Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

lib/All/JoltPhysics/.clang-format

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+DisableFormat: true

lib/All/JoltPhysics/.editorconfig

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+root = true
+
+[*.{cpp,h,inl,cmake,sh,bat,hlsl}]
+indent_style = tab
+indent_size = 4
+tab_width = 4
+trim_trailing_whitespace = true
+insert_final_newline = true
+
+[CMakeLists.txt]
+indent_style = tab
+indent_size = 4
+tab_width = 4
+trim_trailing_whitespace = true
+insert_final_newline = true

lib/All/JoltPhysics/.gitattributes

@@ -0,0 +1,18 @@
+# Convert LF to CRLF on windows on checkout and convert back before submitting to the repository
+* text=auto
+
+# Explicitly declare text files to always be normalized and converted to native line endings on checkout
+*.cpp text
+*.inl text
+*.h text
+*.tof text
+*.bat text
+
+# Force shell files to use LF only
+*.sh text eol=lf
+gradlew text eol=lf
+
+# Declare binary file types
+*.tga binary
+*.bof binary
+*.bin binary

lib/All/JoltPhysics/.github/dependabot.yml

@@ -0,0 +1,9 @@
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"

lib/All/JoltPhysics/.github/workflows/build.yml

@@ -0,0 +1,435 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+  pull_request:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+
+env:
+  EMSCRIPTEN_VERSION: 3.1.64
+  UBUNTU_CLANG_VERSION: clang++-18
+  UBUNTU_GCC_VERSION: g++-14
+
+jobs:
+  linux-clang:
+    runs-on: ubuntu-latest
+    name: Linux Clang
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+            double_precision: [No, Yes]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Install Vulkan
+      run: ${{github.workspace}}/Build/ubuntu24_install_vulkan_sdk.sh
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DDOUBLE_PRECISION=${{matrix.double_precision}}
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  linux_clang_tsan:
+    runs-on: ubuntu-24.04
+    name: Linux Clang Sanitizers
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [ReleaseASAN, ReleaseUBSAN, ReleaseTSAN]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll
+
+  linux-clang-so:
+    runs-on: ubuntu-24.04
+    name: Linux Clang Shared Library
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DBUILD_SHARED_LIBS=YES
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  linux-clang-32-bit:
+    runs-on: ubuntu-24.04
+    name: Linux Clang 32-bit
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update APT
+      run: sudo apt update
+    - name: Install G++-Multilib
+      run: sudo apt -y install g++-multilib
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DCMAKE_CXX_FLAGS=-m32 -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  linux-clang-use-std-vector:
+    runs-on: ubuntu-24.04
+    name: Linux Clang using std::vector
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, ReleaseASAN]
+            double_precision: [Yes]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_CLANG_VERSION}} -DDOUBLE_PRECISION=${{matrix.double_precision}} -DUSE_STD_VECTOR=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  linux-gcc:
+    runs-on: ubuntu-24.04
+    name: Linux GCC
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Install Vulkan
+      run: ${{github.workspace}}/Build/ubuntu24_install_vulkan_sdk.sh
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_GCC_VERSION}}
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  linux-gcc-so:
+    runs-on: ubuntu-24.04
+    name: Linux GCC Shared Library
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh ${{matrix.build_type}} ${{env.UBUNTU_GCC_VERSION}} -DBUILD_SHARED_LIBS=Yes
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/Linux_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  msys2_mingw_gcc:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: msys2 {0}
+    name: MSYS2 MinGW GCC
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release]
+            shared_lib: [No, Yes]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Setup MSYS2
+      uses: msys2/setup-msys2@v2
+      with:
+        msystem: mingw64
+        install: mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake
+        update: true
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_mingw.sh ${{matrix.build_type}} -DBUILD_SHARED_LIBS=${{matrix.shared_lib}}
+    - name: Build
+      run: cmake --build Build/MinGW_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: Build/MinGW_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+      
+  msvc_cl:
+    runs-on: windows-latest
+    name: Visual Studio CL
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+            double_precision: [No, Yes]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DDOUBLE_PRECISION=${{matrix.double_precision}}
+    - name: Build
+      run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
+      run: ./UnitTests.exe
+
+  msvc_cl_no_object_stream:
+    runs-on: windows-latest
+    name: Visual Studio CL - No Object Stream
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DENABLE_OBJECT_STREAM=NO
+    - name: Build
+      run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
+      run: ./UnitTests.exe
+
+  msvc_cl_dll:
+    runs-on: windows-latest
+    name: Visual Studio CL Shared Library
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL -G "Visual Studio 17 2022" -A x64 Build -DBUILD_SHARED_LIBS=Yes
+    - name: Build
+      run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/${{matrix.build_type}}
+      run: ./UnitTests.exe
+
+  msvc_cl_32_bit:
+    runs-on: windows-latest
+    name: Visual Studio CL 32-bit
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL_32_BIT -G "Visual Studio 17 2022" -A Win32 -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF Build
+    - name: Build
+      run: msbuild Build\VS2022_CL_32_BIT\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32_BIT/${{matrix.build_type}}
+      run: ./UnitTests.exe
+
+  msvc_cl_arm:
+    runs-on: windows-latest
+    name: Visual Studio CL ARM
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL_ARM -G "Visual Studio 17 2022" -A ARM64 Build
+    - name: Build
+      run: msbuild Build\VS2022_CL_ARM\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+
+  msvc_cl_arm_32_bit:
+    runs-on: windows-latest
+    name: Visual Studio CL ARM 32-bit
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Install Windows 11 SDK (10.0.22621.0)
+      # Alternative: Start-Process -wait -FilePath "C:\Program Files (x86)\Microsoft Visual Studio\Installer\vs_installer.exe" -ArgumentList "modify", "--installPath", """C:\Program Files\Microsoft Visual Studio\2022\Enterprise""", "--quiet", "--norestart", "--nocache", "--add", "Microsoft.VisualStudio.Component.Windows11SDK.22621" -Verb RunAs
+      run: choco install windows-sdk-11-version-22H2-all -y
+    - name: Configure CMake
+      # Windows 11 SDK 10.0.22621.0 is the last SDK to support 32-bit ARM
+      run: cmake -B ${{github.workspace}}/Build/VS2022_CL_ARM_32_BIT -G "Visual Studio 17 2022" -A ARM -DCMAKE_SYSTEM_VERSION="10.0.22621.0" -DCMAKE_CXX_COMPILER_WORKS=1 Build
+    - name: Build
+      run: msbuild Build\VS2022_CL_ARM_32_BIT\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+
+  msvc_clang:
+    runs-on: windows-latest
+    name: Visual Studio Clang
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+            double_precision: [No, Yes]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/VS2022_Clang -G "Visual Studio 17 2022" -A x64 -T ClangCL Build -DDOUBLE_PRECISION=${{matrix.double_precision}}
+    - name: Build
+      run: msbuild Build\VS2022_Clang\JoltPhysics.sln /property:Configuration=${{matrix.build_type}} -m
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/VS2022_Clang/${{matrix.build_type}}
+      run: ./UnitTests.exe
+
+  macos:
+    runs-on: macos-latest
+    name: macOS
+    env:
+        VULKAN_SDK_INSTALL: ${{github.workspace}}/vulkan_sdk
+    strategy:
+        fail-fast: false
+        matrix:
+            build_type: [Debug, Release, Distribution]
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Install Vulkan
+      run: ${{github.workspace}}/Build/macos_install_vulkan_sdk.sh ${VULKAN_SDK_INSTALL}
+    - name: Configure CMake
+      run: |
+        source ${VULKAN_SDK_INSTALL}/setup-env.sh
+        cmake -B ${{github.workspace}}/Build/MacOS_${{matrix.build_type}} -DCMAKE_BUILD_TYPE=${{matrix.build_type}} -DCMAKE_CXX_COMPILER=clang++ Build
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/MacOS_${{matrix.build_type}} -j $(nproc)
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/MacOS_${{matrix.build_type}}
+      run: ctest --output-on-failure --verbose
+
+  android:
+    runs-on: ubuntu-latest
+    name: Android
+    strategy:
+        fail-fast: false
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Setup Java
+      uses: actions/setup-java@v5
+      with:
+        distribution: 'temurin'
+        java-version: '17'
+    - name: Gradle Build
+      working-directory: ${{github.workspace}}/Build/Android
+      run: ./gradlew build --no-daemon
+
+  ios:
+    runs-on: macos-latest
+    name: iOS
+    strategy:
+        fail-fast: false
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      run: cmake -B ${{github.workspace}}/Build/XCode_iOS -DTARGET_HELLO_WORLD=OFF -DTARGET_PERFORMANCE_TEST=OFF -DCMAKE_SYSTEM_NAME=iOS -GXcode Build
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/XCode_iOS -- -sdk iphonesimulator -arch x86_64
+
+  emscripten:
+    runs-on: ubuntu-latest
+    name: Emscripten
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Setup emsdk
+      uses: mymindstorm/setup-emsdk@v14
+      with:
+        version: ${{env.EMSCRIPTEN_VERSION}}
+    - name: Verify emsdk
+      run: emcc -v
+    - name: Setup Node.js 18.x
+      uses: actions/setup-node@v6
+      with:
+        node-version: 18.x
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_emscripten.sh Distribution -DTARGET_HELLO_WORLD=OFF -DTARGET_PERFORMANCE_TEST=OFF
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)      
+    - name: Test
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node UnitTests.js

lib/All/JoltPhysics/.github/workflows/determinism_check.yml

@@ -0,0 +1,430 @@
+name: Determinism Check
+
+env:
+  CONVEX_VS_MESH_HASH: '0xa7348cad585544bf'
+  RAGDOLL_HASH: '0xc392d8f867b0be5b'
+  PYRAMID_HASH: '0xafd93b295e75e3f6'
+  CHARACTER_VIRTUAL_HASH: '0x19c55223035a8f1a'
+  EMSCRIPTEN_VERSION: 4.0.2
+  NODE_VERSION: 23.x
+  UBUNTU_CLANG_VERSION: clang++-18
+  UBUNTU_GCC_VERSION: g++-14
+  UBUNTU_GCC_AARCH64_VERSION: aarch64-linux-gnu-g++-14
+  UBUNTU_GCC_RISCV_VERSION: riscv64-linux-gnu-g++-14
+  UBUNTU_GCC_POWERPC_VERSION: powerpc64le-linux-gnu-g++-14
+  UBUNTU_GCC_LOONGARCH_VERSION: loongarch64-linux-gnu-g++-14
+
+on:
+  push:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+  pull_request:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+
+jobs:
+  linux_clang:
+    runs-on: ubuntu-latest
+    name: Linux Clang Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ctest --output-on-failure --verbose
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  linux_gcc:
+    runs-on: ubuntu-latest
+    name: Linux GCC Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_VERSION}} -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ctest --output-on-failure --verbose
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  msvc_cl:
+    runs-on: windows-latest
+    name: Visual Studio CL Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_vs2022_cl.bat -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: msbuild Build\VS2022_CL\JoltPhysics.sln /property:Configuration=Distribution
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
+      run: ./UnitTests.exe
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh "-validate_hash=$env:CONVEX_VS_MESH_HASH"
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll "-validate_hash=$env:RAGDOLL_HASH"
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid "-validate_hash=$env:PYRAMID_HASH"
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/VS2022_CL/Distribution
+      run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual "-validate_hash=$env:CHARACTER_VIRTUAL_HASH"
+
+  msvc_cl_32:
+    runs-on: windows-latest
+    name: Visual Studio CL 32-bit Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Add msbuild to PATH
+      uses: microsoft/setup-msbuild@v2
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_vs2022_cl_32bit.bat -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: msbuild Build\VS2022_CL_32BIT\JoltPhysics.sln /property:Configuration=Distribution
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
+      run: ./UnitTests.exe
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh "-validate_hash=$env:CONVEX_VS_MESH_HASH"
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll "-validate_hash=$env:RAGDOLL_HASH"
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid "-validate_hash=$env:PYRAMID_HASH"
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/VS2022_CL_32BIT/Distribution
+      run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual "-validate_hash=$env:CHARACTER_VIRTUAL_HASH"
+
+  macos:
+    runs-on: macos-latest
+    name: macOS Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution clang++ -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ctest --output-on-failure --verbose
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  arm_clang:
+    runs-on: ubuntu-latest
+    name: ARM Clang Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install gcc-14-aarch64-linux-gnu gcc-14-multilib g++-14-multilib libstdc++-14-dev-arm64-cross qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  arm_clang_32:
+    runs-on: ubuntu-latest
+    name: ARM Clang 32-bit Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install g++-14-arm-linux-gnueabihf qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_CLANG_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_COMPILE_ARM_TARGET="arm-linux-gnueabihf" -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-arm -L /usr/arm-linux-gnueabihf/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  arm_gcc:
+    runs-on: ubuntu-latest
+    name: ARM GCC Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install g++-14-aarch64-linux-gnu gcc-14-multilib g++-14-multilib libstdc++-14-dev-arm64-cross qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_AARCH64_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  riscv_gcc:
+    runs-on: ubuntu-latest
+    name: RISC-V GCC Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install g++-14-riscv64-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_RISCV_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-riscv64 -L /usr/riscv64-linux-gnu/ ./PerformanceTest -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  powerpcle_gcc:
+    runs-on: ubuntu-latest
+    name: PowerPC Little Endian GCC Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install g++-14-powerpc64le-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_POWERPC_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+# This is really slow so disabled for the moment
+#    - name: Test Ragdoll
+#      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+#      run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+#    - name: Test Pyramid
+#      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+#      run: qemu-ppc64le -L /usr/powerpc64le-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+
+  loongarch_gcc:
+    runs-on: ubuntu-latest
+    name: LoongArch GCC Determinism Check
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Update index
+      run: sudo apt-get update
+    - name: Install Cross Compiler
+      run: sudo apt-get install g++-14-loongarch64-linux-gnu gcc-14-multilib g++-14-multilib qemu-user -y
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_clang_gcc.sh Distribution ${{env.UBUNTU_GCC_LOONGARCH_VERSION}} -DCROSS_COMPILE_ARM=ON -DCROSS_PLATFORM_DETERMINISTIC=ON -DCROSS_COMPILE_ARM_TARGET="" -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/Linux_Distribution -j $(nproc)
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./UnitTests
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+      run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+# This is slow so disabled for the moment
+#    - name: Test Pyramid
+#      working-directory: ${{github.workspace}}/Build/Linux_Distribution
+#      run: qemu-loongarch64 -L /usr/loongarch64-linux-gnu/ ./PerformanceTest -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+
+  emscripten:
+    runs-on: ubuntu-latest
+    name: Emscripten WASM32 Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Setup emsdk
+      uses: mymindstorm/setup-emsdk@v14
+      with:
+        version: ${{env.EMSCRIPTEN_VERSION}}
+    - name: Verify emsdk
+      run: emcc -v
+    - name: Setup Node.js ${{env.NODE_VERSION}}
+      uses: actions/setup-node@v6
+      with:
+        node-version: ${{env.NODE_VERSION}}
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_emscripten.sh Distribution -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)      
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node UnitTests.js
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node PerformanceTest.js -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node PerformanceTest.js -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node PerformanceTest.js -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node PerformanceTest.js -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}
+
+  emscripten64:
+    runs-on: ubuntu-latest
+    name: Emscripten WASM64 Determinism Check
+
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v6
+    - name: Setup emsdk
+      uses: mymindstorm/setup-emsdk@v14
+      with:
+        version: ${{env.EMSCRIPTEN_VERSION}}
+    - name: Verify emsdk
+      run: emcc -v
+    - name: Setup Node.js ${{env.NODE_VERSION}}
+      uses: actions/setup-node@v6
+      with:
+        node-version: ${{env.NODE_VERSION}}
+    - name: Configure CMake
+      working-directory: ${{github.workspace}}/Build
+      run: ./cmake_linux_emscripten.sh Distribution -DCROSS_PLATFORM_DETERMINISTIC=ON -DTARGET_VIEWER=OFF -DTARGET_SAMPLES=OFF -DTARGET_HELLO_WORLD=OFF -DTARGET_UNIT_TESTS=ON -DTARGET_PERFORMANCE_TEST=ON -DJPH_USE_WASM64=ON
+    - name: Build
+      run: cmake --build ${{github.workspace}}/Build/WASM_Distribution -j $(nproc)      
+    - name: Unit Tests
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node --experimental-wasm-memory64 UnitTests.js
+    - name: Test ConvexVsMesh
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=ConvexVsMesh -validate_hash=${CONVEX_VS_MESH_HASH}
+    - name: Test Ragdoll
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=Ragdoll -validate_hash=${RAGDOLL_HASH}
+    - name: Test Pyramid
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node --experimental-wasm-memory64 PerformanceTest.js -q=LinearCast -t=max -s=Pyramid -validate_hash=${PYRAMID_HASH}
+    - name: Test CharacterVirtual
+      working-directory: ${{github.workspace}}/Build/WASM_Distribution
+      run: node --experimental-wasm-memory64 PerformanceTest.js -q=Discrete -t=max -s=CharacterVirtual -validate_hash=${CHARACTER_VIRTUAL_HASH}

lib/All/JoltPhysics/.github/workflows/doxygen.yml

@@ -0,0 +1,26 @@
+name: Doxygen Action
+
+on:
+  push:
+    branches: [ master ]
+
+# Builds and deploys doxygen documentation  
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v6
+        
+    - name: Doxygen Action
+      uses: mattnotmitt/doxygen-action@v1.12.0
+      with:
+        doxyfile-path: "./Doxyfile"
+        working-directory: "."
+    
+    - name: Deploy
+      uses: peaceiris/actions-gh-pages@v4
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ./Build/Doxygen
+        force_orphan: true

lib/All/JoltPhysics/.github/workflows/sonar-cloud.yml

@@ -0,0 +1,58 @@
+name: Sonar Cloud
+
+on:
+  push:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+  pull_request:
+    branches: [ master ]
+    paths-ignore:
+      - 'Docs/**'
+      - '**.md'
+
+jobs:
+  check-secret:
+    runs-on: ubuntu-latest
+    outputs:
+      sonar-token: ${{ steps.sonar-token.outputs.defined }}
+    steps:
+      - id: sonar-token
+        if: ${{ env.SONAR_TOKEN != '' }}
+        run: echo "defined=true" >> $GITHUB_OUTPUT
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+          
+  build:
+    name: Build
+    needs: [check-secret]
+    if: needs.check-secret.outputs.sonar-token == 'true'
+    runs-on: ubuntu-latest
+    env:
+      BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
+      CLANG_VERSION: 18
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Install build-wrapper
+        uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v7
+      - name: Configure CMake
+        working-directory: ${{github.workspace}}/Build
+        run: ./cmake_linux_clang_gcc.sh ReleaseCoverage clang++-${{ env.CLANG_VERSION }}
+      - name: Run build-wrapper
+        run: build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} cmake --build ${{github.workspace}}/Build/Linux_ReleaseCoverage -j $(nproc)
+      - name: Run unit tests and create coverage report
+        working-directory: ${{github.workspace}}/Build/Linux_ReleaseCoverage
+        run: |
+          cmake --build . --target test -j $(nproc)
+          llvm-profdata-${{ env.CLANG_VERSION }} merge -sparse default.profraw -o default.profdata
+          llvm-cov-${{ env.CLANG_VERSION }} show -format=text UnitTests -instr-profile=default.profdata > coverage.txt
+      - name: Run sonar-scanner
+        uses: SonarSource/sonarqube-scan-action@v7
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        with:
+          args: >
+            --define sonar.cfamily.compile-commands=${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json --define sonar.cfamily.llvm-cov.reportPath=${{github.workspace}}/Build/Linux_ReleaseCoverage/coverage.txt

lib/All/JoltPhysics/.gitignore

@@ -0,0 +1,14 @@
+.cache/
+.clangd/
+.fleet/
+.idea/
+.vs
+.vscode
+.DS_Store
+/profile_chart_*.html
+/stats*.html
+/snapshot.bin
+/*.jor
+/detlog.txt
+/Assets/Shaders/VK/*.spv
+/Assets/Shaders/MTL/*.metallib

lib/All/JoltPhysics/Assets/Human/dead_pose1.tof

@@ -0,0 +1,131 @@
+TOS 1.00
+
+declare SkeletalAnimation 1
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  23
+      "hipsBone"
+      1
+          -0.580907 0.662465 0.472926 -0.005293
+          -0.511629 0.123338 0.102563
+          0.000000
+      "R_Leg_sjnt_0"
+      1
+          0.994683 0.029515 -0.098649 -0.001901
+          -0.104854 -0.000224 0.000080
+          0.000000
+      "R_Leg_sjnt_1"
+      1
+          0.558236 0.082819 0.102170 0.819191
+          -0.000000 0.461809 0.000000
+          0.000000
+      "R_Foot_sjnt_0"
+      1
+          -0.415795 -0.025903 -0.285547 0.863080
+          0.000000 0.388174 0.000000
+          0.000000
+      "L_Leg_sjnt_0"
+      1
+          -0.096847 0.200302 0.053881 0.973446
+          0.104854 -0.000225 0.000080
+          0.000000
+      "L_Leg_sjnt_1"
+      1
+          0.625317 0.040626 -0.068376 0.776307
+          0.000000 -0.461808 0.000000
+          0.000000
+      "L_Foot_sjnt_0"
+      1
+          0.448028 0.016552 0.068711 -0.891222
+          -0.000001 -0.388173 -0.000000
+          0.000000
+      "C_Spine_sjnt_0"
+      1
+          0.031433 -0.000518 -0.001091 0.999505
+          -0.000000 0.055442 -0.000000
+          0.000000
+      "C_Spine_sjnt_1"
+      1
+          0.062272 0.003369 -0.006740 0.998031
+          -0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_2"
+      1
+          0.093196 0.002904 -0.011009 0.995583
+          0.000000 0.049000 -0.000000
+          0.000000
+      "C_Spine_sjnt_4"
+      1
+          0.092643 0.004648 -0.011669 0.995620
+          0.000000 0.098001 0.000000
+          0.000000
+      "L_Clavicle_sjnt_0"
+      1
+          0.856473 -0.498143 0.097625 0.093688
+          0.007299 0.208857 0.030677
+          0.000000
+      "L_Arm_sjnt_0"
+      1
+          0.051326 0.583453 0.540585 0.603918
+          0.070455 -0.150703 0.005819
+          0.000000
+      "L_Arm_sjnt_1"
+      1
+          0.749181 -0.055037 -0.190752 0.631912
+          -0.000001 -0.260631 0.000000
+          0.000000
+      "L_Wrist_sjnt_0"
+      1
+          0.000688 -0.106898 0.049180 -0.993053
+          0.000007 -0.242273 0.000003
+          0.000000
+      "R_Clavicle_sjnt_0"
+      1
+          -0.076883 -0.107965 0.509223 0.850367
+          -0.007299 0.208857 0.030677
+          0.000000
+      "R_Arm_sjnt_0"
+      1
+          0.622778 -0.313061 0.547977 0.462453
+          -0.070458 0.150703 -0.005820
+          0.000000
+      "R_Arm_sjnt_1"
+      1
+          0.570264 -0.066970 -0.307114 0.758944
+          -0.000001 0.260632 -0.000000
+          0.000000
+      "R_Wrist_sjnt_0"
+      1
+          -0.107633 -0.182094 -0.068157 -0.974993
+          0.000000 0.242268 -0.000000
+          0.000000
+      "C_Neck_sjnt_0"
+      1
+          0.148132 0.042497 -0.052729 0.986646
+          0.000000 0.206349 -0.038118
+          0.000000
+      "C_Neck_sjnt_1"
+      1
+          -0.272572 0.021316 -0.048793 0.960661
+          -0.000000 0.054000 0.000000
+          0.000000
+      "C_Neck_sjnt_2"
+      1
+          -0.054183 -0.008292 -0.029041 0.998074
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Head_sjnt_0"
+      1
+          0.029305 0.088480 -0.137100 0.986162
+          0.000000 0.054000 -0.000000
+          0.000000

lib/All/JoltPhysics/Assets/Human/dead_pose2.tof

@@ -0,0 +1,131 @@
+TOS 1.00
+
+declare SkeletalAnimation 1
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  23
+      "hipsBone"
+      1
+          0.580969 0.662434 0.472893 0.005230
+          0.778002 0.123338 0.121363
+          0.000000
+      "R_Leg_sjnt_0"
+      1
+          -0.979544 0.029720 -0.196361 -0.032433
+          -0.104854 -0.000224 0.000080
+          0.000000
+      "R_Leg_sjnt_1"
+      1
+          0.607629 0.107933 -0.014707 0.786715
+          -0.000000 0.461809 0.000000
+          0.000000
+      "R_Foot_sjnt_0"
+      1
+          -0.601232 0.033798 -0.038697 0.797421
+          0.000000 0.388174 0.000000
+          0.000000
+      "L_Leg_sjnt_0"
+      1
+          0.047909 -0.102469 -0.016701 0.993441
+          0.104854 -0.000225 0.000080
+          0.000000
+      "L_Leg_sjnt_1"
+      1
+          -0.491497 -0.068754 -0.078845 -0.864573
+          0.000000 -0.461808 0.000000
+          0.000000
+      "L_Foot_sjnt_0"
+      1
+          0.390997 -0.045090 0.421830 -0.816791
+          -0.000001 -0.388173 -0.000000
+          0.000000
+      "C_Spine_sjnt_0"
+      1
+          0.031433 0.000503 0.001038 0.999505
+          -0.000000 0.055442 0.000000
+          0.000000
+      "C_Spine_sjnt_1"
+      1
+          0.062272 -0.003358 0.006714 0.998031
+          -0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_2"
+      1
+          0.093197 -0.002900 0.010957 0.995583
+          0.000000 0.049000 -0.000000
+          0.000000
+      "C_Spine_sjnt_4"
+      1
+          -0.092643 0.004635 -0.011603 -0.995621
+          0.000000 0.098001 -0.000000
+          0.000000
+      "L_Clavicle_sjnt_0"
+      1
+          -0.850361 0.509199 0.108046 -0.077000
+          0.007299 0.208857 0.030677
+          0.000000
+      "L_Arm_sjnt_0"
+      1
+          0.622797 -0.313095 0.547896 0.462500
+          0.070455 -0.150703 0.005820
+          0.000000
+      "L_Arm_sjnt_1"
+      1
+          -0.570276 0.066909 0.307092 -0.758948
+          -0.000001 -0.260631 -0.000000
+          0.000000
+      "L_Wrist_sjnt_0"
+      1
+          0.107622 0.182086 0.068178 0.974994
+          0.000007 -0.242273 0.000002
+          0.000000
+      "R_Clavicle_sjnt_0"
+      1
+          -0.093524 0.097713 0.498124 0.856492
+          -0.007299 0.208857 0.030677
+          0.000000
+      "R_Arm_sjnt_0"
+      1
+          0.051326 0.583528 0.540453 0.603963
+          -0.070458 0.150703 -0.005820
+          0.000000
+      "R_Arm_sjnt_1"
+      1
+          -0.749170 0.055080 0.190723 -0.631930
+          -0.000001 0.260632 0.000000
+          0.000000
+      "R_Wrist_sjnt_0"
+      1
+          -0.000687 0.106883 -0.049184 0.993054
+          0.000000 0.242268 -0.000000
+          0.000000
+      "C_Neck_sjnt_0"
+      1
+          0.148136 -0.042494 0.052637 0.986651
+          -0.000000 0.206349 -0.038118
+          0.000000
+      "C_Neck_sjnt_1"
+      1
+          -0.272569 -0.021317 0.048735 0.960665
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Neck_sjnt_2"
+      1
+          -0.054186 0.008273 0.028994 0.998076
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Head_sjnt_0"
+      1
+          0.029319 -0.088467 0.137075 0.986167
+          0.000000 0.054000 -0.000000
+          0.000000

lib/All/JoltPhysics/Assets/Human/dead_pose3.tof

@@ -0,0 +1,131 @@
+TOS 1.00
+
+declare SkeletalAnimation 1
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  23
+      "hipsBone"
+      1
+          -0.253414 0.715602 -0.639670 0.120488
+          -0.113085 0.196785 -0.745374
+          0.000000
+      "R_Leg_sjnt_0"
+      1
+          -0.940855 0.027320 -0.183670 -0.283391
+          -0.104854 -0.000224 0.000080
+          0.000000
+      "R_Leg_sjnt_1"
+      1
+          0.732582 0.147108 -0.159629 0.645136
+          0.000000 0.461808 0.000000
+          0.000000
+      "R_Foot_sjnt_0"
+      1
+          -0.543008 -0.043463 0.072346 0.835476
+          0.000000 0.388174 0.000000
+          0.000000
+      "L_Leg_sjnt_0"
+      1
+          0.068071 -0.118484 0.183975 0.973386
+          0.104854 -0.000225 0.000080
+          0.000000
+      "L_Leg_sjnt_1"
+      1
+          0.258573 0.111198 0.041401 0.958677
+          0.000000 -0.461808 0.000000
+          0.000000
+      "L_Foot_sjnt_0"
+      1
+          -0.388386 -0.112771 -0.101140 0.908961
+          -0.000001 -0.388173 -0.000000
+          0.000000
+      "C_Spine_sjnt_0"
+      1
+          0.055573 0.116937 0.111430 0.985302
+          0.000000 0.055442 0.000000
+          0.000000
+      "C_Spine_sjnt_1"
+      1
+          0.037873 -0.006875 0.039870 0.998463
+          0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_2"
+      1
+          0.057513 -0.003345 0.060246 0.996520
+          -0.000000 0.049000 -0.000000
+          0.000000
+      "C_Spine_sjnt_4"
+      1
+          0.058450 0.004523 0.059058 0.996532
+          0.000000 0.098001 0.000000
+          0.000000
+      "L_Clavicle_sjnt_0"
+      1
+          -0.788890 0.552170 0.262911 0.060331
+          0.007299 0.208857 0.030677
+          0.000000
+      "L_Arm_sjnt_0"
+      1
+          -0.242065 -0.166972 -0.682243 -0.669381
+          0.070455 -0.150703 0.005819
+          0.000000
+      "L_Arm_sjnt_1"
+      1
+          0.293529 -0.405618 0.091549 0.860775
+          -0.000001 -0.260631 0.000000
+          0.000000
+      "L_Wrist_sjnt_0"
+      1
+          -0.018010 -0.348798 0.050741 0.935650
+          0.000007 -0.242273 0.000002
+          0.000000
+      "R_Clavicle_sjnt_0"
+      1
+          0.006775 0.017839 0.047960 0.998667
+          -0.007299 0.208857 0.030677
+          0.000000
+      "R_Arm_sjnt_0"
+      1
+          -0.057684 0.616002 0.098229 0.779464
+          -0.070458 0.150703 -0.005820
+          0.000000
+      "R_Arm_sjnt_1"
+      1
+          0.360633 -0.148932 -0.172766 0.904387
+          -0.000001 0.260632 -0.000000
+          0.000000
+      "R_Wrist_sjnt_0"
+      1
+          -0.073581 -0.376053 0.364024 -0.848915
+          0.000000 0.242268 -0.000000
+          0.000000
+      "C_Neck_sjnt_0"
+      1
+          0.208406 0.070974 -0.020180 0.975255
+          -0.000000 0.206349 -0.038118
+          0.000000
+      "C_Neck_sjnt_1"
+      1
+          -0.214167 0.070851 -0.015228 0.974105
+          -0.000000 0.054000 0.000000
+          0.000000
+      "C_Neck_sjnt_2"
+      1
+          0.013069 0.069734 0.004440 0.997470
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Head_sjnt_0"
+      1
+          -0.011944 -0.296295 0.045126 0.953955
+          0.000000 0.054000 0.000000
+          0.000000

lib/All/JoltPhysics/Assets/Human/dead_pose4.tof

@@ -0,0 +1,131 @@
+TOS 1.00
+
+declare SkeletalAnimation 1
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  23
+      "hipsBone"
+      1
+          -0.006100 0.596243 0.801570 0.044078
+          0.158819 0.119626 0.352148
+          0.000000
+      "R_Leg_sjnt_0"
+      1
+          0.987181 -0.088292 0.091403 0.096563
+          -0.104854 -0.000224 0.000080
+          0.000000
+      "R_Leg_sjnt_1"
+      1
+          0.518738 0.091591 -0.028278 0.849542
+          -0.000000 0.461809 -0.000000
+          0.000000
+      "R_Foot_sjnt_0"
+      1
+          -0.446222 -0.027605 0.081585 0.890768
+          0.000000 0.388174 0.000000
+          0.000000
+      "L_Leg_sjnt_0"
+      1
+          -0.004252 0.099688 0.099358 0.990036
+          0.104854 -0.000225 0.000080
+          0.000000
+      "L_Leg_sjnt_1"
+      1
+          0.332849 0.214890 0.078034 0.914847
+          0.000000 -0.461808 0.000000
+          0.000000
+      "L_Foot_sjnt_0"
+      1
+          -0.353947 -0.242590 0.059009 0.901326
+          -0.000001 -0.388173 -0.000000
+          0.000000
+      "C_Spine_sjnt_0"
+      1
+          0.040410 -0.000191 -0.035615 0.998548
+          0.000000 0.055442 -0.000000
+          0.000000
+      "C_Spine_sjnt_1"
+      1
+          0.078135 -0.005104 -0.037889 0.996210
+          0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_2"
+      1
+          0.117588 0.001930 -0.056543 0.991450
+          -0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_4"
+      1
+          0.116613 0.022537 -0.060157 0.991098
+          0.000000 0.098001 -0.000000
+          0.000000
+      "L_Clavicle_sjnt_0"
+      1
+          0.820798 -0.461866 -0.218872 0.255080
+          0.007299 0.208857 0.030677
+          0.000000
+      "L_Arm_sjnt_0"
+      1
+          -0.018640 0.550280 0.313113 0.773825
+          0.070455 -0.150703 0.005819
+          0.000000
+      "L_Arm_sjnt_1"
+      1
+          0.502820 -0.083351 -0.423467 0.748933
+          -0.000001 -0.260631 0.000000
+          0.000000
+      "L_Wrist_sjnt_0"
+      1
+          -0.127266 -0.436122 0.115708 -0.883296
+          0.000007 -0.242273 0.000002
+          0.000000
+      "R_Clavicle_sjnt_0"
+      1
+          -0.254409 -0.049344 0.561585 0.785789
+          -0.007299 0.208857 0.030677
+          0.000000
+      "R_Arm_sjnt_0"
+      1
+          -0.297704 0.588370 -0.433881 -0.613954
+          -0.070457 0.150703 -0.005820
+          0.000000
+      "R_Arm_sjnt_1"
+      1
+          0.300035 -0.109892 -0.134453 0.937990
+          -0.000001 0.260632 -0.000000
+          0.000000
+      "R_Wrist_sjnt_0"
+      1
+          -0.074182 0.083861 -0.170265 0.979017
+          0.000000 0.242268 -0.000000
+          0.000000
+      "C_Neck_sjnt_0"
+      1
+          0.095959 0.024101 0.021582 0.994859
+          0.000000 0.206349 -0.038118
+          0.000000
+      "C_Neck_sjnt_1"
+      1
+          -0.330366 0.030108 0.013511 0.943276
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Neck_sjnt_2"
+      1
+          -0.116595 0.020825 0.025026 0.992646
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Head_sjnt_0"
+      1
+          -0.225003 0.005643 -0.043020 0.973392
+          -0.000000 0.054000 0.000000
+          0.000000

lib/All/JoltPhysics/Assets/Human/neutral.tof

@@ -0,0 +1,131 @@
+TOS 1.00
+
+declare SkeletalAnimation 1
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  23
+      "hipsBone"
+      1
+          0.000000 1.000000 0.000000 0.000000
+          0.000000 0.931122 -0.023035
+          0.000000
+      "R_Leg_sjnt_0"
+      1
+          0.999643 -0.023767 -0.000290 0.012213
+          -0.104854 -0.000224 0.000080
+          0.000000
+      "R_Leg_sjnt_1"
+      1
+          0.060151 0.000000 -0.000000 0.998189
+          -0.000000 0.461809 -0.000000
+          0.000000
+      "R_Foot_sjnt_0"
+      1
+          -0.546992 0.011039 -0.021050 0.836800
+          0.000000 0.388174 0.000000
+          0.000000
+      "L_Leg_sjnt_0"
+      1
+          -0.012213 -0.000290 0.023767 0.999643
+          0.104854 -0.000225 0.000080
+          0.000000
+      "L_Leg_sjnt_1"
+      1
+          0.060151 0.000000 -0.000000 0.998189
+          0.000000 -0.461807 0.000000
+          0.000000
+      "L_Foot_sjnt_0"
+      1
+          -0.546992 0.011039 -0.021050 0.836800
+          -0.000001 -0.388173 -0.000000
+          0.000000
+      "C_Spine_sjnt_0"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.055442 -0.000000
+          0.000000
+      "C_Spine_sjnt_1"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.049000 0.000000
+          0.000000
+      "C_Spine_sjnt_2"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.049000 -0.000000
+          0.000000
+      "C_Spine_sjnt_4"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.098001 0.000000
+          0.000000
+      "L_Clavicle_sjnt_0"
+      1
+          0.761695 -0.617813 -0.144681 0.131128
+          0.007299 0.208857 0.030677
+          0.000000
+      "L_Arm_sjnt_0"
+      1
+          0.199254 -0.056730 0.463827 0.861362
+          0.070456 -0.150703 0.005820
+          0.000000
+      "L_Arm_sjnt_1"
+      1
+          0.184809 -0.000000 -0.000000 0.982774
+          -0.000001 -0.260631 0.000000
+          0.000000
+      "L_Wrist_sjnt_0"
+      1
+          -0.000000 0.000000 0.000000 1.000000
+          0.000007 -0.242273 0.000002
+          0.000000
+      "R_Clavicle_sjnt_0"
+      1
+          -0.131128 -0.144681 0.617813 0.761696
+          -0.007299 0.208857 0.030677
+          0.000000
+      "R_Arm_sjnt_0"
+      1
+          0.199254 -0.056730 0.463827 0.861362
+          -0.070458 0.150703 -0.005820
+          0.000000
+      "R_Arm_sjnt_1"
+      1
+          0.184809 0.000000 0.000000 0.982774
+          -0.000001 0.260632 -0.000000
+          0.000000
+      "R_Wrist_sjnt_0"
+      1
+          -0.000000 0.000000 -0.000000 1.000000
+          0.000000 0.242268 -0.000000
+          0.000000
+      "C_Neck_sjnt_0"
+      1
+          0.216440 0.000000 0.000000 0.976296
+          0.000000 0.206349 -0.038118
+          0.000000
+      "C_Neck_sjnt_1"
+      1
+          -0.216440 0.000000 0.000000 0.976296
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Neck_sjnt_2"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.054001 0.000000
+          0.000000
+      "C_Head_sjnt_0"
+      1
+          0.000000 0.000000 0.000000 1.000000
+          0.000000 0.054000 -0.000000
+          0.000000

lib/All/JoltPhysics/Assets/Human/neutral_hd.tof

@@ -0,0 +1,373 @@
+TOS 1.00
+
+declare SkeletalAnimation 2
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+  mIsLooping bool
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  71
+      "rootBone"
+      1
+          -0.707106829 0 0 0.707106769
+          0 0 0
+          0
+      "C_Neck_sjnt_2"
+      1
+          0 0 0 1
+          6.31036857e-18 0.0540000014 0
+          0
+      "R_Clavicle_sjnt_0"
+      1
+          -0.131128147 -0.144681439 0.617813051 0.761695385
+          -0.00729848538 0.20885624 0.0306759924
+          0
+      "R_Leg_sjnt_0"
+      1
+          0.999642909 -0.0237673745 -0.000290388998 0.0122136045
+          -0.104853801 -0.000224408359 7.95794331e-05
+          0
+      "C_Spine_sjnt_4"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 3.10862448e-17
+          0
+      "L_Middle_sjnt_3"
+      1
+          0 0 0 1
+          5.85307589e-07 -0.0180757623 3.17060227e-07
+          0
+      "C_Neck_sjnt_0"
+      1
+          0.21643962 0 0 0.976296008
+          -6.33361028e-18 0.206347629 -0.0381180719
+          0
+      "C_Head_sjnt_0"
+      1
+          0 0 0 1
+          6.31036857e-18 0.0540000014 2.8532731e-16
+          0
+      "C_Spine_sjnt_1"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 0
+          0
+      "L_Ring_sjnt_0"
+      1
+          0.119370371 -0.698211312 0.204397932 0.675628006
+          -0.006254646 -0.0797718689 0.0093988115
+          0
+      "R_Index_sjnt_2"
+      1
+          0.175203487 0 0 0.984532237
+          3.01980666e-16 0.0204999987 0
+          0
+      "R_Ring_sjnt_0"
+      1
+          0.119370371 -0.698211312 0.204397932 0.675628006
+          0.00625085598 0.0797746703 -0.00940056238
+          0
+      "R_Index_sjnt_0"
+      1
+          -0.19517909 0.755869865 -0.161748767 -0.603658199
+          -0.00134941039 0.0782186612 0.028039448
+          0
+      "R_Pinky_sjnt_1"
+      1
+          0.22303848 0 0 0.974809647
+          -3.55271347e-16 0.0372027382 0
+          0
+      "L_Pinky_sjnt_1"
+      1
+          0.22303848 0 0 0.974809647
+          3.70620683e-07 -0.0372028351 1.38079258e-07
+          0
+      "R_Middle_sjnt_0"
+      1
+          0.156041026 -0.732423544 0.191366434 0.63449657
+          0.00616463134 0.0818372741 0.0097120041
+          0
+      "R_Arm_sjnt_1"
+      1
+          0.184809059 0 0 0.982774496
+          -1.42108544e-16 0.260629684 4.440892e-18
+          0
+      "L_Foot_sjnt_2"
+      1
+          0 0 0 1
+          -1.7763568e-17 -0.0488719977 4.88498128e-17
+          0
+      "L_Pinky_sjnt_2"
+      1
+          0.0992502794 0 0 0.99506253
+          -1.85520605e-07 -0.0186209753 6.46735657e-07
+          0
+      "L_Ring_sjnt_3"
+      1
+          0 0 0 1
+          4.95807114e-07 -0.0159507934 1.36332858e-07
+          0
+      "L_Clavicle_sjnt_0"
+      1
+          0.761695385 -0.617813051 -0.144681439 0.131128147
+          0.00729848957 0.208856419 0.0306760129
+          0
+      "L_Pinky_sjnt_3"
+      1
+          0 0 0 1
+          3.66131957e-07 -0.0121525498 -7.50564652e-07
+          0
+      "R_Thumb_sjnt_3"
+      1
+          0 0 0 1
+          7.1054272e-17 0.0181292463 -2.62012622e-16
+          0
+      "R_Foot_sjnt_2"
+      1
+          0 0 0 1
+          3.5527136e-17 0.0488717034 -3.99680272e-17
+          0
+      "L_Leg_sjnt_0"
+      1
+          -0.0122135505 -0.000290387718 0.0237673745 0.999642909
+          0.104854003 -0.000224642019 7.96136592e-05
+          0
+      "L_Middle_sjnt_1"
+      1
+          0.184680417 0 0 0.982798636
+          -2.44896114e-07 -0.0481087901 -7.74885621e-07
+          0
+      "L_Pinky_sjnt_0"
+      1
+          0.105012663 -0.656231523 0.23035267 0.710823596
+          -0.00242854073 -0.0733879432 0.0260373093
+          0
+      "L_Wrist_sjnt_0"
+      1
+          0 0 0 1
+          6.57227065e-06 -0.242271721 2.52947029e-06
+          0
+      "R_Ring_sjnt_1"
+      1
+          0.251216322 0 0 0.967930973
+          -5.3290704e-17 0.0443951264 -5.68434176e-16
+          0
+      "R_Pinky_sjnt_2"
+      1
+          0.0992502794 0 0 0.99506253
+          -1.06581408e-16 0.0186204202 -7.1054272e-17
+          0
+      "L_Prop_fjnt_0"
+      1
+          0 1 0 -4.37113883e-08
+          0.0276746862 -0.0656316727 -0.000328583526
+          0
+      "L_Middle_sjnt_2"
+      1
+          0.157416984 0 0 0.987532258
+          -6.02384603e-07 -0.0248495787 6.76881555e-08
+          0
+      "R_Middle_sjnt_1"
+      1
+          0.184680417 0 0 0.982798636
+          -6.39488435e-16 0.048108764 1.42108544e-16
+          0
+      "L_Leg_sjnt_1"
+      1
+          0.060151346 0 0 0.99818927
+          2.61005539e-07 -0.461806506 -3.93129014e-08
+          0
+      "L_Thumb_sjnt_2"
+      1
+          -0.0012165627 0 0 0.999999285
+          5.15941792e-07 -0.0251661409 -5.85450152e-07
+          0
+      "L_Ring_sjnt_1"
+      1
+          0.251216322 0 0 0.967930973
+          3.12667623e-07 -0.0443952158 -5.95922245e-07
+          0
+      "R_Foot_sjnt_1"
+      1
+          -0.251680881 0 0 0.967810273
+          -8.88178367e-17 0.133286357 -0.00287180441
+          0
+      "C_Neck_sjnt_1"
+      1
+          -0.21643962 0 0 0.976296008
+          5.18627479e-18 0.0540000014 0
+          0
+      "R_Ring_sjnt_3"
+      1
+          0 0 0 1
+          -5.3290704e-17 0.0159499999 -7.1054272e-17
+          0
+      "L_Index_sjnt_0"
+      1
+          -0.19517909 0.755869865 -0.161748767 -0.603658199
+          0.00134612026 -0.0782155693 -0.0280411374
+          0
+      "L_Index_sjnt_1"
+      1
+          0.229845911 0 0 0.973227024
+          7.62208856e-07 -0.041899953 -1.70619145e-07
+          0
+      "R_Thumb_sjnt_1"
+      1
+          0.0813905671 0 0 0.996682286
+          -2.13162816e-16 0.0301780477 1.42108544e-16
+          0
+      "L_Thumb_sjnt_3"
+      1
+          0 0 0 1
+          -7.5862016e-07 -0.0181290414 5.47535365e-07
+          0
+      "R_Index_sjnt_3"
+      1
+          0 0 0 1
+          3.10862442e-16 0.019439999 5.3290704e-17
+          0
+      "R_Middle_sjnt_2"
+      1
+          0.157416984 0 0 0.987532258
+          -1.7763568e-17 0.0248499978 7.1054272e-17
+          0
+      "hipsBone"
+      1
+          3.09086232e-08 0.707106829 0.707106829 3.09086232e-08
+          0 0.0230353847 0.931121647
+          0
+      "R_Pinky_sjnt_3"
+      1
+          0 0 0 1
+          7.1054272e-17 0.0121525582 3.5527136e-17
+          0
+      "L_Foot_sjnt_0"
+      1
+          -0.546992362 0.0110395309 -0.0210499652 0.836800098
+          -9.25209633e-07 -0.388170779 2.78088415e-08
+          0
+      "L_Index_sjnt_2"
+      1
+          0.175203487 0 0 0.984532237
+          8.53871498e-08 -0.0204997063 3.77475885e-07
+          0
+      "C_Spine_sjnt_3"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 1.7763568e-17
+          0
+      "R_Foot_sjnt_0"
+      1
+          -0.546992362 0.0110395309 -0.0210499652 0.836800098
+          0 0.38817063 0
+          0
+      "R_Ring_sjnt_2"
+      1
+          0.121089756 0 0 0.992641568
+          -5.3290704e-17 0.0234420039 1.42108544e-16
+          0
+      "R_Wrist_sjnt_0"
+      1
+          0 0 0 1
+          4.26325632e-16 0.24226594 -3.90798503e-16
+          0
+      "L_Middle_sjnt_0"
+      1
+          0.156041026 -0.732423544 0.191366434 0.63449657
+          -0.00616830075 -0.0818345174 -0.0097129494
+          0
+      "L_Ring_sjnt_2"
+      1
+          0.121089756 0 0 0.992641568
+          1.66412786e-08 -0.0234416053 4.04103446e-07
+          0
+      "L_Index_sjnt_3"
+      1
+          0 0 0 1
+          -2.39056641e-09 -0.0194404367 -1.39765135e-07
+          0
+      "C_Spine_sjnt_0"
+      1
+          0 0 0 1
+          3.76215184e-18 0.0554419272 8.881784e-18
+          0
+      "L_Arm_sjnt_1"
+      1
+          0.184809059 0 0 0.982774496
+          -1.14686986e-06 -0.260628074 -4.16461354e-08
+          0
+      "R_Leg_sjnt_1"
+      1
+          0.060151346 0 0 0.99818927
+          3.5527136e-17 0.461806893 8.881784e-18
+          0
+      "R_Thumb_sjnt_2"
+      1
+          -0.0012165627 0 0 0.999999285
+          4.26325632e-16 0.0251665488 5.10702581e-16
+          0
+      "L_Foot_sjnt_1"
+      1
+          -0.251680881 0 0 0.967810273
+          5.3290704e-17 -0.133285969 0.00287160906
+          0
+      "R_Pinky_sjnt_0"
+      1
+          0.105012663 -0.656231523 0.23035267 0.710823596
+          0.00242519076 0.0733913928 -0.0260387883
+          0
+      "R_Middle_sjnt_3"
+      1
+          0 0 0 1
+          2.48689959e-16 0.0180759132 -7.1054272e-17
+          0
+      "L_Thumb_sjnt_1"
+      1
+          0.0813905671 0 0 0.996682286
+          -5.24074721e-07 -0.0301787555 -2.92531354e-07
+          0
+      "C_Spine_sjnt_2"
+      1
+          0 0 0 1
+          4.7798458e-18 0.0489999987 -2.22044592e-17
+          0
+      "R_Prop_fjnt_0"
+      1
+          0 0 0 1
+          -0.0276775807 0.0656346902 0.000327039947
+          0
+      "L_Thumb_sjnt_0"
+      1
+          0.416852266 -0.817598581 -0.284677148 -0.27699402
+          0.020829184 -0.0239574499 -0.0221176092
+          0
+      "R_Thumb_sjnt_0"
+      1
+          0.416852266 -0.817598581 -0.284677148 -0.27699402
+          -0.0208326261 0.0239606146 0.0221159924
+          0
+      "L_Arm_sjnt_0"
+      1
+          0.199253842 -0.0567296185 0.463827372 0.861361623
+          0.0704552606 -0.150702849 0.00581921311
+          0
+      "R_Arm_sjnt_0"
+      1
+          0.199253842 -0.0567296185 0.463827372 0.861361623
+          -0.0704575405 0.150702029 -0.00581940683
+          0
+      "R_Index_sjnt_1"
+      1
+          0.229845911 0 0 0.973227024
+          -5.3290704e-17 0.0419000015 1.42108544e-16
+          0
+  true

lib/All/JoltPhysics/Assets/Human/skeleton_hd.tof

@@ -0,0 +1,153 @@
+TOS 1.00
+
+declare Skeleton 1
+  mJoints array instance Skeleton::Joint 
+
+declare Skeleton::Joint 2
+  mName string
+  mParentName string
+
+object Skeleton 00000001
+  71
+      "rootBone"
+      ""
+      "hipsBone"
+      "rootBone"
+      "C_Spine_sjnt_0"
+      "hipsBone"
+      "C_Spine_sjnt_1"
+      "C_Spine_sjnt_0"
+      "C_Spine_sjnt_2"
+      "C_Spine_sjnt_1"
+      "C_Spine_sjnt_3"
+      "C_Spine_sjnt_2"
+      "C_Spine_sjnt_4"
+      "C_Spine_sjnt_3"
+      "R_Clavicle_sjnt_0"
+      "C_Spine_sjnt_4"
+      "R_Arm_sjnt_0"
+      "R_Clavicle_sjnt_0"
+      "R_Arm_sjnt_1"
+      "R_Arm_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Arm_sjnt_1"
+      "R_Thumb_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Thumb_sjnt_1"
+      "R_Thumb_sjnt_0"
+      "R_Thumb_sjnt_2"
+      "R_Thumb_sjnt_1"
+      "R_Thumb_sjnt_3"
+      "R_Thumb_sjnt_2"
+      "R_Index_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Index_sjnt_1"
+      "R_Index_sjnt_0"
+      "R_Index_sjnt_2"
+      "R_Index_sjnt_1"
+      "R_Index_sjnt_3"
+      "R_Index_sjnt_2"
+      "R_Middle_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Middle_sjnt_1"
+      "R_Middle_sjnt_0"
+      "R_Middle_sjnt_2"
+      "R_Middle_sjnt_1"
+      "R_Middle_sjnt_3"
+      "R_Middle_sjnt_2"
+      "R_Ring_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Ring_sjnt_1"
+      "R_Ring_sjnt_0"
+      "R_Ring_sjnt_2"
+      "R_Ring_sjnt_1"
+      "R_Ring_sjnt_3"
+      "R_Ring_sjnt_2"
+      "R_Pinky_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Pinky_sjnt_1"
+      "R_Pinky_sjnt_0"
+      "R_Pinky_sjnt_2"
+      "R_Pinky_sjnt_1"
+      "R_Pinky_sjnt_3"
+      "R_Pinky_sjnt_2"
+      "R_Prop_fjnt_0"
+      "R_Wrist_sjnt_0"
+      "C_Neck_sjnt_0"
+      "C_Spine_sjnt_4"
+      "C_Neck_sjnt_1"
+      "C_Neck_sjnt_0"
+      "C_Neck_sjnt_2"
+      "C_Neck_sjnt_1"
+      "C_Head_sjnt_0"
+      "C_Neck_sjnt_2"
+      "L_Clavicle_sjnt_0"
+      "C_Spine_sjnt_4"
+      "L_Arm_sjnt_0"
+      "L_Clavicle_sjnt_0"
+      "L_Arm_sjnt_1"
+      "L_Arm_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Arm_sjnt_1"
+      "L_Thumb_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Thumb_sjnt_1"
+      "L_Thumb_sjnt_0"
+      "L_Thumb_sjnt_2"
+      "L_Thumb_sjnt_1"
+      "L_Thumb_sjnt_3"
+      "L_Thumb_sjnt_2"
+      "L_Index_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Index_sjnt_1"
+      "L_Index_sjnt_0"
+      "L_Index_sjnt_2"
+      "L_Index_sjnt_1"
+      "L_Index_sjnt_3"
+      "L_Index_sjnt_2"
+      "L_Middle_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Middle_sjnt_1"
+      "L_Middle_sjnt_0"
+      "L_Middle_sjnt_2"
+      "L_Middle_sjnt_1"
+      "L_Middle_sjnt_3"
+      "L_Middle_sjnt_2"
+      "L_Ring_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Ring_sjnt_1"
+      "L_Ring_sjnt_0"
+      "L_Ring_sjnt_2"
+      "L_Ring_sjnt_1"
+      "L_Ring_sjnt_3"
+      "L_Ring_sjnt_2"
+      "L_Pinky_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Pinky_sjnt_1"
+      "L_Pinky_sjnt_0"
+      "L_Pinky_sjnt_2"
+      "L_Pinky_sjnt_1"
+      "L_Pinky_sjnt_3"
+      "L_Pinky_sjnt_2"
+      "L_Prop_fjnt_0"
+      "L_Wrist_sjnt_0"
+      "R_Leg_sjnt_0"
+      "hipsBone"
+      "R_Leg_sjnt_1"
+      "R_Leg_sjnt_0"
+      "R_Foot_sjnt_0"
+      "R_Leg_sjnt_1"
+      "R_Foot_sjnt_1"
+      "R_Foot_sjnt_0"
+      "R_Foot_sjnt_2"
+      "R_Foot_sjnt_1"
+      "L_Leg_sjnt_0"
+      "hipsBone"
+      "L_Leg_sjnt_1"
+      "L_Leg_sjnt_0"
+      "L_Foot_sjnt_0"
+      "L_Leg_sjnt_1"
+      "L_Foot_sjnt_1"
+      "L_Foot_sjnt_0"
+      "L_Foot_sjnt_2"
+      "L_Foot_sjnt_1"

lib/All/JoltPhysics/Assets/LICENSE

@@ -0,0 +1,8 @@
+The following assets were taken from Horizon Zero Dawn:
+
+terrain1.bof and terrain2.bof contain the 'Mothers Heart' scene
+convex_hulls.bin contains point clouds used as the source for convex hulls
+heightfield1.bin contains a single 'tile' of terrain data
+Human.tof and Human/*.tof contain the Aloy ragdoll setup and a couple of sample animations mapped onto the ragdoll
+
+Permission was granted by Guerrilla Games to release this under the same MIT license as the rest of the project.

lib/All/JoltPhysics/Assets/Racetracks/LICENSE.txt

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
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+other than an Application or a Combined Work as defined below.
+
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lib/All/JoltPhysics/Assets/Racetracks/README.md

@@ -0,0 +1,3 @@
+Race tracks taken from: https://github.com/TUMFTM/racetrack-database
+
+See LICENSE.txt for license for these race tracks.

lib/All/JoltPhysics/Assets/Racetracks/Zandvoort.csv

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lib/All/JoltPhysics/Assets/Shaders/DX/FontPixelShader.hlsl

@@ -0,0 +1,27 @@
+Texture2D ShaderTexture : register(t2);
+SamplerState SampleType : register(s0);
+
+struct PS_INPUT
+{
+	float4 Position : SV_POSITION;
+	float2 Tex		: TEXCOORD0;
+	float4 Color	: COLOR0;
+};
+
+struct PS_OUTPUT
+{
+	float4 RGBColor : SV_TARGET;
+};
+
+PS_OUTPUT main(PS_INPUT In)
+{
+	PS_OUTPUT Output;
+
+	float t = ShaderTexture.Sample(SampleType, In.Tex).r;
+	if (t < 0.5)
+		discard;
+
+	Output.RGBColor = float4(In.Color.rgb, t);
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/FontVertexShader.hlsl

@@ -0,0 +1,35 @@
+#include "VertexConstants.h"
+
+struct VS_INPUT
+{
+	float3 vPos	  : POSITION;
+	float2 vTex	  : TEXCOORD0;
+	float4 vCol	  : COLOR;
+};
+
+struct VS_OUTPUT
+{
+	float4 Position : SV_POSITION;
+	float2 Tex		: TEXCOORD0;
+	float4 Color	: COLOR0;
+};
+
+VS_OUTPUT main(VS_INPUT input)
+{
+	VS_OUTPUT Output;
+
+	float4 pos = float4(input.vPos, 1.0f);
+
+	// Transform the position from object space to homogeneous projection space
+	pos = mul(View, pos);
+	pos = mul(Projection, pos);
+	Output.Position = pos;
+
+	// Output texture coordinates
+	Output.Tex = input.vTex;
+
+	// Output color
+	Output.Color = input.vCol;
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/LinePixelShader.hlsl

@@ -0,0 +1,19 @@
+struct PS_INPUT
+{
+	float4 Position : SV_POSITION;
+	float4 Color	: COLOR0;
+};
+
+struct PS_OUTPUT
+{
+	float4 RGBColor : SV_TARGET;
+};
+
+PS_OUTPUT main(PS_INPUT In)
+{
+	PS_OUTPUT Output;
+
+	Output.RGBColor = In.Color;
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/LineVertexShader.hlsl

@@ -0,0 +1,30 @@
+#include "VertexConstants.h"
+
+struct VS_INPUT
+{
+	float3 vPos	  : POSITION;
+	float3 vColor : COLOR;
+};
+
+struct VS_OUTPUT
+{
+	float4 Position : SV_POSITION;
+	float4 Color	: COLOR0;
+};
+
+VS_OUTPUT main(VS_INPUT input)
+{
+	VS_OUTPUT Output;
+
+	float4 pos = float4(input.vPos, 1.0f);
+
+	// Transform the position from object space to homogeneous projection space
+	pos = mul(View, pos);
+	pos = mul(Projection, pos);
+	Output.Position = pos;
+
+	// Output color
+	Output.Color = float4(input.vColor, 1.0f);
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/TriangleDepthPixelShader.hlsl

@@ -0,0 +1,4 @@
+// We only write depth, so this shader does nothing
+void main()
+{
+}

lib/All/JoltPhysics/Assets/Shaders/DX/TriangleDepthVertexShader.hlsl

@@ -0,0 +1,43 @@
+#include "VertexConstants.h"
+
+struct VS_INPUT
+{
+	// Per vertex data
+	float3 vPos	  : POSITION;
+	float3 vNorm  : NORMAL;
+	float2 vTex	  : TEXCOORD0;
+	float4 vCol	  : COLOR;
+
+	// Per instance data
+	matrix iModel : INSTANCE_TRANSFORM;				// model matrix
+	matrix iModelInvTrans : INSTANCE_INV_TRANSFORM;	// (model matrix^-1)^T
+	float4 iCol : INSTANCE_COLOR;					// color of the model
+};
+
+struct VS_OUTPUT
+{
+	float4 Position : SV_POSITION;
+};
+
+VS_OUTPUT main(VS_INPUT input)
+{
+	VS_OUTPUT output;
+
+	// Check if the alpha = 0
+	if (input.vCol.a * input.iCol.a == 0.0)
+	{
+		// Don't draw the triangle by moving it to an invalid location
+		output.Position = float4(0, 0, 0, 0);
+	}
+	else
+	{
+		// Transform the position from world space to homogeneous projection space for the light
+		float4 pos = float4(input.vPos, 1.0f);
+		pos = mul(input.iModel, pos);
+		pos = mul(LightView, pos);
+		pos = mul(LightProjection, pos);
+		output.Position = pos;
+	}
+	
+	return output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/TrianglePixelShader.hlsl

@@ -0,0 +1,121 @@
+// Shader that uses a shadow map for rendering shadows, see:
+// http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-16-shadow-mapping/
+// https://takinginitiative.wordpress.com/2011/05/25/directx10-tutorial-10-shadow-mapping-part-2/
+
+Texture2D LightDepthTexture : register(t2);
+SamplerComparisonState LightDepthSampler : register(s2);
+
+cbuffer PixelShaderConstantBuffer : register(b1)
+{
+	float3	CameraPos;
+	float3	LightPos;
+};
+
+struct PS_INPUT
+{
+	float4 Position	 : SV_POSITION; // interpolated vertex position
+	float3 Normal	 : TEXCOORD0;
+	float3 WorldPos	 : TEXCOORD1;
+	float2 Tex		 : TEXCOORD2;
+	float4 PositionL : TEXCOORD3; // interpolated vertex position in light space
+	float4 Color	 : COLOR0;
+};
+
+struct PS_OUTPUT
+{
+	float4 RGBColor : SV_TARGET;
+};
+
+PS_OUTPUT main(PS_INPUT input)
+{
+	// Constants
+	float AmbientFactor = 0.3;
+	float3 DiffuseColor = float3(input.Color.r, input.Color.g, input.Color.b);
+	float3 SpecularColor = float3(1, 1, 1);
+	float SpecularPower = 100.0;
+	float bias = 1.0e-7;
+
+	// Homogenize position in light space
+	input.PositionL.xyz /= input.PositionL.w;
+
+	// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
+	float3 view_dir = normalize(CameraPos - input.WorldPos);
+	float3 world_to_light = LightPos - input.WorldPos;
+	float3 light_dir = normalize(world_to_light);
+	float3 normal = normalize(input.Normal);
+	if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
+		normal = -normal;
+	float normal_dot_light_dir = saturate(dot(normal, light_dir));
+
+	// Calculate texture coordinates in light depth texture
+	float2 tex_coord;
+	tex_coord.x =  input.PositionL.x / 2.0 + 0.5;
+	tex_coord.y = -input.PositionL.y / 2.0 + 0.5;
+
+	// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
+	float shadow_factor = 1.0;
+	if (input.Color.a > 0 // Alpha = 0 means don't receive shadows
+		&& tex_coord.x == saturate(tex_coord.x) && tex_coord.y == saturate(tex_coord.y))
+	{
+		// Modify shadow bias according to the angle between the normal and the light dir
+		float modified_bias = bias * tan(acos(normal_dot_light_dir));
+		modified_bias = min(modified_bias, 10.0 * bias);
+		
+		// Get texture size
+		float width, height, levels; 
+		LightDepthTexture.GetDimensions(0, width, height, levels); 
+		width = 1.0 / width;
+		height = 1.0 / height;
+
+		// Samples to take
+		uint num_samples = 16;
+		float2 offsets[] = { 
+			float2(-1.5 * width, -1.5 * height),
+			float2(-0.5 * width, -1.5 * height),
+			float2(0.5 * width, -1.5 * height),
+			float2(1.5 * width, -1.5 * height),
+
+			float2(-1.5 * width, -0.5 * height),
+			float2(-0.5 * width, -0.5 * height),
+			float2(0.5 * width, -0.5 * height),
+			float2(1.5 * width, -0.5 * height),
+
+			float2(-1.5 * width, 0.5 * height),
+			float2(-0.5 * width, 0.5 * height),
+			float2(0.5 * width, 0.5 * height),
+			float2(1.5 * width, 0.5 * height),
+
+			float2(-1.5 * width, 1.5 * height),
+			float2(-0.5 * width, 1.5 * height),
+			float2(0.5 * width, 1.5 * height),
+			float2(1.5 * width, 1.5 * height),
+		};
+
+		// Calculate depth of this pixel relative to the light
+		float light_depth = input.PositionL.z + modified_bias;
+
+		// Sample shadow factor
+		shadow_factor = 0.0;
+		[unroll] for (uint i = 0; i < num_samples; ++i)
+			shadow_factor += LightDepthTexture.SampleCmp(LightDepthSampler, tex_coord + offsets[i], light_depth);
+		shadow_factor /= num_samples;
+	}
+
+	// Calculate diffuse and specular
+	float diffuse = normal_dot_light_dir;
+	float specular = diffuse > 0.0? pow(saturate(-dot(reflect(light_dir, normal), view_dir)), SpecularPower) : 0.0;
+
+	// Apply procedural pattern based on the uv coordinates
+	bool2 less_half = input.Tex - floor(input.Tex) < float2(0.5, 0.5);
+	float darken_factor = less_half.r ^ less_half.g? 0.5 : 1.0;
+
+	// Fade out checkerboard pattern when it tiles too often
+	float2 dx = ddx(input.Tex), dy = ddy(input.Tex);
+	float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
+	darken_factor = lerp(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
+
+	// Calculate color
+	PS_OUTPUT output;
+	output.RGBColor = float4(saturate((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor), 1);
+	return output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/TriangleVertexShader.hlsl

@@ -0,0 +1,59 @@
+#include "VertexConstants.h"
+
+struct VS_INPUT
+{
+	// Per vertex data
+	float3 vPos	  : POSITION;
+	float3 vNorm  : NORMAL;
+	float2 vTex	  : TEXCOORD0;
+	float4 vCol	  : COLOR;
+
+	// Per instance data
+	matrix iModel : INSTANCE_TRANSFORM;				// model matrix
+	matrix iModelInvTrans : INSTANCE_INV_TRANSFORM;	// (model matrix^-1)^T
+	float4 iCol : INSTANCE_COLOR;					// color of the model
+};
+
+struct VS_OUTPUT
+{
+	float4 Position	 : SV_POSITION;
+	float3 Normal	 : TEXCOORD0;
+	float3 WorldPos	 : TEXCOORD1;
+	float2 Tex		 : TEXCOORD2;
+	float4 PositionL : TEXCOORD3;
+	float4 Color	 : COLOR0;
+};
+
+VS_OUTPUT main(VS_INPUT input)
+{
+	VS_OUTPUT output;
+
+	// Get world position
+	float4 pos = float4(input.vPos, 1.0f);
+	float4 world_pos = mul(input.iModel, pos);
+
+	// Transform the position from world space to homogeneous projection space
+	float4 proj_pos = mul(View, world_pos);
+	proj_pos = mul(Projection, proj_pos);
+	output.Position = proj_pos;
+
+	// Transform the position from world space to projection space of the light
+	float4 proj_lpos = mul(LightView, world_pos);
+	proj_lpos = mul(LightProjection, proj_lpos);
+	output.PositionL = proj_lpos;
+
+	// output normal
+	float4 norm = float4(input.vNorm, 0.0f);
+	output.Normal = normalize(mul(input.iModelInvTrans, norm).xyz);
+
+	// output world position of the vertex
+	output.WorldPos = world_pos.xyz;
+
+	// output texture coordinates
+	output.Tex = input.vTex;
+
+	// output color
+	output.Color = input.vCol * input.iCol;
+
+	return output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/UIPixelShader.hlsl

@@ -0,0 +1,23 @@
+Texture2D ShaderTexture : register(t2);
+SamplerState SampleType : register(s1);
+
+struct PS_INPUT
+{
+	float4 Position : SV_POSITION;
+	float2 Tex		: TEXCOORD0;
+	float4 Color	: COLOR0;
+};
+
+struct PS_OUTPUT
+{
+	float4 RGBColor : SV_TARGET;
+};
+
+PS_OUTPUT main(PS_INPUT In)
+{
+	PS_OUTPUT Output;
+
+	Output.RGBColor = In.Color * ShaderTexture.Sample(SampleType, In.Tex);
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/UIPixelShaderUntextured.hlsl

@@ -0,0 +1,20 @@
+struct PS_INPUT
+{
+	float4 Position : SV_POSITION;
+	float2 Tex		: TEXCOORD0;
+	float4 Color	: COLOR0;
+};
+
+struct PS_OUTPUT
+{
+	float4 RGBColor : SV_TARGET;
+};
+
+PS_OUTPUT main(PS_INPUT In)
+{
+	PS_OUTPUT Output;
+
+	Output.RGBColor = In.Color;
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/UIVertexShader.hlsl

@@ -0,0 +1,34 @@
+#include "VertexConstants.h"
+
+struct VS_INPUT
+{
+	float3 vPos	  : POSITION;
+	float2 vTex	  : TEXCOORD0;
+	float4 vCol	  : COLOR;
+};
+
+struct VS_OUTPUT
+{
+	float4 Position : SV_POSITION;
+	float2 Tex		: TEXCOORD0;
+	float4 Color	: COLOR0;
+};
+
+VS_OUTPUT main(VS_INPUT input)
+{
+	VS_OUTPUT Output;
+
+	float4 pos = float4(input.vPos, 1.0f);
+
+	// Transform the position from object space to ortho space
+	pos = mul(Projection, pos);
+	Output.Position = pos;
+
+	// Output texture coordinates
+	Output.Tex = input.vTex;
+
+	// Output color
+	Output.Color = input.vCol;
+
+	return Output;
+}

lib/All/JoltPhysics/Assets/Shaders/DX/VertexConstants.h

@@ -0,0 +1,7 @@
+cbuffer VertexShaderConstantBuffer : register(b0)
+{
+	matrix View;			// view matrix
+	matrix Projection;		// projection matrix
+	matrix LightView;		// view matrix of the light
+	matrix LightProjection;	// projection matrix of the light
+};

lib/All/JoltPhysics/Assets/Shaders/MTL/FontShader.metal

@@ -0,0 +1,39 @@
+#include <metal_stdlib>
+
+using namespace metal;
+
+#include "VertexConstants.h"
+
+constexpr sampler alphaTextureSampler(mag_filter::linear, min_filter::linear);
+
+struct FontVertex
+{
+	float3		vPos [[attribute(0)]];
+	float2		vTex [[attribute(1)]];
+	uchar4		vCol [[attribute(2)]];
+};
+
+struct FontOut
+{
+    float4 		oPosition [[position]];
+    float2 		oTex;
+    float4 		oColor;
+};
+
+vertex FontOut FontVertexShader(FontVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
+{
+    FontOut out;
+    out.oPosition = constants->Projection * constants->View * float4(vert.vPos, 1.0);
+    out.oTex = vert.vTex;
+    out.oColor = float4(vert.vCol) / 255.0;
+    return out;
+}
+
+fragment float4 FontPixelShader(FontOut in [[stage_in]], texture2d<float> alphaTexture [[texture(0)]])
+{
+	const float4 sample = alphaTexture.sample(alphaTextureSampler, in.oTex);
+	if (sample.x < 0.5)
+		discard_fragment();
+
+    return float4(in.oColor.xyz, sample.x);
+}

lib/All/JoltPhysics/Assets/Shaders/MTL/LineShader.metal

@@ -0,0 +1,30 @@
+#include <metal_stdlib>
+
+using namespace metal;
+
+#include "VertexConstants.h"
+
+struct LineVertex
+{
+	float3	iPosition [[attribute(0)]];
+	uchar4	iColor [[attribute(1)]];
+};
+
+struct LineOut
+{
+    float4 	oPosition [[position]];
+    float4 	oColor;
+};
+
+vertex LineOut LineVertexShader(LineVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
+{
+    LineOut out;
+	out.oPosition = constants->Projection * constants->View * float4(vert.iPosition, 1.0);
+    out.oColor = float4(vert.iColor) / 255.0;
+    return out;
+}
+
+fragment float4 LinePixelShader(LineOut in [[stage_in]])
+{
+    return in.oColor;
+}

lib/All/JoltPhysics/Assets/Shaders/MTL/TriangleShader.metal

@@ -0,0 +1,199 @@
+#include <metal_stdlib>
+
+using namespace metal;
+
+#include "VertexConstants.h"
+
+constexpr sampler depthSampler(mag_filter::nearest, min_filter::nearest);
+
+struct Vertex
+{
+	float3		vPos [[attribute(0)]];
+	float3		vNorm [[attribute(1)]];
+	float2		vTex [[attribute(2)]];
+	uchar4		vCol [[attribute(3)]];
+	float4		iModel0 [[attribute(4)]];
+	float4		iModel1 [[attribute(5)]];
+	float4		iModel2 [[attribute(6)]];
+	float4		iModel3 [[attribute(7)]];
+	float4		iModelInvTrans0 [[attribute(8)]];
+	float4		iModelInvTrans1 [[attribute(9)]];
+	float4		iModelInvTrans2 [[attribute(10)]];
+	float4		iModelInvTrans3 [[attribute(11)]];
+	uchar4		iCol [[attribute(12)]];
+};
+
+struct TriangleOut
+{
+	float4		oPosition [[position]];
+	float3		oNormal;
+	float3		oWorldPos;
+	float2		oTex;
+	float4		oPositionL;
+	float4		oColor;
+};
+
+vertex TriangleOut TriangleVertexShader(Vertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
+{
+	TriangleOut out;
+
+	// Convert input matrices
+	float4x4 iModel(vert.iModel0, vert.iModel1, vert.iModel2, vert.iModel3);
+	float4x4 iModelInvTrans(vert.iModelInvTrans0, vert.iModelInvTrans1, vert.iModelInvTrans2, vert.iModelInvTrans3);
+
+	// Get world position
+	float4 pos = float4(vert.vPos, 1.0f);
+	float4 world_pos = iModel * pos;
+
+	// Transform the position from world space to homogeneous projection space
+	float4 proj_pos = constants->View * world_pos;
+	proj_pos = constants->Projection * proj_pos;
+	out.oPosition = proj_pos;
+
+	// Transform the position from world space to projection space of the light
+	float4 proj_lpos = constants->LightView * world_pos;
+	proj_lpos = constants->LightProjection * proj_lpos;
+	out.oPositionL = proj_lpos;
+
+	// output normal
+	float4 norm = float4(vert.vNorm, 0.0f);
+	out.oNormal = normalize(iModelInvTrans * norm).xyz;
+
+	// output world position of the vertex
+	out.oWorldPos = world_pos.xyz;
+
+	// output texture coordinates
+	out.oTex = vert.vTex;
+
+	// output color
+	out.oColor = float4(vert.vCol) * float4(vert.iCol) / (255.0 * 255.0);
+
+	return out;
+}
+
+fragment float4 TrianglePixelShader(TriangleOut vert [[stage_in]], constant PixelShaderConstantBuffer *constants, texture2d<float> depthTexture [[texture(0)]])
+{
+	// Constants
+	float AmbientFactor = 0.3;
+	float3 DiffuseColor = float3(vert.oColor.r, vert.oColor.g, vert.oColor.b);
+	float3 SpecularColor = float3(1, 1, 1);
+	float SpecularPower = 100.0;
+	float bias = 1.0e-7;
+
+	// Homogenize position in light space
+	float3 position_l = vert.oPositionL.xyz / vert.oPositionL.w;
+
+	// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
+	float3 view_dir = normalize(constants->CameraPos - vert.oWorldPos);
+	float3 world_to_light = constants->LightPos - vert.oWorldPos;
+	float3 light_dir = normalize(world_to_light);
+	float3 normal = normalize(vert.oNormal);
+	if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
+		normal = -normal;
+	float normal_dot_light_dir = clamp(dot(normal, light_dir), 0.0, 1.0);
+
+	// Calculate texture coordinates in light depth texture
+	float2 tex_coord;
+	tex_coord.x = position_l.x / 2.0 + 0.5;
+	tex_coord.y = -position_l.y / 2.0 + 0.5;
+
+	// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
+	float shadow_factor = 1.0;
+	if (vert.oColor.a > 0 // Alpha = 0 means don't receive shadows
+		&& tex_coord.x == clamp(tex_coord.x, 0.0, 1.0) && tex_coord.y == clamp(tex_coord.y, 0.0, 1.0))
+	{
+		// Modify shadow bias according to the angle between the normal and the light dir
+		float modified_bias = bias * tan(acos(normal_dot_light_dir));
+		modified_bias = min(modified_bias, 10.0 * bias);
+		
+		// Get texture size
+		float width = 1.0 / 4096;
+		float height = 1.0 / 4096;
+
+		// Samples to take
+		uint num_samples = 16;
+		float2 offsets[] = { 
+			float2(-1.5 * width, -1.5 * height),
+			float2(-0.5 * width, -1.5 * height),
+			float2(0.5 * width, -1.5 * height),
+			float2(1.5 * width, -1.5 * height),
+
+			float2(-1.5 * width, -0.5 * height),
+			float2(-0.5 * width, -0.5 * height),
+			float2(0.5 * width, -0.5 * height),
+			float2(1.5 * width, -0.5 * height),
+
+			float2(-1.5 * width, 0.5 * height),
+			float2(-0.5 * width, 0.5 * height),
+			float2(0.5 * width, 0.5 * height),
+			float2(1.5 * width, 0.5 * height),
+
+			float2(-1.5 * width, 1.5 * height),
+			float2(-0.5 * width, 1.5 * height),
+			float2(0.5 * width, 1.5 * height),
+			float2(1.5 * width, 1.5 * height),
+		};
+
+		// Calculate depth of this pixel relative to the light
+		float light_depth = position_l.z + modified_bias;
+
+		// Sample shadow factor
+		shadow_factor = 0.0;
+		for (uint i = 0; i < num_samples; ++i)
+			shadow_factor += depthTexture.sample(depthSampler, tex_coord + offsets[i]).x <= light_depth? 1.0 : 0.0;
+		shadow_factor /= num_samples;
+	}
+
+	// Calculate diffuse and specular
+	float diffuse = normal_dot_light_dir;
+	float specular = diffuse > 0.0? pow(clamp(-dot(reflect(light_dir, normal), view_dir), 0.0, 1.0), SpecularPower) : 0.0;
+
+	// Apply procedural pattern based on the uv coordinates
+	bool2 less_half = (vert.oTex - floor(vert.oTex)) < float2(0.5, 0.5);
+	float darken_factor = less_half.r ^ less_half.g? 0.5 : 1.0;
+
+	// Fade out checkerboard pattern when it tiles too often
+	float2 dx = dfdx(vert.oTex), dy = dfdy(vert.oTex);
+	float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
+	darken_factor = mix(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
+
+	// Calculate color
+	return float4(clamp((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor, 0, 1), 1);
+}
+
+struct DepthOut
+{
+	float4		oPosition [[position]];
+};
+
+vertex DepthOut TriangleDepthVertexShader(Vertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
+{
+	DepthOut out;
+
+	// Check if the alpha = 0
+	if (vert.vCol.a * vert.iCol.a == 0.0)
+	{
+		// Don't draw the triangle by moving it to an invalid location
+		out.oPosition = float4(0, 0, 0, 0);
+	}
+	else
+	{
+		// Convert input matrix
+		float4x4 iModel(vert.iModel0, vert.iModel1, vert.iModel2, vert.iModel3);
+
+		// Transform the position from world space to homogeneous projection space for the light
+		float4 pos = float4(vert.vPos, 1.0f);
+		pos = iModel * pos;
+		pos = constants->LightView * pos;
+		pos = constants->LightProjection * pos;
+		out.oPosition = pos;
+	}
+
+	return out;
+}
+
+fragment float4 TriangleDepthPixelShader(DepthOut in [[stage_in]])
+{
+	// We only write depth, so this shader does nothing
+	return float4(0.0, 0.0, 0.0, 1.0);
+}

lib/All/JoltPhysics/Assets/Shaders/MTL/UIShader.metal

@@ -0,0 +1,41 @@
+#include <metal_stdlib>
+
+using namespace metal;
+
+#include "VertexConstants.h"
+
+constexpr sampler uiTextureSampler(mag_filter::linear, min_filter::linear);
+
+struct UIVertex
+{
+	float3		vPos [[attribute(0)]];
+	float2		vTex [[attribute(1)]];
+	uchar4		vCol [[attribute(2)]];
+};
+
+struct UIOut
+{
+    float4 		oPosition [[position]];
+    float2 		oTex;
+    float4 		oColor;
+};
+
+vertex UIOut UIVertexShader(UIVertex vert [[stage_in]], constant VertexShaderConstantBuffer *constants [[buffer(2)]])
+{
+    UIOut out;
+    out.oPosition = constants->Projection * constants->View * float4(vert.vPos, 1.0);
+    out.oTex = vert.vTex;
+    out.oColor = float4(vert.vCol) / 255.0;
+    return out;
+}
+
+fragment float4 UIPixelShader(UIOut in [[stage_in]], texture2d<float> uiTexture [[texture(0)]])
+{
+	const float4 sample = uiTexture.sample(uiTextureSampler, in.oTex);
+    return sample * in.oColor;
+}
+
+fragment float4 UIPixelShaderUntextured(UIOut in [[stage_in]])
+{
+    return in.oColor;
+}

lib/All/JoltPhysics/Assets/Shaders/MTL/VertexConstants.h

@@ -0,0 +1,13 @@
+struct VertexShaderConstantBuffer
+{
+	float4x4 	View;				// view matrix
+	float4x4 	Projection;		// projection matrix
+	float4x4 	LightView;			// view matrix of the light
+	float4x4 	LightProjection;	// projection matrix of the light
+};
+
+struct PixelShaderConstantBuffer
+{
+	float3		CameraPos;
+	float3		LightPos;
+};

lib/All/JoltPhysics/Assets/Shaders/VK/FontPixelShader.frag

@@ -0,0 +1,17 @@
+#version 450
+
+layout(set = 1, binding = 0) uniform sampler2D texSampler;
+
+layout(location = 0) in vec2 iTex;
+layout(location = 1) in vec4 iColor;
+
+layout(location = 0) out vec4 oColor;
+
+void main()
+{
+	float t = texture(texSampler, iTex).x;
+	if (t < 0.5)
+		discard;
+	
+	oColor = vec4(iColor.xyz, t);
+}

lib/All/JoltPhysics/Assets/Shaders/VK/FontVertexShader.vert

@@ -0,0 +1,17 @@
+#version 450
+
+#include "VertexConstants.h"
+
+layout(location = 0) in vec3 vPos;
+layout(location = 1) in vec2 vTex;
+layout(location = 2) in vec4 vCol;
+
+layout(location = 0) out vec2 oTex;
+layout(location = 1) out vec4 oColor;
+
+void main() 
+{
+	gl_Position = c.Projection * c.View * vec4(vPos, 1.0f);
+	oTex = vTex;
+	oColor = vCol;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/LinePixelShader.frag

@@ -0,0 +1,10 @@
+#version 450
+
+layout(location = 0) in vec4 iColor;
+
+layout(location = 0) out vec4 oColor;
+
+void main()
+{
+    oColor = iColor;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/LineVertexShader.vert

@@ -0,0 +1,14 @@
+#version 450
+
+#include "VertexConstants.h"
+
+layout(location = 0) in vec3 iPosition;
+layout(location = 1) in vec4 iColor;
+
+layout(location = 0) out vec4 oColor;
+
+void main() 
+{
+    gl_Position = c.Projection * c.View * vec4(iPosition, 1.0);
+    oColor = iColor;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/TriangleDepthPixelShader.frag

@@ -0,0 +1,6 @@
+#version 450
+
+// We only write depth, so this shader does nothing
+void main()
+{
+}

lib/All/JoltPhysics/Assets/Shaders/VK/TriangleDepthVertexShader.vert

@@ -0,0 +1,31 @@
+#version 450
+
+#include "VertexConstants.h"
+
+layout(location = 0) in vec3 vPos;
+layout(location = 1) in vec3 vNorm;
+layout(location = 2) in vec2 vTex;
+layout(location = 3) in vec4 vCol;
+
+layout(location = 4) in mat4 iModel;
+layout(location = 8) in mat4 iModelInvTrans;
+layout(location = 12) in vec4 iCol;
+
+void main() 
+{
+	// Check if the alpha = 0
+	if (vCol.a * iCol.a == 0.0)
+	{
+		// Don't draw the triangle by moving it to an invalid location
+		gl_Position = vec4(0, 0, 0, 0);
+	}
+	else
+	{
+		// Transform the position from world space to homogeneous projection space for the light
+		vec4 pos = vec4(vPos, 1.0f);
+		pos = iModel * pos;
+		pos = c.LightView * pos;
+		pos = c.LightProjection * pos;
+		gl_Position = pos;
+	}
+}

lib/All/JoltPhysics/Assets/Shaders/VK/TrianglePixelShader.frag

@@ -0,0 +1,107 @@
+#version 450
+
+layout(binding = 1) uniform PixelShaderConstantBuffer
+{
+	vec3	CameraPos;
+	vec3	LightPos;
+} c;
+
+layout(location = 0) in vec3 iNormal;
+layout(location = 1) in vec3 iWorldPos;
+layout(location = 2) in vec2 iTex;
+layout(location = 3) in vec4 iPositionL;
+layout(location = 4) in vec4 iColor;
+
+layout(location = 0) out vec4 oColor;
+
+layout(set = 1, binding = 0) uniform sampler2D LightDepthSampler;
+
+void main()
+{
+	// Constants
+	float AmbientFactor = 0.3;
+	vec3 DiffuseColor = vec3(iColor.r, iColor.g, iColor.b);
+	vec3 SpecularColor = vec3(1, 1, 1);
+	float SpecularPower = 100.0;
+	float bias = 1.0e-7;
+
+	// Homogenize position in light space
+	vec3 position_l = iPositionL.xyz / iPositionL.w;
+
+	// Calculate dot product between direction to light and surface normal and clamp between [0, 1]
+	vec3 view_dir = normalize(c.CameraPos - iWorldPos);
+	vec3 world_to_light = c.LightPos - iWorldPos;
+	vec3 light_dir = normalize(world_to_light);
+	vec3 normal = normalize(iNormal);
+	if (dot(view_dir, normal) < 0) // If we're viewing the triangle from the back side, flip the normal to get the correct lighting
+		normal = -normal;
+	float normal_dot_light_dir = clamp(dot(normal, light_dir), 0, 1);
+
+	// Calculate texture coordinates in light depth texture
+	vec2 tex_coord;
+	tex_coord.x = position_l.x / 2.0 + 0.5;
+	tex_coord.y = position_l.y / 2.0 + 0.5;
+
+	// Check that the texture coordinate is inside the depth texture, if not we don't know if it is lit or not so we assume lit
+	float shadow_factor = 1.0;
+	if (iColor.a > 0 // Alpha = 0 means don't receive shadows
+		&& tex_coord.x == clamp(tex_coord.x, 0, 1) && tex_coord.y == clamp(tex_coord.y, 0, 1))
+	{
+		// Modify shadow bias according to the angle between the normal and the light dir
+		float modified_bias = bias * tan(acos(normal_dot_light_dir));
+		modified_bias = min(modified_bias, 10.0 * bias);
+		
+		// Get texture size
+		float width = 1.0 / 4096;
+		float height = 1.0 / 4096;
+
+		// Samples to take
+		uint num_samples = 16;
+		vec2 offsets[] = { 
+			vec2(-1.5 * width, -1.5 * height),
+			vec2(-0.5 * width, -1.5 * height),
+			vec2(0.5 * width, -1.5 * height),
+			vec2(1.5 * width, -1.5 * height),
+
+			vec2(-1.5 * width, -0.5 * height),
+			vec2(-0.5 * width, -0.5 * height),
+			vec2(0.5 * width, -0.5 * height),
+			vec2(1.5 * width, -0.5 * height),
+
+			vec2(-1.5 * width, 0.5 * height),
+			vec2(-0.5 * width, 0.5 * height),
+			vec2(0.5 * width, 0.5 * height),
+			vec2(1.5 * width, 0.5 * height),
+
+			vec2(-1.5 * width, 1.5 * height),
+			vec2(-0.5 * width, 1.5 * height),
+			vec2(0.5 * width, 1.5 * height),
+			vec2(1.5 * width, 1.5 * height),
+		};
+
+		// Calculate depth of this pixel relative to the light
+		float light_depth = position_l.z + modified_bias;
+
+		// Sample shadow factor
+		shadow_factor = 0.0;
+		for (uint i = 0; i < num_samples; ++i)
+			shadow_factor += texture(LightDepthSampler, tex_coord + offsets[i]).x <= light_depth? 1.0 : 0.0;
+		shadow_factor /= num_samples;
+	}
+
+	// Calculate diffuse and specular
+	float diffuse = normal_dot_light_dir;
+	float specular = diffuse > 0.0? pow(clamp(-dot(reflect(light_dir, normal), view_dir), 0, 1), SpecularPower) : 0.0;
+
+	// Apply procedural pattern based on the uv coordinates
+	bvec2 less_half = lessThan(iTex - floor(iTex), vec2(0.5, 0.5));
+	float darken_factor = less_half.r ^^ less_half.g? 0.5 : 1.0;
+
+	// Fade out checkerboard pattern when it tiles too often
+	vec2 dx = dFdx(iTex), dy = dFdy(iTex);
+	float texel_distance = sqrt(dot(dx, dx) + dot(dy, dy));
+	darken_factor = mix(darken_factor, 0.75, clamp(5.0 * texel_distance - 1.5, 0.0, 1.0));
+
+	// Calculate color
+	oColor = vec4(clamp((AmbientFactor + diffuse * shadow_factor) * darken_factor * DiffuseColor + SpecularColor * specular * shadow_factor, 0, 1), 1);
+}

lib/All/JoltPhysics/Assets/Shaders/VK/TriangleVertexShader.vert

@@ -0,0 +1,48 @@
+#version 450
+
+#include "VertexConstants.h"
+
+layout(location = 0) in vec3 vPos;
+layout(location = 1) in vec3 vNorm;
+layout(location = 2) in vec2 vTex;
+layout(location = 3) in vec4 vCol;
+
+layout(location = 4) in mat4 iModel;
+layout(location = 8) in mat4 iModelInvTrans;
+layout(location = 12) in vec4 iCol;
+
+layout(location = 0) out vec3 oNormal;
+layout(location = 1) out vec3 oWorldPos;
+layout(location = 2) out vec2 oTex;
+layout(location = 3) out vec4 oPositionL;
+layout(location = 4) out vec4 oColor;
+
+void main() 
+{
+	// Get world position
+	vec4 pos = vec4(vPos, 1.0f);
+	vec4 world_pos = iModel * pos;
+
+	// Transform the position from world space to homogeneous projection space
+	vec4 proj_pos = c.View * world_pos;
+	proj_pos = c.Projection * proj_pos;
+	gl_Position = proj_pos;
+
+	// Transform the position from world space to projection space of the light
+	vec4 proj_lpos = c.LightView * world_pos;
+	proj_lpos = c.LightProjection * proj_lpos;
+	oPositionL = proj_lpos;
+
+	// output normal
+	vec4 norm = vec4(vNorm, 0.0f);
+	oNormal = normalize(iModelInvTrans * norm).xyz;
+
+	// output world position of the vertex
+	oWorldPos = world_pos.xyz;
+
+	// output texture coordinates
+	oTex = vTex;
+
+	// output color
+	oColor = vCol * iCol;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/UIPixelShader.frag

@@ -0,0 +1,13 @@
+#version 450
+
+layout(set = 1, binding = 0) uniform sampler2D texSampler;
+
+layout(location = 0) in vec4 iColor;
+layout(location = 1) in vec2 iTex;
+
+layout(location = 0) out vec4 oColor;
+
+void main()
+{
+	oColor = iColor * texture(texSampler, iTex);
+}

lib/All/JoltPhysics/Assets/Shaders/VK/UIPixelShaderUntextured.frag

@@ -0,0 +1,10 @@
+#version 450
+
+layout(location = 0) in vec4 iColor;
+
+layout(location = 0) out vec4 oColor;
+
+void main()
+{
+	oColor = iColor;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/UIVertexShader.vert

@@ -0,0 +1,17 @@
+#version 450
+
+#include "VertexConstants.h"
+
+layout(location = 0) in vec3 vPos;
+layout(location = 1) in vec2 vTex;
+layout(location = 2) in vec4 vCol;
+
+layout(location = 0) out vec4 oColor;
+layout(location = 1) out vec2 oTex;
+
+void main() 
+{
+	gl_Position = c.Projection * c.View * vec4(vPos, 1.0f);
+	oTex = vTex;
+	oColor = vCol;
+}

lib/All/JoltPhysics/Assets/Shaders/VK/VertexConstants.h

@@ -0,0 +1,7 @@
+layout(binding = 0) uniform VertexShaderConstantBuffer
+{
+	mat4	View;
+	mat4	Projection;
+	mat4	LightView;
+	mat4	LightProjection;
+} c;

lib/All/JoltPhysics/Build/.gitignore

@@ -0,0 +1,7 @@
+/Linux*
+/WASM*
+/VS20*
+/XCode*
+/MinGW*
+/Doxygen
+/CoverageReport

lib/All/JoltPhysics/Build/Android/.gitignore

@@ -0,0 +1,5 @@
+.idea
+.gradle
+.cxx
+build
+local.properties

lib/All/JoltPhysics/Build/Android/PerformanceTest/build.gradle

@@ -0,0 +1,51 @@
+plugins {
+    id 'com.android.application'
+}
+
+android {
+    compileSdk 33
+    ndkVersion "26.1.10909125"
+
+    defaultConfig {
+        applicationId "com.joltphysics.performancetest"
+        minSdk 21
+        targetSdk 33
+        versionCode 1
+        versionName "1.0"
+        ndk.abiFilters 'arm64-v8a', 'armeabi-v7a', 'x86_64', 'x86'
+
+        externalNativeBuild {
+            cmake {
+                cppFlags '-std=c++17 -Wall -Werror -ffp-model=precise -ffp-contract=off -DJPH_PROFILE_ENABLED -DJPH_DEBUG_RENDERER'
+                arguments '-DANDROID_TOOLCHAIN=clang', '-DANDROID_STL=c++_static', '-DCROSS_PLATFORM_DETERMINISTIC=ON'
+            }
+        }
+        signingConfig signingConfigs.debug
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+        }
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
+    externalNativeBuild {
+        cmake {
+            path file('src/main/cpp/CMakeLists.txt')
+            version '3.22.1'
+        }
+    }
+
+    buildFeatures {
+        viewBinding true
+    }
+    namespace 'com.joltphysics.performancetest'
+}
+
+dependencies {
+}

lib/All/JoltPhysics/Build/Android/PerformanceTest/src/main/AndroidManifest.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <application
+        android:allowBackup="true"
+        android:label="Jolt Physics Performance Test"
+        android:supportsRtl="false"
+        android:theme="@android:style/Theme.NoTitleBar.Fullscreen">
+        <activity
+            android:name="android.app.NativeActivity"
+            android:exported="true">
+            <meta-data android:name="android.app.lib_name" android:value="PerformanceTest"/>
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>

lib/All/JoltPhysics/Build/Android/PerformanceTest/src/main/cpp/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+project("JoltPhysicsPerformanceTest")
+
+# Make sure we include the app glue sources
+set(APP_GLUE_DIR ${ANDROID_NDK}/sources/android/native_app_glue)
+include_directories(${APP_GLUE_DIR})
+
+# Set repository root
+set(PHYSICS_REPO_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../")
+
+# Make targets
+include(${PHYSICS_REPO_ROOT}/Jolt/Jolt.cmake)
+include(${PHYSICS_REPO_ROOT}/PerformanceTest/PerformanceTest.cmake)
+
+# Link shared native library
+set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -u ANativeActivity_onCreate")
+add_library(PerformanceTest SHARED ${PERFORMANCE_TEST_SRC_FILES} ${APP_GLUE_DIR}/android_native_app_glue.c)
+target_include_directories(PerformanceTest PUBLIC Jolt ${JOLT_PHYSICS_ROOT} ${PERFORMANCE_TEST_ROOT})
+target_link_libraries(PerformanceTest Jolt android log)

lib/All/JoltPhysics/Build/Android/UnitTests/build.gradle

@@ -0,0 +1,51 @@
+plugins {
+    id 'com.android.application'
+}
+
+android {
+    compileSdk 33
+    ndkVersion "26.1.10909125"
+
+    defaultConfig {
+        applicationId "com.joltphysics.unittests"
+        minSdk 21
+        targetSdk 33
+        versionCode 1
+        versionName "1.0"
+        ndk.abiFilters 'arm64-v8a', 'armeabi-v7a', 'x86_64', 'x86'
+
+        externalNativeBuild {
+            cmake {
+                cppFlags '-std=c++17 -Wall -Werror -ffp-contract=off -DJPH_PROFILE_ENABLED -DJPH_DEBUG_RENDERER'
+                arguments '-DANDROID_TOOLCHAIN=clang', '-DANDROID_STL=c++_static'
+            }
+        }
+        signingConfig signingConfigs.debug
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+        }
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
+    externalNativeBuild {
+        cmake {
+            path file('src/main/cpp/CMakeLists.txt')
+            version '3.22.1'
+        }
+    }
+
+    buildFeatures {
+        viewBinding true
+    }
+    namespace 'com.joltphysics.unittests'
+}
+
+dependencies {
+}

lib/All/JoltPhysics/Build/Android/UnitTests/src/main/AndroidManifest.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <application
+        android:allowBackup="true"
+        android:label="Jolt Physics Unit Tests"
+        android:supportsRtl="false"
+        android:theme="@android:style/Theme.NoTitleBar.Fullscreen">
+        <activity
+            android:name="android.app.NativeActivity"
+            android:exported="true">
+            <meta-data android:name="android.app.lib_name" android:value="UnitTests"/>
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>

lib/All/JoltPhysics/Build/Android/UnitTests/src/main/cpp/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+project("JoltPhysicsUnitTests")
+
+# Make sure we include the app glue sources
+set(APP_GLUE_DIR ${ANDROID_NDK}/sources/android/native_app_glue)
+include_directories(${APP_GLUE_DIR})
+
+# Set repository root
+set(PHYSICS_REPO_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../")
+
+# Make targets
+include(${PHYSICS_REPO_ROOT}/Jolt/Jolt.cmake)
+include(${PHYSICS_REPO_ROOT}/UnitTests/UnitTests.cmake)
+
+# Link shared native library
+set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -u ANativeActivity_onCreate")
+add_library(UnitTests SHARED ${UNIT_TESTS_SRC_FILES} ${APP_GLUE_DIR}/android_native_app_glue.c)
+target_include_directories(UnitTests PUBLIC Jolt ${JOLT_PHYSICS_ROOT} ${UNIT_TESTS_ROOT})
+target_link_libraries(UnitTests Jolt android log)

lib/All/JoltPhysics/Build/Android/build.gradle

@@ -0,0 +1,17 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+buildscript {
+    repositories {
+        google()
+        mavenCentral()
+    }
+    dependencies {
+        classpath 'com.android.tools.build:gradle:8.7.2'
+
+        // NOTE: Do not place your application dependencies here; they belong
+        // in the individual module build.gradle files
+    }
+}
+
+task clean(type: Delete) {
+    delete rootProject.buildDir
+}

lib/All/JoltPhysics/Build/Android/gradle.properties

@@ -0,0 +1,21 @@
+# Project-wide Gradle settings.
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+org.gradle.jvmargs=-Xmx2048m -Dfile.encoding=UTF-8
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+# AndroidX package structure to make it clearer which packages are bundled with the
+# Android operating system, and which are packaged with your app"s APK
+# https://developer.android.com/topic/libraries/support-library/androidx-rn
+android.useAndroidX=true
+# Automatically convert third-party libraries to use AndroidX
+android.enableJetifier=true
+android.nonTransitiveRClass=false
+android.nonFinalResIds=false

lib/All/JoltPhysics/Build/Android/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.9-bin.zip
+distributionPath=wrapper/dists
+zipStorePath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME

lib/All/JoltPhysics/Build/Android/gradlew

@@ -0,0 +1,185 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=`expr $i + 1`
+    done
+    case $i in
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"

lib/All/JoltPhysics/Build/Android/gradlew.bat

@@ -0,0 +1,89 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

lib/All/JoltPhysics/Build/Android/settings.gradle

@@ -0,0 +1,10 @@
+dependencyResolutionManagement {
+    repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS)
+    repositories {
+        google()
+        mavenCentral()
+    }
+}
+rootProject.name = "Jolt Physics"
+include ':UnitTests'
+include ':PerformanceTest'

lib/All/JoltPhysics/Build/CMakeLists.txt

@@ -0,0 +1,449 @@
+cmake_minimum_required(VERSION 3.20 FATAL_ERROR)
+
+project(JoltPhysics VERSION 5.5.0 LANGUAGES CXX)
+
+# When turning this option on, the library will be compiled using assertions. By default asserts are enabled in Debug build.
+option(USE_ASSERTS "Enable asserts" OFF)
+
+# When turning this option on, the library will be compiled using doubles for positions. This allows for much bigger worlds.
+option(DOUBLE_PRECISION "Use double precision math" OFF)
+
+# When turning this option on, the library will be compiled with debug symbols
+option(GENERATE_DEBUG_SYMBOLS "Generate debug symbols" ON)
+
+# Which type of debug symbols to generate, e.g. using source-map when compiling with emscripten makes compilation a lot faster
+set(JPH_DEBUG_SYMBOL_FORMAT "" CACHE STRING "Which type of debug symbols to generate")
+
+# When turning this option on, the library will override the default CMAKE_CXX_FLAGS_DEBUG/RELEASE values, otherwise they will use the platform defaults
+option(OVERRIDE_CXX_FLAGS "Override CMAKE_CXX_FLAGS_DEBUG/RELEASE" ON)
+
+# When turning this option on, the library will be compiled in such a way to attempt to keep the simulation deterministic across platforms
+option(CROSS_PLATFORM_DETERMINISTIC "Cross platform deterministic" OFF)
+
+# When turning this option on, the library will be compiled for ARM using the CROSS_COMPILE_ARM_TARGET architecture, requires compiling with clang
+option(CROSS_COMPILE_ARM "Cross compile to the CROSS_COMPILE_ARM_TARGET architecture" OFF)
+
+# When cross compiling to ARM this specifies which target to use. Can be 'aarch64-linux-gnu' for 64-bit or 'arm-linux-gnueabihf' for 32-bit
+set(CROSS_COMPILE_ARM_TARGET "aarch64-linux-gnu" CACHE STRING "The target to use")
+
+# When turning this option on, Jolt will be compiled as a shared library and public symbols will be exported.
+option(BUILD_SHARED_LIBS "Compile Jolt as a shared library" OFF)
+
+# When turning this option on, the library will be compiled with interprocedural optimizations enabled, also known as link-time optimizations or link-time code generation.
+# Note that if you turn this on you need to use SET_INTERPROCEDURAL_OPTIMIZATION() or set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON) to enable LTO specifically for your own project as well.
+# If you don't do this you may get an error: /usr/bin/ld: libJolt.a: error adding symbols: file format not recognized
+option(INTERPROCEDURAL_OPTIMIZATION "Enable interprocedural optimizations" ON)
+
+# When turning this on, in Debug and Release mode, the library will emit extra code to ensure that the 4th component of a 3-vector is kept the same as the 3rd component
+# and will enable floating point exceptions during simulation to detect divisions by zero.
+# Note that this currently only works using MSVC. Clang turns Float2 into a SIMD vector sometimes causing floating point exceptions (the option is ignored).
+option(FLOATING_POINT_EXCEPTIONS_ENABLED "Enable floating point exceptions" ON)
+
+# When turning this on, the library will be compiled with C++ exceptions enabled.
+# This adds some overhead and Jolt doesn't use exceptions so by default it is off.
+option(CPP_EXCEPTIONS_ENABLED "Enable C++ exceptions" OFF)
+
+# When turning this on, the library will be compiled with C++ RTTI enabled.
+# This adds some overhead and Jolt doesn't use RTTI so by default it is off.
+option(CPP_RTTI_ENABLED "Enable C++ RTTI" OFF)
+
+# Number of bits to use in ObjectLayer. Can be 16 or 32.
+option(OBJECT_LAYER_BITS "Number of bits in ObjectLayer" 16)
+
+# Select X86 processor features to use (if everything is off it will be SSE2 compatible)
+option(USE_SSE4_1 "Enable SSE4.1" ON)
+option(USE_SSE4_2 "Enable SSE4.2" ON)
+option(USE_AVX "Enable AVX" ON)
+option(USE_AVX2 "Enable AVX2" ON)
+option(USE_AVX512 "Enable AVX512" OFF)
+option(USE_LZCNT "Enable LZCNT" ON)
+option(USE_TZCNT "Enable TZCNT" ON)
+option(USE_F16C "Enable F16C" ON)
+option(USE_FMADD "Enable FMADD" ON)
+
+# Enable SIMD for the WASM build. Note that this is currently off by default since not all browsers support this.
+# See: https://caniuse.com/?search=WebAssembly%20SIMD (Safari got support in March 2023 and was the last major browser to get support).
+option(USE_WASM_SIMD "Enable SIMD for WASM" OFF)
+
+# Enable 64 bit WASM instead of the default 32 bit WASM. Note that this currently requires special commandline flags in browsers and nodejs to enable.
+# E.g. use 'node --experimental-wasm-memory64 UnitTests.js' to run the unit tests in nodejs in 64 bit.
+option(JPH_USE_WASM64 "Enable 64 bit WASM" OFF)
+
+# Enable all warnings
+option(ENABLE_ALL_WARNINGS "Enable all warnings and warnings as errors" ON)
+
+# Setting to periodically trace broadphase stats to help determine if the broadphase layer configuration is optimal
+option(TRACK_BROADPHASE_STATS "Track Broadphase Stats" OFF)
+
+# Setting to periodically trace narrowphase stats to help determine which collision queries could be optimized
+option(TRACK_NARROWPHASE_STATS "Track Narrowphase Stats" OFF)
+
+# Setting to track simulation timings per body
+option(JPH_TRACK_SIMULATION_STATS "Track Simulation Stats" OFF)
+
+# Enable the debug renderer in the Debug and Release builds. Note that DEBUG_RENDERER_IN_DISTRIBUTION will override this setting.
+option(DEBUG_RENDERER_IN_DEBUG_AND_RELEASE "Enable debug renderer in Debug and Release builds" ON)
+
+# Setting to enable the debug renderer in all builds.
+# Note that enabling this reduces the performance of the library even if you're not drawing anything.
+option(DEBUG_RENDERER_IN_DISTRIBUTION "Enable debug renderer in all builds" OFF)
+
+# Enable the profiler in Debug and Release builds. Note that PROFILER_IN_DISTRIBUTION will override this setting.
+option(PROFILER_IN_DEBUG_AND_RELEASE "Enable the profiler in Debug and Release builds" ON)
+
+# Enable the profiler in all builds.
+# Note that enabling this reduces the performance of the library.
+option(PROFILER_IN_DISTRIBUTION "Enable the profiler in all builds" OFF)
+
+# Ability to use the external profiler using CMake config. Defines preprocessor JPH_EXTERNAL_PROFILE.
+# Use external profiler set using ProfileStartMeasurement and ProfileEndMeasurement to profile.
+# Option is available only when profiling is enabled using PROFILER_IN_DEBUG_AND_RELEASE or PROFILER_IN_DISTRIBUTION.
+option(JPH_USE_EXTERNAL_PROFILE "Use external profiler when profiling is enabled" OFF)
+
+# Setting this option will force the library to use malloc/free instead of allowing the user to override the memory allocator
+option(DISABLE_CUSTOM_ALLOCATOR "Disable support for a custom memory allocator" OFF)
+
+# Setting this option will force the library to use the STL vector instead of the custom Array class
+option(USE_STD_VECTOR "Use std::vector instead of own Array class" OFF)
+
+# Setting this option will compile the ObjectStream class and RTTI attribute information
+option(ENABLE_OBJECT_STREAM "Compile the ObjectStream class and RTTI attribute information" ON)
+
+# Enable installation
+option(ENABLE_INSTALL "Generate installation target"  ON)
+
+include(CMakeDependentOption)
+
+# Ability to toggle between the static and DLL versions of the MSVC runtime library
+# Windows Store only supports the DLL version
+cmake_dependent_option(USE_STATIC_MSVC_RUNTIME_LIBRARY "Use the static MSVC runtime library" ON "MSVC;NOT WINDOWS_STORE" OFF)
+
+# Enable Vulkan instead of DirectX
+cmake_dependent_option(JPH_ENABLE_VULKAN "Enable Vulkan" ON "LINUX" OFF)
+
+# Determine which configurations exist
+if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR) # Only do this when we're at the top level, see: https://gitlab.kitware.com/cmake/cmake/-/issues/24181
+	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+		set(CMAKE_CONFIGURATION_TYPES "Debug;Release;Distribution")
+	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
+		set(CMAKE_CONFIGURATION_TYPES "Debug;Release;ReleaseASAN;ReleaseUBSAN;ReleaseTSAN;ReleaseCoverage;Distribution")
+	endif()
+endif()
+
+if (MSVC)
+	# Fill in the path to the asan libraries
+	set(CLANG_LIB_PATH "\"$(VSInstallDir)\\VC\\Tools\\Llvm\\x64\\lib\\clang\\${CMAKE_CXX_COMPILER_VERSION}\\lib\\windows\"")
+
+	# 64 bit architecture
+	set(CMAKE_VS_PLATFORM_TOOLSET_HOST_ARCHITECTURE "x64")
+
+	# Set runtime library
+	if (USE_STATIC_MSVC_RUNTIME_LIBRARY)
+		set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
+	endif()
+
+	# Set general compiler flags
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus /Gm- /MP /nologo /diagnostics:classic /FC /fp:except- /Zc:inline")
+
+	# Enable warnings
+	if (ENABLE_ALL_WARNINGS)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall /WX")
+	endif()
+
+	# Optionally generate debug symbols
+	if (GENERATE_DEBUG_SYMBOLS)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zi")
+	endif()
+
+	if (NOT CPP_RTTI_ENABLED)
+		# Set compiler flag for disabling RTTI
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /GR-")
+	else()
+		# Set compiler flag for enabling RTTI
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /GR")
+	endif()
+
+	if (NOT CPP_EXCEPTIONS_ENABLED)
+		# Remove any existing compiler flag that enables exceptions
+		string(REPLACE "/EHsc" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+
+		# Disable warning about STL and compiler-generated types using noexcept when exceptions are disabled
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4577")
+	else()
+		# Enable exceptions
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
+	endif()
+
+	# Set compiler flags for various configurations
+	if (OVERRIDE_CXX_FLAGS)
+		set(CMAKE_CXX_FLAGS_DEBUG "/GS /Od /Ob0 /RTC1")
+		set(CMAKE_CXX_FLAGS_RELEASE "/GS- /Gy /O2 /Oi /Ot")
+	endif()
+	set(CMAKE_CXX_FLAGS_DISTRIBUTION "${CMAKE_CXX_FLAGS_RELEASE}")
+	set(CMAKE_CXX_FLAGS_RELEASEASAN "-fsanitize=address /Od")
+	set(CMAKE_CXX_FLAGS_RELEASEUBSAN "-fsanitize=undefined,implicit-conversion,float-divide-by-zero,local-bounds -fno-sanitize-recover=all")
+	set(CMAKE_CXX_FLAGS_RELEASETSAN "${CMAKE_CXX_FLAGS_RELEASE} -fsanitize=thread")
+	set(CMAKE_CXX_FLAGS_RELEASECOVERAGE "-fprofile-instr-generate -fcoverage-mapping")
+
+	# Set linker flags
+	set(CMAKE_EXE_LINKER_FLAGS "/SUBSYSTEM:WINDOWS /ignore:4221")
+	if (GENERATE_DEBUG_SYMBOLS)
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /DEBUG")
+	endif()
+	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+		if (CROSS_PLATFORM_DETERMINISTIC)
+			set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:precise")
+		else()
+			set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") # Clang doesn't use fast math because it cannot be turned off inside a single compilation unit
+		endif()
+	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /showFilenames")
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Qunused-arguments") # Clang emits warnings about unused arguments such as /MP and /GL
+		set(CMAKE_EXE_LINKER_FLAGS_RELEASEASAN "/SUBSYSTEM:CONSOLE /LIBPATH:${CLANG_LIB_PATH} clang_rt.asan-x86_64.lib -wholearchive:clang_rt.asan-x86_64.lib clang_rt.asan_cxx-x86_64.lib -wholearchive:clang_rt.asan_cxx-x86_64.lib")
+		set(CMAKE_EXE_LINKER_FLAGS_RELEASEUBSAN "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /LIBPATH:${CLANG_LIB_PATH}")
+		set(CMAKE_EXE_LINKER_FLAGS_RELEASETSAN "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /LIBPATH:${CLANG_LIB_PATH}")
+		set(CMAKE_EXE_LINKER_FLAGS_RELEASECOVERAGE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /LIBPATH:${CLANG_LIB_PATH}")
+	endif()
+else()
+	# Enable warnings
+	if (ENABLE_ALL_WARNINGS)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror")
+	endif()
+
+	# Optionally generate debug symbols
+	if (GENERATE_DEBUG_SYMBOLS)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g${JPH_DEBUG_SYMBOL_FORMAT}")
+	endif()
+
+	if (NOT CPP_RTTI_ENABLED)
+		# Set compiler flag for disabling RTTI
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-rtti")
+	else()
+		# Set compiler flag for enabling RTTI
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti")
+	endif()
+
+	if (NOT CPP_EXCEPTIONS_ENABLED)
+		# Set compiler flag for disabling exception-handling
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions")
+	else()
+		# Set compiler flag for enabling exception-handling
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fexceptions")
+	endif()
+
+	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+		# Also disable -Wstringop-overflow or it will generate false positives that can't be disabled from code when link-time optimizations are enabled
+		# Also disable -Wno-psabi to avoid messages of the form note: parameter passing for argument of type '...' changed in GCC 7.1
+		# Also turn off automatic fused multiply add contractions, there doesn't seem to be a way to do this selectively through the macro JPH_PRECISE_MATH_OFF
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-stringop-overflow -Wno-psabi -ffp-contract=off")
+	else()
+		# Do not use -ffast-math since it cannot be turned off in a single compilation unit under clang, see Core.h
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ffp-model=precise")
+
+		# On clang 14 and later we can turn off float contraction through a pragma, older versions and deterministic versions need it off always, see Core.h
+		# clang on LoongArch does not support such pragma, also turn off contraction for it.
+		if (CMAKE_CXX_COMPILER_VERSION LESS 14 OR CROSS_PLATFORM_DETERMINISTIC OR "${CMAKE_SYSTEM_PROCESSOR}" MATCHES "loongarch")
+			set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ffp-contract=off")
+
+			# Clang 20 and later complain with: overriding '-ffp-model=precise' option with '-ffp-contract=off' [-Woverriding-option], but this is exactly what we want.
+			if (CMAKE_CXX_COMPILER_VERSION GREATER 19)
+				set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-overriding-option")
+			endif()
+		endif()
+
+		# Cross compiler flags
+		if (CROSS_COMPILE_ARM AND NOT ("${CROSS_COMPILE_ARM_TARGET}" STREQUAL ""))
+			set(CMAKE_CXX_FLAGS "--target=${CROSS_COMPILE_ARM_TARGET} ${CMAKE_CXX_FLAGS}")
+		endif()
+	endif()
+
+	# See https://github.com/jrouwe/JoltPhysics/issues/922. When compiling with DOUBLE_PRECISION=YES and CMAKE_OSX_DEPLOYMENT_TARGET=10.12 clang triggers a warning that we silence here.
+	if ("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin" AND "${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -faligned-allocation")
+	endif()
+
+	# Set compiler flags for various configurations
+	if (OVERRIDE_CXX_FLAGS)
+		set(CMAKE_CXX_FLAGS_DEBUG "")
+		set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+	endif()
+	set(CMAKE_CXX_FLAGS_DISTRIBUTION "${CMAKE_CXX_FLAGS_RELEASE}")
+	set(CMAKE_CXX_FLAGS_RELEASEASAN "-fsanitize=address")
+	set(CMAKE_CXX_FLAGS_RELEASEUBSAN "-fsanitize=undefined,implicit-conversion,float-divide-by-zero,local-bounds -fno-sanitize-recover=all")
+	set(CMAKE_CXX_FLAGS_RELEASETSAN "${CMAKE_CXX_FLAGS_RELEASE} -fsanitize=thread")
+	set(CMAKE_CXX_FLAGS_RELEASECOVERAGE "-O0 -DJPH_NO_FORCE_INLINE -fprofile-instr-generate -fcoverage-mapping")
+endif()
+
+# Set linker flags
+set(CMAKE_EXE_LINKER_FLAGS_DISTRIBUTION "${CMAKE_EXE_LINKER_FLAGS_RELEASE}")
+
+# Enable link time optimization in Release and Distribution mode if requested and available
+function(SET_INTERPROCEDURAL_OPTIMIZATION)
+	set(CMAKE_INTERPROCEDURAL_OPTIMIZATION_RELEASE OFF PARENT_SCOPE)
+	set(CMAKE_INTERPROCEDURAL_OPTIMIZATION_DISTRIBUTION OFF PARENT_SCOPE)
+
+	# On ARM, whole program optimization triggers an internal compiler error during code gen, so we don't turn it on
+	# When compiling as a shared lib with MinGW, turning on LTO causes errors of the form 'ld.exe: cannot export symbol X wrong type (4 vs 3)'
+	if (INTERPROCEDURAL_OPTIMIZATION
+		AND NOT ("${CMAKE_VS_PLATFORM_NAME}" STREQUAL "ARM64")
+		AND NOT ("${CMAKE_VS_PLATFORM_NAME}" STREQUAL "ARM")
+		AND (NOT CROSS_COMPILE_ARM OR ("${CROSS_COMPILE_ARM_TARGET}" STREQUAL "aarch64-linux-gnu"))
+		AND NOT (MINGW AND BUILD_SHARED_LIBS))
+		include(CheckIPOSupported)
+		check_ipo_supported(RESULT IS_IPO_SUPPORTED OUTPUT IPO_CHECK_OUTPUT)
+
+		if (IS_IPO_SUPPORTED)
+			message("Interprocedural optimizations are turned on")
+			set(CMAKE_INTERPROCEDURAL_OPTIMIZATION_RELEASE ON PARENT_SCOPE)
+			set(CMAKE_INTERPROCEDURAL_OPTIMIZATION_DISTRIBUTION ON PARENT_SCOPE)
+		else()
+			message("Warning: Interprocedural optimizations are not supported for this target, turn off the option INTERPROCEDURAL_OPTIMIZATION to disable this warning")
+		endif()
+	endif()
+endfunction()
+SET_INTERPROCEDURAL_OPTIMIZATION()
+
+# Set repository root
+set(PHYSICS_REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../)
+
+# Make Jolt Library
+include(${PHYSICS_REPO_ROOT}/Jolt/Jolt.cmake)
+if (XCODE)
+	# Ensure that we enable SSE4.2 for the x86_64 build, XCode builds multiple architectures
+	set_property(TARGET Jolt PROPERTY XCODE_ATTRIBUTE_OTHER_CPLUSPLUSFLAGS[arch=x86_64] "$(inherited) -msse4.2 -mpopcnt")
+endif()
+
+# Install Jolt library and includes
+if (ENABLE_INSTALL)
+	include(GNUInstallDirs)
+	install(TARGETS Jolt
+		EXPORT JoltExport
+		INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+		LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+		ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+		RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+	foreach(SRC_FILE ${JOLT_PHYSICS_SRC_FILES})
+		string(REPLACE ${PHYSICS_REPO_ROOT} "" RELATIVE_SRC_FILE ${SRC_FILE})
+		get_filename_component(DESTINATION_PATH ${RELATIVE_SRC_FILE} DIRECTORY)
+		if (NOT RELATIVE_SRC_FILE MATCHES "\.cpp")
+			cmake_path(SET DST_FILE NORMALIZE "${CMAKE_INSTALL_INCLUDEDIR}/${DESTINATION_PATH}")
+			install(FILES ${SRC_FILE} DESTINATION ${DST_FILE})
+		endif()
+	endforeach()
+
+	# Export Jolt library
+	export(TARGETS Jolt
+		NAMESPACE Jolt::
+		FILE JoltConfig.cmake)
+	install(EXPORT JoltExport
+		DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/Jolt/
+		NAMESPACE Jolt::
+		FILE JoltConfig.cmake)
+endif()
+
+# Check if we're the root CMakeLists.txt, if not we are included by another CMake file and we should disable everything except for the main library
+if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+	# Ability to turn ON/OFF individual applications
+	option(TARGET_UNIT_TESTS "Build Unit Tests" ON)
+	option(TARGET_HELLO_WORLD "Build Hello World" ON)
+	option(TARGET_PERFORMANCE_TEST "Build Performance Test" ON)
+	option(TARGET_SAMPLES "Build Samples" ON)
+	option(TARGET_VIEWER "Build JoltViewer" ON)
+
+	if (TARGET_UNIT_TESTS)
+		# Create UnitTests executable
+		include(${PHYSICS_REPO_ROOT}/UnitTests/UnitTests.cmake)
+		add_executable(UnitTests ${UNIT_TESTS_SRC_FILES})
+		target_include_directories(UnitTests PUBLIC ${UNIT_TESTS_ROOT})
+		target_link_libraries(UnitTests LINK_PUBLIC Jolt)
+
+		if (EMSCRIPTEN)
+			target_link_options(UnitTests PUBLIC -sSTACK_SIZE=1048576 -sINITIAL_MEMORY=134217728)
+		endif()
+
+		# Code coverage doesn't work when using precompiled headers
+		if (CMAKE_GENERATOR STREQUAL "Ninja Multi-Config" AND MSVC)
+			# The Ninja Multi-Config generator errors out when selectively disabling precompiled headers for certain configurations.
+			# See: https://github.com/jrouwe/JoltPhysics/issues/1211
+			target_precompile_headers(UnitTests PRIVATE "${JOLT_PHYSICS_ROOT}/Jolt.h")
+		else()
+			target_precompile_headers(UnitTests PRIVATE "$<$<NOT:$<CONFIG:ReleaseCoverage>>:${JOLT_PHYSICS_ROOT}/Jolt.h>")
+		endif()
+
+		if (MSVC)
+			target_link_options(UnitTests PUBLIC "/SUBSYSTEM:CONSOLE")
+		endif()
+
+		if (IOS)
+			# Set the bundle information
+			set_property(TARGET UnitTests PROPERTY MACOSX_BUNDLE_INFO_PLIST "${CMAKE_CURRENT_SOURCE_DIR}/iOS/UnitTestsInfo.plist")
+			set_property(TARGET UnitTests PROPERTY XCODE_ATTRIBUTE_PRODUCT_BUNDLE_IDENTIFIER "com.joltphysics.unittests")
+		endif()
+
+		if (XCODE)
+			# Ensure that we enable SSE4.2 for the x86_64 build, XCode builds multiple architectures
+			set_property(TARGET UnitTests PROPERTY XCODE_ATTRIBUTE_OTHER_CPLUSPLUSFLAGS[arch=x86_64] "$(inherited) -msse4.2 -mpopcnt")
+		endif()
+
+		# Register unit tests as a test so that it can be run with:
+		# ctest --output-on-failure
+		enable_testing()
+		add_test(UnitTests UnitTests)
+	endif()
+
+	if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "WindowsStore")
+		if (TARGET_HELLO_WORLD)
+			# Example 'Hello World' application
+			include(${PHYSICS_REPO_ROOT}/HelloWorld/HelloWorld.cmake)
+			add_executable(HelloWorld ${HELLO_WORLD_SRC_FILES})
+			target_include_directories(HelloWorld PUBLIC ${HELLO_WORLD_ROOT})
+			target_link_libraries(HelloWorld LINK_PUBLIC Jolt)
+			if (MSVC)
+				target_link_options(HelloWorld PUBLIC "/SUBSYSTEM:CONSOLE")
+			endif()
+			if (EMSCRIPTEN)
+				target_link_options(HelloWorld PUBLIC -sSTACK_SIZE=1048576 -sINITIAL_MEMORY=134217728)
+			endif()
+		endif()
+
+		if (TARGET_PERFORMANCE_TEST)
+			# Performance Test application
+			include(${PHYSICS_REPO_ROOT}/PerformanceTest/PerformanceTest.cmake)
+			add_executable(PerformanceTest ${PERFORMANCE_TEST_SRC_FILES})
+			target_include_directories(PerformanceTest PUBLIC ${PERFORMANCE_TEST_ROOT})
+			target_link_libraries(PerformanceTest LINK_PUBLIC Jolt)
+			if (MSVC)
+				target_link_options(PerformanceTest PUBLIC "/SUBSYSTEM:CONSOLE")
+			endif()
+			if (EMSCRIPTEN)
+				# Embed the assets for the RagdollScene
+				target_link_options(PerformanceTest PUBLIC "SHELL:--preload-file ${PHYSICS_REPO_ROOT}/Assets/Human.tof@/Assets/Human.tof")
+				target_link_options(PerformanceTest PUBLIC "SHELL:--preload-file ${PHYSICS_REPO_ROOT}/Assets/Human/dead_pose1.tof@/Assets/Human/dead_pose1.tof")
+				target_link_options(PerformanceTest PUBLIC "SHELL:--preload-file ${PHYSICS_REPO_ROOT}/Assets/terrain2.bof@/Assets/terrain2.bof")
+				target_link_options(PerformanceTest PUBLIC -sSTACK_SIZE=1048576 -sINITIAL_MEMORY=134217728)
+			endif()
+			set_property(TARGET PerformanceTest PROPERTY VS_DEBUGGER_WORKING_DIRECTORY "${PHYSICS_REPO_ROOT}")
+		endif()
+	endif()
+
+	if ((WIN32 OR LINUX OR ("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")) AND NOT ("${CMAKE_VS_PLATFORM_NAME}" STREQUAL "ARM")) # ARM 32-bit is missing dinput8.lib
+		# Windows only targets
+		if (TARGET_SAMPLES OR TARGET_VIEWER)
+			include(${PHYSICS_REPO_ROOT}/TestFramework/TestFramework.cmake)
+		endif()
+		if (TARGET_SAMPLES)
+			if (TEST_FRAMEWORK_AVAILABLE)
+				include(${PHYSICS_REPO_ROOT}/Samples/Samples.cmake)
+			else()
+				message("Cannot build Samples because Vulkan/DirectX SDK is not available!")
+			endif()
+		endif()
+		if (TARGET_VIEWER)
+			if (TEST_FRAMEWORK_AVAILABLE)
+				include(${PHYSICS_REPO_ROOT}/JoltViewer/JoltViewer.cmake)
+			else()
+				message("Cannot build JoltViewer because Vulkan/DirectX SDK is not available!")
+			endif()
+		endif()
+	endif()
+endif()

lib/All/JoltPhysics/Build/README.md

@@ -0,0 +1,250 @@
+# Building and Using Jolt Physics
+
+## Build Types
+
+Each platform supports multiple build targets
+
+- Debug - Debug version of the library, turns on asserts
+- Release - Release version of the library, no asserts but includes profiling support and can draw the world and simulation properties
+- ReleaseASAN - As Release but turns on Address Sanitizer (clang only) to find bugs
+- ReleaseUBSAN - As Release but turns on Undefined Behavior Sanitizer (clang only) to find bugs
+- ReleaseTSAN - As Release but turns on the Thread Sanitizer (clang only) to find bugs
+- ReleaseCoverage - As Release but turns on Coverage reporting (clang only) to find which areas of the code are not executed
+- Distribution - Shippable version of the library, turns off all debugging support
+
+## Includes
+
+The Jolt headers don't include Jolt/Jolt.h. Always include Jolt/Jolt.h before including any other Jolt header.
+You can use Jolt/Jolt.h in your precompiled header to speed up compilation.
+
+## Defines
+
+There are a number of user configurable defines that turn on/off certain features:
+<details>
+	<summary>General Options (click to see more)</summary>
+	<ul>
+		<li>JPH_SHARED_LIBRARY - Use the Jolt library as a shared library. Use JPH_BUILD_SHARED_LIBRARY to build Jolt as a shared library.</li>
+		<li>JPH_PROFILE_ENABLED - Turns on the internal profiler.</li>
+		<li>JPH_EXTERNAL_PROFILE - Turns on the internal profiler but forwards the information to a user defined external system (see Profiler.h). Use JPH_USE_EXTERNAL_PROFILE option to enable this from CMake config.</li>
+		<li>JPH_DEBUG_RENDERER - Adds support to draw lines and triangles, used to be able to debug draw the state of the world.</li>
+		<li>JPH_DISABLE_TEMP_ALLOCATOR - Disables the temporary memory allocator, used mainly to allow ASAN to do its job.</li>
+		<li>JPH_DISABLE_CUSTOM_ALLOCATOR - Disables the ability to override the memory allocator.</li>
+		<li>JPH_FLOATING_POINT_EXCEPTIONS_ENABLED - Turns on division by zero and invalid floating point exception support in order to detect bugs (Windows only).</li>
+		<li>JPH_CROSS_PLATFORM_DETERMINISTIC - Turns on behavior to attempt cross platform determinism. If this is set, JPH_USE_FMADD is ignored.</li>
+		<li>JPH_DET_LOG - Turn on a lot of extra logging to help debug determinism issues when JPH_CROSS_PLATFORM_DETERMINISTIC is turned on.</li>
+		<li>JPH_ENABLE_ASSERTS - Compiles the library so that it rises an assert in case of failures. The library ignores these failures otherwise.</li>
+		<li>JPH_DOUBLE_PRECISION - Compiles the library so that all positions are stored in doubles instead of floats. This makes larger worlds possible.</li>
+		<li>JPH_OBJECT_LAYER_BITS - Defines the size of ObjectLayer, must be 16 or 32 bits.</li>
+		<li>JPH_OBJECT_STREAM - Includes the code to serialize physics data in the ObjectStream format (mostly used by the examples).</li>
+		<li>JPH_NO_FORCE_INLINE - Don't use force inlining but fall back to a regular 'inline'.</li>
+		<li>JPH_USE_STD_VECTOR - Use std::vector instead of Jolt's own Array class.</li>
+		<li>CPP_RTTI_ENABLED - Enable C++ RTTI for the library. Disabled by default.</li>
+	</ul>
+</details>
+
+<details>
+	<summary>CPU Instruction Sets (click to see more)</summary>
+	<ul>
+		<li>JPH_USE_SSE4_1 - Enable SSE4.1 CPU instructions (default: on, x86/x64 only)</li>
+		<li>JPH_USE_SSE4_2 - Enable SSE4.2 CPU instructions (default: on, x86/x64 only)</li>
+		<li>JPH_USE_F16C - Enable half float CPU instructions (default: on, x86/x64 only)</li>
+		<li>JPH_USE_LZCNT - Enable the lzcnt CPU instruction (default: on, x86/x64 only)</li>
+		<li>JPH_USE_TZCNT - Enable the tzcnt CPU instruction (default: on, x86/x64 only)</li>
+		<li>JPH_USE_AVX - Enable AVX CPU instructions (default: on, x86/x64 only)</li>
+		<li>JPH_USE_AVX2 - Enable AVX2 CPU instructions (default: on, x86/x64 only)</li>
+		<li>JPH_USE_AVX512 - Enable AVX512F+AVX512VL CPU instructions (default: off, x86/x64 only)</li>
+		<li>JPH_USE_FMADD - Enable fused multiply add CPU instructions (default: on, x86/x64 only)</li>
+	</ul>
+</details>
+
+## Logging & Asserting
+
+To override the default trace and assert mechanism install your own custom handlers in Trace and AssertFailed (see IssueReporting.h).
+
+## Custom Memory Allocator
+
+To implement your custom memory allocator override Allocate, Free, Reallocate, AlignedAllocate and AlignedFree (see Memory.h).
+
+## Building
+
+<details>
+	<summary>Windows 10+</summary>
+	<ul style="list-style: none"><li>
+		<details>
+			<summary>MSVC CL (default compiler)</summary>
+			<ul>
+				<li>Download Visual Studio 2022 (Community or other edition)</li>
+				<li>Download CMake 3.20+ (https://cmake.org/download/)</li>
+				<li>Run cmake_vs2022_cl.bat</li>
+				<li>Open the resulting project file VS2022_CL\JoltPhysics.sln</li>
+				<li>Compile and run either 'Samples' or 'UnitTests'</li>
+			</ul>
+		</details>
+		<details>
+			<summary>MSVC CL - 32 bit</summary>
+			<ul>
+				<li>Download Visual Studio 2022 (Community or other edition)</li>
+				<li>Download CMake 3.20+ (https://cmake.org/download/)</li>
+				<li>Run cmake_vs2022_cl_32bit.bat</li>
+				<li>Open the resulting project file VS2022_CL_32BIT\JoltPhysics.sln</li>
+				<li>Compile and run either 'Samples' or 'UnitTests'</li>
+			</ul>
+		</details>
+		<details>
+			<summary>MSVC Clang compiler</summary>
+			<ul>
+				<li>Download Visual Studio 2022 (Community or other edition)</li>
+				<li>Make sure to install "C++ Clang Compiler for Windows 11.0.0+" and "C++ Clang-cl for v142+ build tools (x64/x86)" using the Visual Studio Installer</li>
+				<li>Download CMake 3.20+ (https://cmake.org/download/)</li>
+				<li>Run cmake_vs2022_clang.bat</li>
+				<li>Open the resulting project file VS2022_Clang\JoltPhysics.sln</li>
+				<li>Compile and run either 'Samples' or 'UnitTests'</li>
+			</ul>
+		</details>
+		<details>
+			<summary>MSVC Universal Windows Platform</summary>
+			<ul>
+				<li>Download Visual Studio 2022+ (Community or other edition)</li>
+				<li>Make sure to install "Universal Windows Platform development" using the Visual Studio Installer</li>
+				<li>Download CMake 3.20+ (https://cmake.org/download/)</li>
+				<li>Run cmake_vs2022_uwp.bat</li>
+				<li>Open the resulting project file VS2022_UWP\JoltPhysics.sln</li>
+				<li>Compile and run 'UnitTests'</li>
+			</ul>
+		</details>
+		<details>
+			<summary>MinGW</summary>
+			<ul>
+				<li>Follow download instructions for MSYS2 (https://www.msys2.org/)</li>
+				<li>From the MSYS2 MSYS app run: pacman -S --needed mingw-w64-x86_64-toolchain mingw-w64-x86_64-cmake</li>
+				<li>From the MSYS2 MINGW x64 app, in the Build folder run: ./cmake_windows_mingw.sh</li>
+				<li>Run: cmake --build MinGW_Debug</li>
+				<li>Run: MinGW_Debug/UnitTests.exe</li>
+			</ul>
+		</details>
+	</li></ul>
+</details>
+
+<details>
+	<summary>Linux (Ubuntu)</summary>
+	<ul>
+		<li>Install clang (apt-get install clang)</li>
+		<li>Install cmake (apt-get install cmake)</li>
+		<li>If you want to build the Samples or JoltViewer, install the <a href="https://vulkan.lunarg.com/doc/view/latest/linux/getting_started_ubuntu.html">Vulkan SDK</a></li>
+		<li>Run: ./cmake_linux_clang_gcc.sh</li>
+		<li>Go to the Linux_Debug folder</li>
+		<li>Run: make -j$(nproc) && ./UnitTests</li>
+		<li>If you built the samples you can run: ./Samples</li>
+	</ul>
+</details>
+
+<details>
+	<summary>Android</summary>
+	<ul>
+		<li>Install Android Studio 2020.3.1+ (https://developer.android.com/studio/)</li>
+		<li>Open the 'Android' folder in Android Studio and wait until gradle finishes</li>
+		<li>Select 'Run' / 'Run...' and 'UnitTests'</li>
+		<li>If the screen turns green after a while the unit tests succeeded, when red they failed (see the android log for details)</li>
+	</ul>
+</details>
+
+<details>
+	<summary>macOS</summary>
+	<ul>
+		<li>Install XCode</li>
+		<li>Download CMake 3.23+ (https://cmake.org/download/)</li>
+		<li>Run: ./cmake_xcode_macos.sh</li>
+		<li>This will open XCode with a newly generated project</li>
+		<li>Build and run the project</li>
+		<li>Note that you can also follow the steps in the 'Linux' section if you wish to build without XCode.</li>
+	</ul>
+</details>
+
+<details>
+	<summary>iOS</summary>
+	<ul>
+		<li>Install XCode</li>
+		<li>Download CMake 3.23+ (https://cmake.org/download/)</li>
+		<li>Run: ./cmake_xcode.ios.sh</li>
+		<li>This will open XCode with a newly generated project</li>
+		<li>Build and run the project (note that this will only work in the simulator as the code signing information is not set up)</li>
+	</ul>
+</details>
+
+<details>
+	<summary>Emscripten (tested only on Linux)</summary>
+	<ul>
+		<li>Install Emscripten (https://emscripten.org/docs/getting_started/downloads.html)</li>
+		<li>Install nodejs (apt-get install nodejs)</li>
+		<li>Download CMake 3.23+ (https://cmake.org/download/)</li>
+		<li>Run: ./cmake_linux_emscripten.sh</li>
+		<li>Go to the WASM_Debug folder</li>
+		<li>Run: make -j$(nproc) && node UnitTests.js</li>
+	</ul>
+</details>
+
+## Other Build Tools
+
+* A vcpkg package is available [here](https://github.com/microsoft/vcpkg/tree/master/ports/joltphysics).
+* A xmake package is available [here](https://github.com/xmake-io/xmake-repo/tree/dev/packages/j/joltphysics).
+* A conan package is available [here](https://conan.io/center/recipes/joltphysics)
+* Jolt has been verified to build with [ninja](https://ninja-build.org/) through CMake.
+
+## Errors
+
+### Link Error: File Format Not Recognized
+
+If you receive the following error when linking:
+
+```
+/usr/bin/ld: libJolt.a: error adding symbols: file format not recognized
+```
+
+Then you have not enabled interprocedural optimizations (link time optimizations) for your own application. See the INTERPROCEDURAL_OPTIMIZATION option in CMakeLists.txt.
+
+### Link Error: Unresolved External Symbol
+
+If you receive a link error that looks like:
+
+```
+error LNK2001: unresolved external symbol "public: virtual void __cdecl JPH::ConvexShape::GetSubmergedVolume(...) const"
+```
+
+you have a mismatch in defines between your own code and the Jolt library. In this case the mismatch is in the define `JPH_DEBUG_RENDERER` which is most likely defined in `Jolt.lib` and not in your own project. In `Debug` and `Release` builds, Jolt by default has `JPH_DEBUG_RENDERER` defined, in `Distribution` it is not defined. The cmake options `DEBUG_RENDERER_IN_DEBUG_AND_RELEASE` and `DEBUG_RENDERER_IN_DISTRIBUTION` override this behavior.
+
+The `RegisterTypes` function (which you have to call to initialize the library) checks the other important defines and will trace and abort if there are more mismatches.
+
+### Link Error: Undefined Symbol
+
+If you receive a link error that looks like:
+
+```
+error: undefined symbol: typeinfo for JPH::DebugRenderer
+```
+
+you have a mismatch between RTTI settings (MSVC: `/GR`/`/GR-`, clang: `-frtti`/`-fno-rtti`). Jolt by default compiles without RTTI and if your project compiles with RTTI you can get this error. Either turn RTTI off for your project or turn it on for Jolt using the CPP_RTTI_ENABLED cmake option.
+
+### DirectX Error
+
+The samples use DirectX for the graphics implementation, when attempting to run the samples you may get a DirectX error pop-up which may say "The GPU device instance has been suspended", in your debugger you may see the message "Using the Redistributable D3D12 SDKLayers dll also requires that the latest SDKLayers for Windows 10 is installed.". 
+
+Fix this by enabling "Graphics Tools" which is an optional Windows settings. To enable it you have to press the windows key, search for "Manage Optional Features", and then click "Add a Feature", and install "Graphics Tools".
+
+### Illegal Instruction Error
+
+If your CPU doesn't support all of the instructions you'll get an `Illegal instruction` exception.
+
+On Linux to see what instructions your CPU supports run `lscpu` and then look at the flags section, on Windows you can use a program like [`coreinfo`](https://learn.microsoft.com/en-us/sysinternals/downloads/coreinfo). Once you know what instructions your cpu supports you can configure the project through cmake and for example disable all special instructions:
+
+```
+./cmake_linux_clang_gcc.sh Release clang++ -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF
+```
+
+Note that this example is for Linux but the cmake settings work on Windows too.
+
+## Doxygen on Windows
+
+Documentation can be generated through doxygen:
+
+- Install Doxygen (https://www.doxygen.nl/download.html)
+- Run: run_doxygen.bat

lib/All/JoltPhysics/Build/cmake_linux_clang_gcc.sh

@@ -0,0 +1,28 @@
+#!/bin/sh
+
+if [ -z $1 ]
+then
+	BUILD_TYPE=Debug
+else
+	BUILD_TYPE=$1
+	shift
+fi
+
+if [ -z $1 ]
+then
+	COMPILER=clang++
+else
+	COMPILER=$1
+	shift
+fi
+
+BUILD_DIR=Linux_$BUILD_TYPE
+
+echo Usage: ./cmake_linux_clang_gcc.sh [Configuration] [Compiler]
+echo "Possible configurations: Debug (default), Release, Distribution, ReleaseUBSAN, ReleaseASAN, ReleaseTSAN, ReleaseCoverage"
+echo "Possible compilers: clang++, clang++-XX, g++, g++-XX where XX is the version"
+echo Generating Makefile for build type \"$BUILD_TYPE\" and compiler \"$COMPILER\" in folder \"$BUILD_DIR\"
+
+cmake -S . -B $BUILD_DIR -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_COMPILER=$COMPILER "${@}"
+
+echo Compile by running \"make -j $(nproc) \&\& ./UnitTests\" in folder \"$BUILD_DIR\"

lib/All/JoltPhysics/Build/cmake_linux_emscripten.sh

@@ -0,0 +1,19 @@
+#!/bin/sh
+
+if [ -z $1 ]
+then
+	BUILD_TYPE=Debug
+else
+	BUILD_TYPE=$1
+	shift
+fi
+
+BUILD_DIR=WASM_$BUILD_TYPE
+
+echo Usage: ./cmake_linux_emscripten.sh [Configuration]
+echo "Possible configurations: Debug (default), Release, Distribution"
+echo Generating Makefile for build type \"$BUILD_TYPE\" in folder \"$BUILD_DIR\"
+
+cmake -S . -B $BUILD_DIR -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_TOOLCHAIN_FILE=${EMSDK}/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake "${@}"
+
+echo Compile by running \"make -j $(nproc) \&\& node UnitTests.js\" in folder \"$BUILD_DIR\"

lib/All/JoltPhysics/Build/cmake_linux_mingw.sh

@@ -0,0 +1,19 @@
+#!/bin/sh
+
+if [ -z $1 ]
+then
+	BUILD_TYPE=Release
+else
+	BUILD_TYPE=$1
+	shift
+fi
+
+BUILD_DIR=MinGW_$BUILD_TYPE
+
+echo Usage: ./cmake_linux_mingw.sh [Configuration]
+echo "Possible configurations: Debug, Release (default), Distribution"
+echo Generating Makefile for build type \"$BUILD_TYPE\" in folder \"$BUILD_DIR\"
+
+cmake -S . -B $BUILD_DIR -DCMAKE_TOOLCHAIN_FILE=mingw-w64-x86_64.cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE "${@}"
+
+echo Compile by running \"cmake --build $BUILD_DIR -j $(nproc)\"

lib/All/JoltPhysics/Build/cmake_vs2022_cl.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL -G "Visual Studio 17 2022" -A x64 %*
+echo Open VS2022_CL\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_32bit.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_32BIT -G "Visual Studio 17 2022" -A Win32 -DUSE_SSE4_1=OFF -DUSE_SSE4_2=OFF -DUSE_AVX=OFF -DUSE_AVX2=OFF -DUSE_AVX512=OFF -DUSE_LZCNT=OFF -DUSE_TZCNT=OFF -DUSE_F16C=OFF -DUSE_FMADD=OFF %*
+echo Open VS2022_CL_32BIT\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_arm.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_ARM -G "Visual Studio 17 2022" -A ARM64 %*
+echo Open VS2022_CL_ARM\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_arm_32bit.bat

@@ -0,0 +1,4 @@
+@echo off
+cmake -S . -B VS2022_CL_ARM_32BIT -G "Visual Studio 17 2022" -A ARM -DCMAKE_SYSTEM_VERSION="10.0.22621.0" -DCMAKE_CXX_COMPILER_WORKS=1 %*
+echo Note that Windows 11 SDK (10.0.22621.0) is the last SDK to support 32-bit ARM, make sure you have it installed.
+echo Open VS2022_CL_ARM_32BIT\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_cross_platform_deterministic.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_CPD -G "Visual Studio 17 2022" -A x64 -DCROSS_PLATFORM_DETERMINISTIC=ON %*
+echo Open VS2022_CL_CPD\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_double.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_Double -G "Visual Studio 17 2022" -A x64 -DDOUBLE_PRECISION=ON %*
+echo Open VS2022_CL_Double\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_cl_no_object_stream.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2022_CL_NO_OBJ_STR -G "Visual Studio 17 2022" -A x64 -DENABLE_OBJECT_STREAM=OFF %*
+echo Open VS2022_CL_NO_OBJ_STR\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_clang.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2022_Clang -G "Visual Studio 17 2022" -A x64 -T ClangCL %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 12.0.0+
+echo - C++ Clang-cl for v143+ build tools (x64/x86)
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2022_Clang/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_clang_cross_platform_deterministic.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2022_Clang_CPD -G "Visual Studio 17 2022" -A x64 -T ClangCL -DCROSS_PLATFORM_DETERMINISTIC=ON %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 12.0.0+
+echo - C++ Clang-cl for v143+ build tools (x64/x86)
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2022_Clang_CPD/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_clang_double.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2022_Clang_Double -G "Visual Studio 17 2022" -A x64 -T ClangCL -DDOUBLE_PRECISION=YES %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 12.0.0+
+echo - C++ Clang-cl for v143+ build tools (x64/x86)
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2022_Clang_Double/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2022_uwp.bat

@@ -0,0 +1,5 @@
+@echo off
+cmake -S . -B VS2022_UWP -G "Visual Studio 17 2022" -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 %*
+echo If cmake failed then be sure to check the "Universal Windows Platform development" checkbox in the Visual Studio Installer
+echo Open VS2022_UWP\JoltPhysics.sln to build the project.
+echo Note that none of the sample applications are available for the Universal Windows Platform (use cmake_vs2022_cl.bat instead).

lib/All/JoltPhysics/Build/cmake_vs2022_uwp_arm.bat

@@ -0,0 +1,5 @@
+@echo off
+cmake -S . -B VS2022_UWP_ARM -G "Visual Studio 17 2022" -A ARM64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 %*
+echo If cmake failed then be sure to check the "Universal Windows Platform development" checkbox in the Visual Studio Installer
+echo Open VS2022_UWP_ARM\JoltPhysics.sln to build the project.
+echo Note that none of the sample applications are available for the Universal Windows Platform (use cmake_vs2022_cl_arm.bat instead).

lib/All/JoltPhysics/Build/cmake_vs2026_cl.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2026_CL -G "Visual Studio 18 2026" -A x64 %*
+echo Open VS2026_CL\JoltPhysics.slnx to build the project.

lib/All/JoltPhysics/Build/cmake_vs2026_cl_cross_platform_deterministic.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2026_CL_CPD -G "Visual Studio 18 2026" -A x64 -DCROSS_PLATFORM_DETERMINISTIC=ON %*
+echo Open VS2026_CL_CPD\JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2026_cl_double.bat

@@ -0,0 +1,3 @@
+@echo off
+cmake -S . -B VS2026_CL_Double -G "Visual Studio 18 2026" -A x64 -DDOUBLE_PRECISION=ON %*
+echo Open VS2026_CL_Double\JoltPhysics.slnx to build the project.

lib/All/JoltPhysics/Build/cmake_vs2026_clang.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2026_Clang -G "Visual Studio 18 2026" -A x64 -T ClangCL %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 20+
+echo - MSBuild support for LLVM (clang-cl) toolset
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2026_Clang/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2026_clang_cross_platform_deterministic.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2026_Clang_CPD -G "Visual Studio 18 2026" -A x64 -T ClangCL -DCROSS_PLATFORM_DETERMINISTIC=ON %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 20+
+echo - MSBuild support for LLVM (clang-cl) toolset
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2026_Clang_CPD/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_vs2026_clang_double.bat

@@ -0,0 +1,10 @@
+@echo off
+cmake -S . -B VS2026_Clang_Double -G "Visual Studio 18 2026" -A x64 -T ClangCL -DDOUBLE_PRECISION=YES %*
+echo:
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Make sure to install:
+echo - C++ Clang Compiler for Windows 20+
+echo - MSBuild support for LLVM (clang-cl) toolset
+echo Using the Visual Studio Installer
+echo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+echo Open VS2026_Clang_Double/JoltPhysics.sln to build the project.

lib/All/JoltPhysics/Build/cmake_windows_mingw.sh

@@ -0,0 +1,19 @@
+#!/bin/sh
+
+if [ -z $1 ]
+then
+	BUILD_TYPE=Debug
+else
+	BUILD_TYPE=$1
+	shift
+fi
+
+BUILD_DIR=MinGW_$BUILD_TYPE
+
+echo Usage: ./cmake_windows_mingw.sh [Configuration]
+echo "Possible configurations: Debug (default), Release, Distribution"
+echo Generating Makefile for build type \"$BUILD_TYPE\" in folder \"$BUILD_DIR\"
+
+cmake -S . -B $BUILD_DIR -G "MinGW Makefiles" -DCMAKE_BUILD_TYPE=$BUILD_TYPE "${@}"
+
+echo Compile by running \"cmake --build $BUILD_DIR -j $(nproc)\"

lib/All/JoltPhysics/Build/cmake_xcode_ios.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+
+cmake -S . -B XCode_iOS -DTARGET_HELLO_WORLD=OFF -DTARGET_PERFORMANCE_TEST=OFF -DCMAKE_SYSTEM_NAME=iOS -GXcode
+open XCode_iOS/JoltPhysics.xcodeproj

lib/All/JoltPhysics/Build/cmake_xcode_macos.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+
+cmake -S . -B XCode_MacOS -GXcode -D"CMAKE_OSX_ARCHITECTURES=x86_64;arm64"
+open XCode_MacOS/JoltPhysics.xcodeproj