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diff --git a/tests/bullet/Extras/ConvexDecomposition/vlookup.cpp b/tests/bullet/Extras/ConvexDecomposition/vlookup.cpp
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+++ b/tests/bullet/Extras/ConvexDecomposition/vlookup.cpp
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+#include "float_math.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#pragma warning(disable:4786)
+
+#include <vector>
+#include <map>
+#include <set>
+
+
+/*----------------------------------------------------------------------
+		Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+
+		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.
+
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		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 INTEL 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.
+-----------------------------------------------------------------------*/
+
+// http://codesuppository.blogspot.com
+//
+// mailto: jratcliff@infiniplex.net
+//
+// http://www.amillionpixels.us
+//
+
+// CodeSnippet provided by John W. Ratcliff
+// on March 23, 2006.
+//
+// mailto: jratcliff@infiniplex.net
+//
+// Personal website: http://jratcliffscarab.blogspot.com
+// Coding Website:   http://codesuppository.blogspot.com
+// FundRaising Blog: http://amillionpixels.blogspot.com
+// Fundraising site: http://www.amillionpixels.us
+// New Temple Site:  http://newtemple.blogspot.com
+//
+// This snippet shows how to 'hide' the complexity of
+// the STL by wrapping some useful piece of functionality
+// around a handful of discrete API calls.
+//
+// This API allows you to create an indexed triangle list
+// from a collection of raw input triangles.  Internally
+// it uses an STL set to build the lookup table very rapidly.
+//
+// Here is how you would use it to build an indexed triangle
+// list from a raw list of triangles.
+//
+// (1) create a 'VertexLookup' interface by calling
+//
+//     VertexLook vl = Vl_createVertexLookup();
+//
+// (2) For each vertice in each triangle call:
+//
+//     unsigned int i1 = Vl_getIndex(vl,p1);
+//     unsigned int i2 = Vl_getIndex(vl,p2);
+//     unsigned int i3 = Vl_getIndex(vl,p3);
+//
+//     save the 3 indices into your triangle list array.
+//
+// (3) Get the vertex array by calling:
+//
+//     const float *vertices = Vl_getVertices(vl);
+//
+// (4) Get the number of vertices so you can copy them into
+//     your own buffer.
+//     unsigned int vcount = Vl_getVcount(vl);
+//
+// (5) Release the VertexLookup interface when you are done with it.
+//     Vl_releaseVertexLookup(vl);
+//
+// Teaches the following lessons:
+//
+//    How to wrap the complexity of STL and C++ classes around a
+//    simple API interface.
+//
+//    How to use an STL set and custom comparator operator for
+//    a complex data type.
+//
+//    How to create a template class.
+//
+//    How to achieve significant performance improvements by
+//    taking advantage of built in STL containers in just
+//    a few lines of code.
+//
+//    You could easily modify this code to support other vertex
+//    formats with any number of interpolants.
+
+
+
+
+#include "vlookup.h"
+
+namespace Vlookup
+{
+
+class VertexPosition
+{
+public:
+  VertexPosition(void) { };
+  VertexPosition(const float *p)
+  {
+  	mPos[0] = p[0];
+  	mPos[1] = p[1];
+  	mPos[2] = p[2];
+  };
+
+	void Set(int index,const float *pos)
+	{
+		const float * p = &pos[index*3];
+
+		mPos[0]    = p[0];
+		mPos[1]    = p[1];
+		mPos[2]    = p[2];
+
+	};
+
+  float GetX(void) const { return mPos[0]; };
+  float GetY(void) const { return mPos[1]; };
+  float GetZ(void) const { return mPos[2]; };
+
+	float mPos[3];
+};
+
+typedef std::vector< VertexPosition > VertexVector;
+
+struct Tracker
+{
+	VertexPosition mFind; // vertice to locate.
+	VertexVector  *mList;
+
+	Tracker()
+	{
+		mList = 0;
+	}
+
+	void SetSearch(const VertexPosition& match,VertexVector *list)
+	{
+		mFind = match;
+		mList = list;
+	};
+};
+
+struct VertexID
+{
+	int mID;
+	Tracker* mTracker;
+
+	VertexID(int ID, Tracker* Tracker)
+	{
+		mID = ID;
+		mTracker = Tracker;
+	}
+};
+
+class VertexLess
+{
+public:
+
+	bool operator()(VertexID v1,VertexID v2) const;
+
+private:
+	const VertexPosition& Get(VertexID index) const
+	{
+		if ( index.mID == -1 ) return index.mTracker->mFind;
+		VertexVector &vlist = *index.mTracker->mList;
+		return vlist[index.mID];
+	}
+};
+
+template <class Type> class VertexPool
+{
+public:
+	typedef std::set<VertexID, VertexLess > VertexSet;
+	typedef std::vector< Type > VertexVector;
+
+	int getVertex(const Type& vtx)
+	{
+		mTracker.SetSearch(vtx,&mVtxs);
+		VertexSet::iterator found;
+		found = mVertSet.find( VertexID(-1,&mTracker) );
+		if ( found != mVertSet.end() )
+		{
+			return found->mID;
+		}
+		int idx = (int)mVtxs.size();
+		mVtxs.push_back( vtx );
+		mVertSet.insert( VertexID(idx,&mTracker) );
+		return idx;
+	};
+
+
+	const float * GetPos(int idx) const
+	{
+		return mVtxs[idx].mPos;
+	}
+
+	const Type& Get(int idx) const
+	{
+		return mVtxs[idx];
+	};
+
+	unsigned int GetSize(void) const
+	{
+		return mVtxs.size();
+	};
+
+	void Clear(int reservesize)  // clear the vertice pool.
+	{
+		mVertSet.clear();
+		mVtxs.clear();
+		mVtxs.reserve(reservesize);
+	};
+
+	const VertexVector& GetVertexList(void) const { return mVtxs; };
+
+	void Set(const Type& vtx)
+	{
+		mVtxs.push_back(vtx);
+	}
+
+	unsigned int GetVertexCount(void) const
+	{
+		return mVtxs.size();
+	};
+
+
+	Type * getBuffer(void)
+	{
+		return &mVtxs[0];
+	};
+
+private:
+	VertexSet      mVertSet; // ordered list.
+	VertexVector   mVtxs;  // set of vertices.
+	Tracker        mTracker;
+};
+
+
+bool VertexLess::operator()(VertexID v1,VertexID v2) const
+{
+
+	const VertexPosition& a = Get(v1);
+	const VertexPosition& b = Get(v2);
+
+  int ixA = (int) (a.GetX()*10000.0f);
+  int ixB = (int) (b.GetX()*10000.0f);
+
+	if ( ixA      < ixB      ) return true;
+	if ( ixA      > ixB      ) return false;
+
+  int iyA = (int) (a.GetY()*10000.0f);
+  int iyB = (int) (b.GetY()*10000.0f);
+
+	if ( iyA      < iyB      ) return true;
+	if ( iyA      > iyB      ) return false;
+
+  int izA = (int) (a.GetZ()*10000.0f);
+  int izB = (int) (b.GetZ()*10000.0f);
+
+	if ( izA      < izB      ) return true;
+	if ( izA      > izB      ) return false;
+
+
+	return false;
+}
+
+
+
+
+}
+
+using namespace Vlookup;
+
+VertexLookup Vl_createVertexLookup(void)
+{
+  VertexLookup ret = new VertexPool< VertexPosition >;
+  return ret;
+}
+
+void          Vl_releaseVertexLookup(VertexLookup vlook)
+{
+  VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
+  delete vp;
+}
+
+unsigned int  Vl_getIndex(VertexLookup vlook,const float *pos)  // get index.
+{
+  VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
+  VertexPosition p(pos);
+  return vp->getVertex(p);
+}
+
+const float * Vl_getVertices(VertexLookup vlook)
+{
+  VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
+  return vp->GetPos(0);
+}
+
+
+unsigned int  Vl_getVcount(VertexLookup vlook)
+{
+  VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
+  return vp->GetVertexCount();
+}