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diff --git a/extern/bullet2/BulletMultiThreaded/MiniCLTaskScheduler.h b/extern/bullet2/BulletMultiThreaded/MiniCLTaskScheduler.h
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+++ b/extern/bullet2/BulletMultiThreaded/MiniCLTaskScheduler.h
@@ -0,0 +1,194 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#ifndef MINICL_TASK_SCHEDULER_H
+#define MINICL_TASK_SCHEDULER_H
+
+#include <assert.h>
+
+
+#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#include <stdlib.h>
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+#include "MiniCLTask/MiniCLTask.h"
+
+//just add your commands here, try to keep them globally unique for debugging purposes
+#define CMD_SAMPLE_TASK_COMMAND 10
+
+struct MiniCLKernel;
+
+/// MiniCLTaskScheduler handles SPU processing of collision pairs.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class MiniCLTaskScheduler
+{
+	// track task buffers that are being used, and total busy tasks
+	btAlignedObjectArray<bool>	m_taskBusy;
+	btAlignedObjectArray<MiniCLTaskDesc>	m_spuSampleTaskDesc;
+
+
+	btAlignedObjectArray<const MiniCLKernel*>	m_kernels;
+
+
+	int   m_numBusyTasks;
+
+	// the current task and the current entry to insert a new work unit
+	int   m_currentTask;
+
+	bool m_initialized;
+
+	void postProcess(int taskId, int outputSize);
+	
+	class	btThreadSupportInterface*	m_threadInterface;
+
+	int	m_maxNumOutstandingTasks;
+
+
+
+public:
+	MiniCLTaskScheduler(btThreadSupportInterface*	threadInterface, int maxNumOutstandingTasks);
+	
+	~MiniCLTaskScheduler();
+	
+	///call initialize in the beginning of the frame, before addCollisionPairToTask
+	void initialize();
+
+	void issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel);
+
+	///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+	void flush();
+
+	class	btThreadSupportInterface*	getThreadSupportInterface()
+	{
+		return m_threadInterface;
+	}
+
+	int	findProgramCommandIdByName(const char* programName) const;
+
+	int getMaxNumOutstandingTasks() const
+	{
+		return m_maxNumOutstandingTasks;
+	}
+
+	void registerKernel(MiniCLKernel* kernel)
+	{
+		m_kernels.push_back(kernel);
+	}
+};
+
+typedef void (*kernelLauncherCB)(MiniCLTaskDesc* taskDesc, int guid);
+
+struct	MiniCLKernel
+{
+	MiniCLTaskScheduler* m_scheduler;
+	
+//	int	m_kernelProgramCommandId;
+
+	char	m_name[MINI_CL_MAX_KERNEL_NAME];
+	unsigned int	m_numArgs;
+	kernelLauncherCB	m_launcher;
+	void* m_pCode;
+	void updateLauncher();
+	MiniCLKernel* registerSelf();
+
+	void*	m_argData[MINI_CL_MAX_ARG];
+	int				m_argSizes[MINI_CL_MAX_ARG];
+};
+
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+////////////////////MAIN/////////////////////////////
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+void * SamplelsMemoryFunc();
+void SampleThreadFunc(void* userPtr,void* lsMemory);
+
+//#define DEBUG_LIBSPE2_MAINLOOP
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+	printf("SPU is up \n");
+	
+	ATTRIBUTE_ALIGNED128(btSpuStatus status);
+	ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
+	unsigned int received_message = Spu_Mailbox_Event_Nothing;
+        bool shutdown = false;
+
+	cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+	status.m_status = Spu_Status_Free;
+	status.m_lsMemory.p = SamplelsMemoryFunc();
+
+	cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+	
+	
+	while (!shutdown)
+	{
+		received_message = spu_read_in_mbox();
+		
+
+		
+		switch(received_message)
+		{
+		case Spu_Mailbox_Event_Shutdown:
+			shutdown = true;
+			break; 
+		case Spu_Mailbox_Event_Task:
+			// refresh the status
+#ifdef DEBUG_LIBSPE2_MAINLOOP
+			printf("SPU recieved Task \n");
+#endif //DEBUG_LIBSPE2_MAINLOOP
+			cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+		
+			btAssert(status.m_status==Spu_Status_Occupied);
+			
+			cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+			
+			SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
+			break;
+		case Spu_Mailbox_Event_Nothing:
+		default:
+			break;
+		}
+
+		// set to status free and wait for next task
+		status.m_status = Spu_Status_Free;
+		cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+		cellDmaWaitTagStatusAll(DMA_MASK(3));		
+				
+		
+  	}
+  	return 0;
+}
+//////////////////////////////////////////////////////
+#endif
+
+
+
+#endif // MINICL_TASK_SCHEDULER_H
+