Merge pull request #84 from Okkoma/bullet-3.26

Upgrade to bullet-3.26
u3d-community · Dec 17, 2024 · 7a963e4 · 7a963e4
2 parents 4743398 + 233d0c1
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diff --git a/Source/ThirdParty/Bullet/README.md b/Source/ThirdParty/Bullet/README.md
@@ -7,8 +7,11 @@ This is the official C++ source code repository of the Bullet Physics SDK: real-
 
 ![PyBullet](https://pybullet.org/wordpress/wp-content/uploads/2019/03/cropped-pybullet.png)
 
+## Issues ##
+The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
+
 ## PyBullet ##
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 Installation is simple:
 ```
@@ -21,11 +24,11 @@ python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_ar
 If you use PyBullet in your research, please cite it like this:
 
 ```
-@MISC{coumans2019,
+@MISC{coumans2021,
 author =   {Erwin Coumans and Yunfei Bai},
 title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
 howpublished = {\url{http://pybullet.org}},
-year = {2016--2019}
+year = {2016--2021}
 }
 ```
 
@@ -63,7 +66,7 @@ You can download and install Bullet using the [vcpkg](https://github.com/Microso
     cd vcpkg
     ./bootstrap-vcpkg.sh
     ./vcpkg integrate install
-    vcpkg install bullet3
+    ./vcpkg install bullet3
 
 The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
 
@@ -88,38 +91,38 @@ p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86
 
 **Linux and Mac OSX gnu make**
 
-Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
+Make sure gcc and cmake is installed (`sudo apt-get install build-essential` and `sudo apt-get install cmake` for Linux, `brew install cmake` for Mac, or https://cmake.org)
 
 In a terminal type:
-
-	./build_cmake_pybullet_double.sh
-
+```
+./build_cmake_pybullet_double.sh
+```
 This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
 The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
 
 You can also build Bullet using premake. There are premake executables in the build3 folder.
 Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
 Using premake:
 ```
-	cd build3
-	./premake4_linux --double gmake
-	./premake4_linux64 --double gmake
-	./premake4_osx --double --enable_pybullet gmake
+cd build3
+./premake4_linux --double gmake
+./premake4_linux64 --double gmake
+./premake4_osx --double --enable_pybullet gmake
 ```
 Then
 ```
-	cd gmake
-	make
+cd gmake
+make
 ```
 
 Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
 
 **Mac OSX Xcode**
 
 Click on build3/xcode4.command or in a terminal window execute
-
-	./premake_osx xcode4
-
+```	
+./premake_osx xcode4
+```
 ## Usage
 
 The App_ExampleBrowser executables will be located in the bin folder.

diff --git a/Source/ThirdParty/Bullet/Urho3DNotes.txt b/Source/ThirdParty/Bullet/Urho3DNotes.txt
diff --git a/Source/ThirdParty/Bullet/VERSION b/Source/ThirdParty/Bullet/VERSION
@@ -1 +1 @@
-3.05
+3.26
diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -1,6 +1,6 @@
 
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -1,5 +1,5 @@
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3.h

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
@@ -1,5 +1,5 @@
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3.h

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2007 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -47,8 +47,10 @@ class btSerializer;
 #define MAX_SUBTREE_SIZE_IN_BYTES 2048
 
 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
+// 4 gives the potential for 16 parts, each with 2^27 triangles (134217728)
 // actually) triangles each (since the sign bit is reserved
 #define MAX_NUM_PARTS_IN_BITS 10
+//#define MAX_NUM_PARTS_IN_BITS 4
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/Source/ThirdParty/Bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/.../ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/.../ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/...ce/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/...ce/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -3,7 +3,7 @@
  * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
  * All rights reserved.  Email: [email protected]   Web: www.q12.org
  Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+ Bullet is Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
@@ -4,7 +4,7 @@
  * All rights reserved.  Email: [email protected]   Web: www.q12.org
 
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

diff --git a/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/Source/ThirdParty/Bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.