatarAppearance::parseSkeletonFile(const std::string& filename)
 //-----------------------------------------------------------------------------
 BOOL LLAvatarAppearance::setupBone(const LLAvatarBoneInfo* info, LLJoint* parent, S32 &volume_num, S32 &joint_num)
 {
-	LLMemType mt(LLMemType::MTYPE_AVATAR);
-	
 	LLJoint* joint = NULL;
 
 	if (info->mIsJoint)
@@ -628,9 +648,6 @@ BOOL LLAvatarAppearance::allocateCharacterJoints( U32 num )
 //-----------------------------------------------------------------------------
 BOOL LLAvatarAppearance::buildSkeleton(const LLAvatarSkeletonInfo *info)
 {
-	LLMemType mt(LLMemType::MTYPE_AVATAR);
-	
-
 	if (!info)
 		return FALSE;
 	//-------------------------------------------------------------------------
@@ -685,8 +702,6 @@ void LLAvatarAppearance::clearSkeleton()
 //-----------------------------------------------------------------------------
 void LLAvatarAppearance::buildCharacter()
 {
-	LLMemType mt(LLMemType::MTYPE_AVATAR);
-	
 	//-------------------------------------------------------------------------
 	// remove all references to our existing skeleton
 	// so we can rebuild it
@@ -1471,6 +1486,7 @@ LLColor4 LLAvatarAppearance::getClothesColor( ETextureIndex te )
 	}
 	return color;
 }
+
 // static
 LLColor4 LLAvatarAppearance::getDummyColor()
 {

indra/llappearance/llavatarappearance.h

@@ -112,11 +112,9 @@ public:
 public:
 	virtual bool 	isSelf() const { return false; } // True if this avatar is for this viewer's agent
 	virtual BOOL	isValid() const;
-	//virtual BOOL	isUsingServerBakes() const = 0;
+	virtual BOOL	isUsingServerBakes() const = 0;
-	//virtual BOOL	isUsingLocalAppearance() const = 0;
+	virtual BOOL	isUsingLocalAppearance() const = 0;
-	//virtual BOOL	isEditingAppearance() const = 0;
+	virtual BOOL	isEditingAppearance() const = 0;
-	BOOL	isUsingLocalAppearance() const {return isEditingAppearance();}
-	virtual BOOL	isEditingAppearance() const {return FALSE;}
 
 	bool isBuilt() const { return mIsBuilt; }
 
@@ -167,6 +165,7 @@ protected:
 	//--------------------------------------------------------------------
 public:
 	LLVector3			mBodySize;
+	LLVector3			mAvatarOffset;
 protected:
 	F32					mPelvisToFoot;
 
@@ -245,6 +244,7 @@ protected:
 	virtual void	dirtyMesh(S32 priority) = 0; // Dirty the avatar mesh, with priority
 
 protected:
+	friend class WavefrontSaver;
 	typedef std::multimap<std::string, LLPolyMesh*> polymesh_map_t;
 	polymesh_map_t 									mPolyMeshes;
 	avatar_joint_list_t								mMeshLOD;

indra/llappearance/llavatarappearancedefines.h

@@ -41,6 +41,8 @@ extern const S32 SCRATCH_TEX_WIDTH;
 extern const S32 SCRATCH_TEX_HEIGHT;
 extern const S32 IMPOSTOR_PERIOD;
 
+static const U32 AVATAR_HOVER = 11001;
+
 //--------------------------------------------------------------------
 // Enums
 //--------------------------------------------------------------------

indra/llappearance/llavatarjoint.cpp

@@ -27,6 +27,7 @@
 //-----------------------------------------------------------------------------
 // Header Files
 //-----------------------------------------------------------------------------
+#include "linden_common.h"
 #include "llavatarjoint.h"
 
 #include "llgl.h"

indra/llappearance/llavatarjointmesh.h

@@ -62,6 +62,7 @@ public:
 class LLAvatarJointMesh : public virtual LLAvatarJoint
 {
 protected:
+	friend class WavefrontSaver;
 	LLColor4					mColor;			// color value
 // 	LLColor4					mSpecular;		// specular color (always white for now)
 	F32							mShiny;			// shiny value

indra/llappearance/lldriverparam.h

@@ -76,6 +76,7 @@ protected:
 
 //-----------------------------------------------------------------------------
 
+LL_ALIGN_PREFIX(16)
 class LLDriverParam : public LLViewerVisualParam
 {
 	friend class LLPhysicsMotion;
@@ -133,13 +134,13 @@ protected:
 	void setDrivenWeight(LLDrivenEntry *driven, F32 driven_weight, bool upload_bake);
 
 
-	LLVector4a	mDefaultVec; // temp holder
+	LL_ALIGN_16(LLVector4a	mDefaultVec); // temp holder
 	typedef std::vector<LLDrivenEntry> entry_list_t;
 	entry_list_t mDriven;
 	LLViewerVisualParam* mCurrentDistortionParam;
 	// Backlink only; don't make this an LLPointer.
 	LLAvatarAppearance* mAvatarAppearance;
 	LLWearable* mWearablep;
-};
+} LL_ALIGN_POSTFIX(16);
 
 #endif  // LL_LLDRIVERPARAM_H

indra/llappearance/llpolymesh.cpp

@@ -749,8 +749,6 @@ const LLVector2 &LLPolyMeshSharedData::getUVs(U32 index)
 //-----------------------------------------------------------------------------
 LLPolyMesh::LLPolyMesh(LLPolyMeshSharedData *shared_data, LLPolyMesh *reference_mesh)
 {	
-	LLMemType mt(LLMemType::MTYPE_AVATAR_MESH);
-
 	llassert(shared_data);
 
 	mSharedData = shared_data;

indra/llappearance/llpolymorph.cpp

@@ -28,6 +28,7 @@
 // Header Files
 //-----------------------------------------------------------------------------
 
+#include "linden_common.h"
 #include "llpolymorph.h"
 #include "llavatarappearance.h"
 #include "llavatarjoint.h"
@@ -76,9 +77,11 @@ LLPolyMorphData::LLPolyMorphData(const LLPolyMorphData &rhs) :
 {
 	const S32 numVertices = mNumIndices;
 
-	mCoords = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+	U32 size = sizeof(LLVector4a)*numVertices;
-	mNormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+
-	mBinormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+	mCoords = static_cast<LLVector4a*>( ll_aligned_malloc_16(size) );
+	mNormals = static_cast<LLVector4a*>( ll_aligned_malloc_16(size) );
+	mBinormals = static_cast<LLVector4a*>( ll_aligned_malloc_16(size) );
 	mTexCoords = new LLVector2[numVertices];
 	mVertexIndices = new U32[numVertices];
 	
@@ -124,9 +127,13 @@ BOOL LLPolyMorphData::loadBinary(LLFILE *fp, LLPolyMeshSharedData *mesh)
 	//-------------------------------------------------------------------------
 	// allocate vertices
 	//-------------------------------------------------------------------------
-	mCoords = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+	
-	mNormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+	U32 size = sizeof(LLVector4a)*numVertices;
-	mBinormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(numVertices * sizeof(LLVector4a)));
+	
+	mCoords = static_cast<LLVector4a*>(ll_aligned_malloc_16(size));
+	mNormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(size));
+	mBinormals = static_cast<LLVector4a*>(ll_aligned_malloc_16(size));
+	
 	mTexCoords = new LLVector2[numVertices];
 	// Actually, we are allocating more space than we need for the skiplist
 	mVertexIndices = new U32[numVertices];
@@ -888,17 +895,29 @@ void LLPolyMorphTarget::apply( ESex avatar_sex )
 			norm.mul(delta_weight*maskWeight*NORMAL_SOFTEN_FACTOR);
 			scaled_normals[vert_index_mesh].add(norm);
 			norm = scaled_normals[vert_index_mesh];
+
+			// guard against degenerate input data before we create NaNs below!
+			//
 			norm.normalize3fast();
 			normals[vert_index_mesh] = norm;
 
 			// calculate new binormals
 			LLVector4a binorm = mMorphData->mBinormals[vert_index_morph];
+
+			// guard against degenerate input data before we create NaNs below!
+			//
+			if (!binorm.isFinite3() || (binorm.dot3(binorm).getF32() <= F_APPROXIMATELY_ZERO))
+			{
+				binorm.set(1,0,0,1);
+			}
+
 			binorm.mul(delta_weight*maskWeight*NORMAL_SOFTEN_FACTOR);
 			scaled_binormals[vert_index_mesh].add(binorm);
 			LLVector4a tangent;
 			tangent.setCross3(scaled_binormals[vert_index_mesh], norm);
 			LLVector4a& normalized_binormal = binormals[vert_index_mesh];
-			normalized_binormal.setCross3(norm, tangent); 
+
+			normalized_binormal.setCross3(norm, tangent); 			
 			normalized_binormal.normalize3fast();
 			
 			tex_coords[vert_index_mesh] += mMorphData->mTexCoords[vert_index_morph] * delta_weight * maskWeight;

indra/llappearance/llpolymorph.h

@@ -41,6 +41,7 @@ class LLWearable;
 //-----------------------------------------------------------------------------
 // LLPolyMorphData()
 //-----------------------------------------------------------------------------
+LL_ALIGN_PREFIX(16)
 class LLPolyMorphData
 {
 public:
@@ -79,12 +80,13 @@ public:
 
 	F32					mTotalDistortion;	// vertex distortion summed over entire morph
 	F32					mMaxDistortion;		// maximum single vertex distortion in a given morph
-	LLVector4a			mAvgDistortion;		// average vertex distortion, to infer directionality of the morph
+	LL_ALIGN_16(LLVector4a			mAvgDistortion);		// average vertex distortion, to infer directionality of the morph
 	LLPolyMeshSharedData*	mMesh;
 
 private:
 	void freeData();
-};
+} LL_ALIGN_POSTFIX(16);
+
 
 //-----------------------------------------------------------------------------
 // LLPolyVertexMask()