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paulnovo-guest pushed a change to branch upstream
in repository opensurgsim.

      from  9cc9611   Imported Upstream version 0.6.0
      adds  179b713   New upstream version 0.7.0

No new revisions were added by this update.

Summary of changes:
 .gitignore                                         |     1 -
 CMake/External_yamlcpp.cmake                       |    47 +-
 CMake/FindLabJack.cmake                            |     2 +-
 CMake/FindLeapSdk.cmake                            |    52 +
 CMake/FindMathJax.cmake                            |    38 +
 CMake/FindNovintHdalSdk.cmake                      |    51 +-
 CMake/FindOculusSdk.cmake                          |   132 +
 CMake/FindOpenNI2.cmake                            |   117 +
 CMake/FindOptiTrack.cmake                          |     2 +-
 CMake/FindSixenseSdk.cmake                         |   111 +-
 CMake/Library.h.in                                 |    23 +
 CMake/OpenSurgSimConfig.cmake.in                   |     2 +-
 CMake/SurgSimBuildFlags.cmake                      |    17 +-
 CMake/SurgSimUtilities.cmake                       |    88 +-
 CMakeLists.txt                                     |    49 +-
 Data/Fonts/COPYRIGHT.TXT                           |    57 +
 Data/Fonts/Vera.ttf                                |   Bin 0 -> 65932 bytes
 Data/Shaders/bilateral_blur.frag                   |    68 +
 Data/Shaders/depth_map.frag                        |    10 +-
 Data/Shaders/dns_mapping_material.frag             |    78 +
 Data/Shaders/dns_mapping_material.vert             |    87 +
 Data/Shaders/dns_mapping_material_twosided.frag    |    87 +
 Data/Shaders/dns_mapping_multitexture.frag         |    81 +
 Data/Shaders/ds_mapping_material.frag              |    17 +-
 Data/Shaders/ds_mapping_material.vert              |     4 +-
 Data/Shaders/ds_mapping_material_twosided.frag     |    85 +
 Data/Shaders/ds_mapping_multitexture.frag          |    61 +
 Data/Shaders/gauss_blur.frag                       |    52 +
 Data/Shaders/gauss_blur_horizontal.vert            |    43 +
 Data/Shaders/gauss_blur_vertical.vert              |    44 +
 Data/Shaders/implicit_surface/depth.frag           |    58 +
 Data/Shaders/implicit_surface/depth.vert           |    51 +
 Data/Shaders/implicit_surface/normal.frag          |    82 +
 Data/Shaders/implicit_surface/normal.vert          |    28 +
 Data/Shaders/implicit_surface/shading.frag         |   130 +
 Data/Shaders/implicit_surface/shading.vert         |    34 +
 Data/Shaders/material.frag                         |    19 +-
 Data/Shaders/material.vert                         |    37 +-
 Data/Shaders/material_curve.vert                   |    89 +
 Data/Shaders/material_multitexture.frag            |    55 +
 Data/Shaders/s_mapping_material.frag               |    60 +
 ...pping_material.vert => s_mapping_material.vert} |     0
 Data/Shaders/s_mapping_metal.frag                  |    84 +
 Data/Shaders/s_mapping_metal.vert                  |    64 +
 Data/Shaders/shadow_map.frag                       |    24 +-
 Data/Shaders/shadow_map.vert                       |    19 +-
 Data/Shaders/skinning.vert                         |    76 +
 Data/Shaders/unlit_text.frag                       |    29 +
 Data/Shaders/unlit_texture_rectangle.frag          |    19 +
 Data/devices.yaml                                  |     8 +
 Documentation/CMakeLists.txt                       |    33 +-
 Documentation/Doxyfile.in                          |    11 +-
 Documentation/mainPage.dox                         |    50 -
 Examples/AddSphereFromInput/AddSphereBehavior.h    |     8 +-
 Examples/AddSphereFromInput/AddSphereFromInput.cpp |    44 +-
 Examples/AddSphereFromInput/CMakeLists.txt         |     4 +-
 Examples/CMakeLists.txt                            |    13 +-
 Examples/DroppingBalls/AddRandomSphereBehavior.h   |     6 +-
 Examples/DroppingBalls/CMakeLists.txt              |     4 +-
 Examples/DroppingBalls/DroppingBalls.cpp           |    45 +-
 Examples/GraphicsScene/CMakeLists.txt              |     6 +-
 Examples/GraphicsScene/Data/StereoView.yaml        |    35 +
 Examples/GraphicsScene/GraphicsScene.cpp           |   306 +-
 Examples/GraphicsScene/config.txt.in               |     2 +-
 Examples/InputVtc/CMakeLists.txt                   |    24 +-
 Examples/InputVtc/Data/Device.yaml                 |    13 +
 Examples/InputVtc/DeviceFactory.cpp                |    73 -
 Examples/InputVtc/DeviceFactory.h                  |    45 -
 Examples/InputVtc/InputVtc.cpp                     |   113 +-
 Examples/{Stapling => InputVtc}/config.txt.in      |     0
 Examples/ShowScenery/CMakeLists.txt                |    50 +
 Examples/ShowScenery/ShowScenery.cpp               |   141 +
 Examples/ShowScenery/config.txt.in                 |     1 +
 Examples/Stapling/CMakeLists.txt                   |    29 +-
 Examples/Stapling/Data/StaplingDemo.yaml           |   527 +-
 Examples/Stapling/SerializedStapling.cpp           |    60 +-
 Examples/Stapling/StapleElement.cpp                |     3 +-
 Examples/Stapling/StapleElement.h                  |     2 +-
 Examples/Stapling/StaplerBehavior.cpp              |   128 +-
 Examples/Stapling/StaplerBehavior.h                |    22 +-
 Examples/Stapling/Stapling.cpp                     |   127 +-
 Modules/CMakeLists.txt                             |    30 +
 Modules/README                                     |     6 +
 NOTICE                                             |    22 +-
 README                                             |   143 -
 README.md                                          |   154 +
 SurgSim/Blocks/CMakeLists.txt                      |    32 +-
 SurgSim/Blocks/CompoundShapeToGraphics.cpp         |   151 +
 SurgSim/Blocks/CompoundShapeToGraphics.h           |   115 +
 SurgSim/Blocks/DebugDumpBehavior.cpp               |   166 +
 SurgSim/Blocks/DebugDumpBehavior.h                 |    80 +
 SurgSim/Blocks/DriveElementFromInputBehavior.cpp   |    13 +-
 SurgSim/Blocks/FunctionBehavior.cpp                |    76 +
 SurgSim/Blocks/FunctionBehavior.h                  |   107 +
 SurgSim/Blocks/GraphicsUtilities.cpp               |   246 +
 SurgSim/Blocks/GraphicsUtilities.h                 |   126 +
 SurgSim/Blocks/ImplicitSurface.cpp                 |   358 +
 SurgSim/Blocks/ImplicitSurface.h                   |    73 +
 SurgSim/Blocks/KeyBehavior.cpp                     |   141 +
 SurgSim/Blocks/KeyBehavior.h                       |    96 +
 SurgSim/Blocks/KeyboardCallbackBehavior.cpp        |   101 +
 SurgSim/Blocks/KeyboardCallbackBehavior.h          |    92 +
 .../Blocks/KeyboardTogglesComponentBehavior.cpp    |    17 +-
 SurgSim/Blocks/KeyboardTogglesComponentBehavior.h  |    10 +-
 SurgSim/Blocks/MassSpring1DRepresentation.cpp      |    61 +-
 SurgSim/Blocks/MassSpring1DRepresentation.h        |     3 -
 SurgSim/Blocks/PoseInterpolator.cpp                |    15 +-
 SurgSim/Blocks/PoseInterpolator.h                  |    19 +-
 SurgSim/Blocks/ShadowMapping.cpp                   |   280 +
 SurgSim/Blocks/ShadowMapping.h                     |    81 +
 SurgSim/Blocks/SingleKeyBehavior.cpp               |    88 +
 SurgSim/Blocks/SingleKeyBehavior.h                 |    74 +
 SurgSim/Blocks/SphereElement.cpp                   |    36 +-
 SurgSim/Blocks/SphereElement.h                     |    18 +-
 .../TransferParticlesToPointCloudBehavior.cpp      |   100 +
 .../Blocks/TransferParticlesToPointCloudBehavior.h |    86 +
 .../TransferPhysicsToGraphicsMeshBehavior.cpp      |   211 +-
 .../Blocks/TransferPhysicsToGraphicsMeshBehavior.h |    65 +-
 .../Blocks/TransferPhysicsToPointCloudBehavior.cpp |    20 +-
 .../Blocks/TransferPhysicsToPointCloudBehavior.h   |     6 +-
 .../Blocks/TransferPhysicsToVerticesBehavior.cpp   |    90 +
 SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h |    85 +
 SurgSim/Blocks/UnitTests/CMakeLists.txt            |    16 +-
 .../UnitTests/CompoundShapeToGraphicsTests.cpp     |   199 +
 .../UnitTests/Data/Geometry/wound_deformable.ply   |  2389 ----
 .../TransferPhysicsToGraphicsMeshBehavior/data.ply |    14 +
 .../data_more.ply                                  |    27 +
 .../DriveElementFromInputBehaviorTests.cpp         |   130 +
 SurgSim/Blocks/UnitTests/FunctionBehaviorTests.cpp |   106 +
 SurgSim/Blocks/UnitTests/KeyBehaviorTests.cpp      |   152 +
 .../UnitTests/KeyboardCallbackBehaviorTests.cpp    |    79 +
 .../KeyboardTogglesComponentBehaviorTests.cpp      |    19 +-
 SurgSim/Blocks/UnitTests/PoseInterpolatorTests.cpp |    81 +-
 .../Blocks/UnitTests/SingleKeyBehaviorTests.cpp    |   105 +
 .../TransferParticlesToPointCloudBehaviorTests.cpp |   200 +
 .../TransferPhysicsToGraphicsMeshBehaviorTests.cpp |   115 +-
 .../TransferPhysicsToPointCloudBehaviorTests.cpp   |     8 +-
 .../Blocks/UnitTests/VisualizeConstraintsTest.cpp  |    79 +
 .../UnitTests/VisualizeContactsBehaviorTests.cpp   |    43 +-
 SurgSim/Blocks/UnitTests/config.txt.in             |     4 +-
 SurgSim/Blocks/VisualizeConstraints.cpp            |   211 +
 SurgSim/Blocks/VisualizeConstraints.h              |   103 +
 SurgSim/Blocks/VisualizeContactsBehavior.cpp       |    70 +-
 SurgSim/Blocks/VisualizeContactsBehavior.h         |    32 +-
 SurgSim/CMakeLists.txt                             |     3 +
 SurgSim/Collision/BoxCapsuleContact.cpp            |   189 +
 SurgSim/Collision/BoxCapsuleContact.h              |    49 +
 SurgSim/Collision/BoxCapsuleDcdContact.cpp         |   194 -
 SurgSim/Collision/BoxCapsuleDcdContact.h           |    53 -
 SurgSim/Collision/BoxDoubleSidedPlaneContact.cpp   |   152 +
 SurgSim/Collision/BoxDoubleSidedPlaneContact.h     |    51 +
 .../Collision/BoxDoubleSidedPlaneDcdContact.cpp    |   166 -
 SurgSim/Collision/BoxDoubleSidedPlaneDcdContact.h  |    52 -
 SurgSim/Collision/BoxPlaneContact.cpp              |    76 +
 SurgSim/Collision/BoxPlaneContact.h                |    52 +
 SurgSim/Collision/BoxPlaneDcdContact.cpp           |    88 -
 SurgSim/Collision/BoxPlaneDcdContact.h             |    53 -
 SurgSim/Collision/BoxSphereContact.cpp             |   121 +
 SurgSim/Collision/BoxSphereContact.h               |    53 +
 SurgSim/Collision/BoxSphereDcdContact.cpp          |   131 -
 SurgSim/Collision/BoxSphereDcdContact.h            |    55 -
 SurgSim/Collision/CMakeLists.txt                   |    83 +-
 SurgSim/Collision/CapsuleSphereContact.cpp         |    76 +
 SurgSim/Collision/CapsuleSphereContact.h           |    50 +
 SurgSim/Collision/CapsuleSphereDcdContact.cpp      |    78 -
 SurgSim/Collision/CapsuleSphereDcdContact.h        |    52 -
 SurgSim/Collision/CcdDcdCollision.h                |    41 +
 SurgSim/Collision/CollisionPair.cpp                |    92 +-
 SurgSim/Collision/CollisionPair.h                  |   107 +-
 SurgSim/Collision/CompoundShapeContact.cpp         |   140 +
 SurgSim/Collision/CompoundShapeContact.h           |    51 +
 SurgSim/Collision/ContactCalculation.cpp           |   256 +-
 SurgSim/Collision/ContactCalculation.h             |   103 +-
 SurgSim/Collision/ContactFilter.cpp                |    41 +
 SurgSim/Collision/ContactFilter.h                  |    72 +
 SurgSim/Collision/DcdCollision.h                   |    33 -
 SurgSim/Collision/DefaultContactCalculation.cpp    |    43 +-
 SurgSim/Collision/DefaultContactCalculation.h      |    19 +-
 SurgSim/Collision/ElementContactFilter.cpp         |   192 +
 SurgSim/Collision/ElementContactFilter.h           |   136 +
 SurgSim/Collision/OctreeCapsuleContact.cpp         |    39 +
 SurgSim/Collision/OctreeCapsuleContact.h           |    44 +
 SurgSim/Collision/OctreeContact.cpp                |   115 +
 SurgSim/Collision/OctreeContact.h                  |    90 +
 SurgSim/Collision/OctreeDcdContact.cpp             |   109 -
 SurgSim/Collision/OctreeDcdContact.h               |    77 -
 .../Collision/OctreeDoubleSidedPlaneContact.cpp    |    40 +
 SurgSim/Collision/OctreeDoubleSidedPlaneContact.h  |    44 +
 SurgSim/Collision/OctreePlaneContact.cpp           |    39 +
 SurgSim/Collision/OctreePlaneContact.h             |    44 +
 SurgSim/Collision/OctreeSphereContact.cpp          |    39 +
 SurgSim/Collision/OctreeSphereContact.h            |    44 +
 SurgSim/Collision/PerformanceTests/CMakeLists.txt  |    42 +
 ...iangleMeshContactCalculationPerformanceTest.cpp |    76 +
 SurgSim/Collision/PerformanceTests/config.txt.in   |     1 +
 SurgSim/Collision/Representation.cpp               |   268 +-
 SurgSim/Collision/Representation.h                 |   174 +-
 .../Collision/SegmentMeshTriangleMeshContact.cpp   |   419 +
 SurgSim/Collision/SegmentMeshTriangleMeshContact.h |    56 +
 .../Collision/SegmentSegmentCcdIntervalCheck.cpp   |   319 +
 SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h |   229 +
 .../Collision/SegmentSegmentCcdMovingContact.cpp   |   542 +
 SurgSim/Collision/SegmentSegmentCcdMovingContact.h |   239 +
 .../Collision/SegmentSegmentCcdStaticContact.cpp   |   436 +
 SurgSim/Collision/SegmentSegmentCcdStaticContact.h |   166 +
 SurgSim/Collision/SegmentSelfContact.cpp           |   567 +
 SurgSim/Collision/SegmentSelfContact.h             |   211 +
 SurgSim/Collision/ShapeCollisionRepresentation.cpp |    12 +-
 SurgSim/Collision/ShapeCollisionRepresentation.h   |    13 +-
 SurgSim/Collision/ShapeShapeContactCalculation.h   |    97 +
 .../Collision/SphereDoubleSidedPlaneContact.cpp    |    79 +
 SurgSim/Collision/SphereDoubleSidedPlaneContact.h  |    51 +
 .../Collision/SphereDoubleSidedPlaneDcdContact.cpp |    85 -
 .../Collision/SphereDoubleSidedPlaneDcdContact.h   |    52 -
 SurgSim/Collision/SpherePlaneContact.cpp           |    78 +
 SurgSim/Collision/SpherePlaneContact.h             |    50 +
 SurgSim/Collision/SpherePlaneDcdContact.cpp        |    82 -
 SurgSim/Collision/SpherePlaneDcdContact.h          |    52 -
 SurgSim/Collision/SphereSphereContact.cpp          |    70 +
 SurgSim/Collision/SphereSphereContact.h            |    50 +
 SurgSim/Collision/SphereSphereDcdContact.cpp       |    66 -
 SurgSim/Collision/SphereSphereDcdContact.h         |    50 -
 SurgSim/Collision/TriangleMeshParticlesContact.cpp |    97 +
 SurgSim/Collision/TriangleMeshParticlesContact.h   |    53 +
 SurgSim/Collision/TriangleMeshPlaneContact.cpp     |    75 +
 SurgSim/Collision/TriangleMeshPlaneContact.h       |    48 +
 SurgSim/Collision/TriangleMeshPlaneDcdContact.cpp  |    91 -
 SurgSim/Collision/TriangleMeshPlaneDcdContact.h    |    52 -
 .../Collision/TriangleMeshSurfaceMeshContact.cpp   |   142 +
 SurgSim/Collision/TriangleMeshSurfaceMeshContact.h |    53 +
 .../Collision/TriangleMeshTriangleMeshContact.cpp  |   231 +
 .../Collision/TriangleMeshTriangleMeshContact.h    |    52 +
 .../TriangleMeshTriangleMeshDcdContact.cpp         |   229 -
 .../Collision/TriangleMeshTriangleMeshDcdContact.h |    50 -
 .../BoxCapsuleContactCalculationTests.cpp          |     4 +-
 .../BoxDoubleSidedPlaneContactCalculationTests.cpp |    12 +-
 .../UnitTests/BoxPlaneContactCalculationTests.cpp  |    12 +-
 .../UnitTests/BoxSphereContactCalculationTests.cpp |     4 +-
 SurgSim/Collision/UnitTests/CMakeLists.txt         |    11 +-
 .../CapsuleSphereContactCalculationTests.cpp       |     4 +-
 SurgSim/Collision/UnitTests/CollisionPairTests.cpp |   143 +-
 .../CompoundShapeContactCalculationTests.cpp       |   124 +
 .../UnitTests/ContactCalculationTests.cpp          |    47 +-
 .../UnitTests/ContactCalculationTestsCommon.cpp    |    56 +-
 .../UnitTests/ContactCalculationTestsCommon.h      |    27 +-
 .../UnitTests/ElementContactFilterTests.cpp        |   289 +
 .../UnitTests/OctreeContactCalculationTests.cpp    |   326 +-
 SurgSim/Collision/UnitTests/RepresentationTest.cpp |   168 +-
 ...mentMeshTriangleMeshContactCalculationTests.cpp |   905 ++
 .../SegmentSegmentCcdIntervalCheckTests.cpp        |   558 +
 .../SegmentSegmentCcdMovingContactTests.cpp        |   581 +
 .../SegmentSegmentCcdStaticContactTests.cpp        |   884 ++
 .../UnitTests/SegmentSelfContactTests.cpp          |   589 +
 .../UnitTests/ShapeCollisionRepresentationTest.cpp |    53 +-
 ...hereDoubleSidedPlaneContactCalculationTests.cpp |     6 +-
 .../SpherePlaneContactCalculationTests.cpp         |     4 +-
 .../SphereSphereContactCalculationTests.cpp        |     4 +-
 ...riangleMeshParticlesContactCalculationTests.cpp |   147 +
 .../TriangleMeshPlaneContactCalculationTests.cpp   |    22 +-
 ...angleMeshSurfaceMeshContactCalculationTests.cpp |   380 +
 ...ngleMeshTriangleMeshContactCalculationTests.cpp |    48 +-
 SurgSim/Collision/UnitTests/config.txt.in          |     2 +-
 SurgSim/DataStructures/AabbTree.cpp                |    14 +
 SurgSim/DataStructures/AabbTree.h                  |    14 +-
 SurgSim/DataStructures/AabbTreeData.cpp            |    28 +-
 SurgSim/DataStructures/AabbTreeData.h              |    11 +-
 .../DataStructures/AabbTreeIntersectionVisitor.h   |     4 +-
 SurgSim/DataStructures/AabbTreeNode.cpp            |    74 +-
 SurgSim/DataStructures/AabbTreeNode.h              |    33 +-
 SurgSim/DataStructures/BufferedValue-inl.h         |     7 +-
 SurgSim/DataStructures/CMakeLists.txt              |    26 +-
 SurgSim/DataStructures/DataGroup.cpp               |    15 +
 SurgSim/DataStructures/DataGroup.h                 |    23 +-
 SurgSim/DataStructures/DataGroupBuilder.cpp        |    19 +-
 SurgSim/DataStructures/DataGroupBuilder.h          |    17 +
 SurgSim/DataStructures/DataGroupCopier.cpp         |    47 +-
 SurgSim/DataStructures/DataGroupCopier.h           |    19 +-
 SurgSim/DataStructures/DataStructuresConvert-inl.h |    40 +-
 SurgSim/DataStructures/DataStructuresConvert.h     |    10 +-
 SurgSim/DataStructures/Grid-inl.h                  |   301 +
 SurgSim/DataStructures/Grid.h                      |   133 +
 SurgSim/DataStructures/Groups-inl.h                |   168 +
 SurgSim/DataStructures/Groups.h                    |   117 +
 SurgSim/DataStructures/Image-inl.h                 |    85 +-
 SurgSim/DataStructures/Image.h                     |    57 +-
 SurgSim/DataStructures/ImageBase-inl.h             |   138 +
 SurgSim/DataStructures/ImageBase.h                 |   125 +
 SurgSim/DataStructures/ImageMap-inl.h              |    47 +
 SurgSim/DataStructures/ImageMap.h                  |    54 +
 SurgSim/DataStructures/IndexedLocalCoordinate.cpp  |     7 +
 SurgSim/DataStructures/IndexedLocalCoordinate.h    |     7 +
 SurgSim/DataStructures/Location.h                  |   164 +-
 SurgSim/DataStructures/MeshElement.h               |    11 +
 SurgSim/DataStructures/NamedData-inl.h             |    58 +-
 SurgSim/DataStructures/NamedData.h                 |    25 +
 SurgSim/DataStructures/NormalData.h                |    51 +
 SurgSim/DataStructures/OctreeNode-inl.h            |    58 +-
 SurgSim/DataStructures/OctreeNode.cpp              |    47 +-
 SurgSim/DataStructures/OctreeNode.h                |    31 +-
 .../OctreeNodePlyReaderDelegate-inl.h              |    70 +
 .../DataStructures/OctreeNodePlyReaderDelegate.cpp |   146 +
 .../DataStructures/OctreeNodePlyReaderDelegate.h   |   166 +
 .../DataStructures/PerformanceTests/CMakeLists.txt |     1 +
 .../PerformanceTests/GridPerformanceTest.cpp       |   120 +
 SurgSim/DataStructures/PlyReader.cpp               |    43 +-
 SurgSim/DataStructures/PlyReader.h                 |    21 +-
 SurgSim/DataStructures/SegmentEmptyData.h          |    41 +
 SurgSim/DataStructures/SegmentMesh-inl.h           |   243 +
 SurgSim/DataStructures/SegmentMesh.cpp             |    29 +
 SurgSim/DataStructures/SegmentMesh.h               |   127 +
 SurgSim/DataStructures/TriangleMesh-inl.h          |   373 +-
 SurgSim/DataStructures/TriangleMesh.cpp            |    83 +-
 SurgSim/DataStructures/TriangleMesh.h              |   283 +-
 SurgSim/DataStructures/TriangleMeshBase-inl.h      |   263 -
 SurgSim/DataStructures/TriangleMeshBase.h          |   211 -
 .../TriangleMeshPlyReaderDelegate-inl.h            |   106 +-
 .../DataStructures/TriangleMeshPlyReaderDelegate.h |    30 +-
 SurgSim/DataStructures/TriangleMeshUtilities-inl.h |    35 -
 SurgSim/DataStructures/TriangleMeshUtilities.cpp   |    30 -
 SurgSim/DataStructures/TriangleMeshUtilities.h     |    43 -
 .../DataStructures/UnitTests/AabbTreeNodeTests.cpp |     4 +-
 SurgSim/DataStructures/UnitTests/AabbTreeTests.cpp |    64 +-
 SurgSim/DataStructures/UnitTests/CMakeLists.txt    |    16 +-
 .../Data/PlyReaderTests/Cube_with_physics.ply      |    52 +
 .../UnitTests/Data/SegmentMeshTest/segmentmesh.ply |    18 +
 .../DataStructures/UnitTests/DataGroupTests.cpp    |    40 +-
 .../UnitTests/DataStructuresConvertTests.cpp       |    84 +-
 SurgSim/DataStructures/UnitTests/Grid1DTests.cpp   |   256 +
 SurgSim/DataStructures/UnitTests/Grid2DTests.cpp   |   258 +
 SurgSim/DataStructures/UnitTests/Grid3DTests.cpp   |   415 +
 SurgSim/DataStructures/UnitTests/GridTests.cpp     |    26 +
 SurgSim/DataStructures/UnitTests/GridTests.h       |    73 +
 SurgSim/DataStructures/UnitTests/GroupsTests.cpp   |   262 +
 SurgSim/DataStructures/UnitTests/ImageMapTest.cpp  |   178 +
 SurgSim/DataStructures/UnitTests/ImageTest.cpp     |   144 +-
 .../UnitTests/IndexedLocalCoordinateTest.cpp       |    28 +
 SurgSim/DataStructures/UnitTests/LocationTests.cpp |   222 +-
 SurgSim/DataStructures/UnitTests/MockObjects.h     |   173 +-
 .../DataStructures/UnitTests/NamedDataTests.cpp    |    34 +
 .../DataStructures/UnitTests/OctreeNodeTests.cpp   |    69 +-
 .../UnitTests/OptionalValueTests.cpp               |    14 +
 .../DataStructures/UnitTests/PlyReaderTests.cpp    |    54 +-
 .../DataStructures/UnitTests/SegmentMeshTest.cpp   |   617 +
 .../UnitTests/TetrahedronMeshTest.cpp              |     8 +-
 .../UnitTests/TriangleMeshBaseTest.cpp             |   655 --
 .../DataStructures/UnitTests/TriangleMeshTest.cpp  |   806 +-
 SurgSim/DataStructures/UnitTests/config.txt.in     |     2 +-
 SurgSim/DataStructures/Vertex.h                    |    28 +-
 SurgSim/DataStructures/Vertices-inl.h              |   205 +
 SurgSim/DataStructures/Vertices.h                  |   141 +-
 SurgSim/DataStructures/ply.c                       |    56 +-
 SurgSim/Devices/CMakeLists.txt                     |    49 +-
 SurgSim/Devices/DeviceFilters/BoolToScalar.cpp     |   206 +
 SurgSim/Devices/DeviceFilters/BoolToScalar.h       |   125 +
 SurgSim/Devices/DeviceFilters/CMakeLists.txt       |    26 +-
 SurgSim/Devices/DeviceFilters/DeviceFilter.cpp     |    82 +
 SurgSim/Devices/DeviceFilters/DeviceFilter.h       |    84 +
 SurgSim/Devices/DeviceFilters/FilteredDevice.cpp   |   277 +
 SurgSim/Devices/DeviceFilters/FilteredDevice.h     |   110 +
 SurgSim/Devices/DeviceFilters/ForceScale.cpp       |    94 +-
 SurgSim/Devices/DeviceFilters/ForceScale.h         |    74 +-
 SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp   |   145 +-
 SurgSim/Devices/DeviceFilters/PoseIntegrator.h     |    47 +-
 SurgSim/Devices/DeviceFilters/PoseTransform.cpp    |   263 +-
 SurgSim/Devices/DeviceFilters/PoseTransform.h      |   104 +-
 SurgSim/Devices/DeviceFilters/RecordPose.cpp       |    90 +
 SurgSim/Devices/DeviceFilters/RecordPose.h         |    73 +
 .../DeviceFilters/UnitTests/BoolToScalarTest.cpp   |   214 +
 .../Devices/DeviceFilters/UnitTests/CMakeLists.txt |    19 +-
 .../UnitTests/Data/FilteredDevice.yaml             |    11 +
 .../UnitTests/Data/PoseTransform.yaml              |     6 +
 .../DeviceFilters/UnitTests/DeviceFilterTest.cpp   |    94 +
 .../DeviceFilters/UnitTests/FilteredDeviceTest.cpp |   123 +
 .../DeviceFilters/UnitTests/ForceScaleTest.cpp     |     2 +-
 .../DeviceFilters/UnitTests/PoseIntegratorTest.cpp |     2 +-
 .../DeviceFilters/UnitTests/PoseTransformTest.cpp  |    26 +-
 .../DeviceFilters}/UnitTests/config.txt.in         |     0
 SurgSim/Devices/DeviceUtilities.cpp                |   178 +
 SurgSim/Devices/DeviceUtilities.h                  |    65 +
 SurgSim/Devices/IdentityPoseDevice/CMakeLists.txt  |     3 +-
 .../IdentityPoseDevice/IdentityPoseDevice.cpp      |    43 +-
 .../IdentityPoseDevice/IdentityPoseDevice.h        |    22 +-
 .../UnitTests/IdentityPoseDeviceTest.cpp           |    22 +-
 SurgSim/Devices/Keyboard/CMakeLists.txt            |    10 +-
 SurgSim/Devices/Keyboard/KeyCode.h                 |     4 +-
 SurgSim/Devices/Keyboard/KeyboardDevice.cpp        |    33 +-
 SurgSim/Devices/Keyboard/KeyboardDevice.h          |    22 +-
 SurgSim/Devices/Keyboard/KeyboardScaffold.cpp      |    52 +-
 SurgSim/Devices/Keyboard/KeyboardScaffold.h        |    27 +-
 SurgSim/Devices/Keyboard/OsgKeyboardHandler.cpp    |    43 +-
 SurgSim/Devices/Keyboard/OsgKeyboardHandler.h      |     6 +-
 .../Keyboard/UnitTests/KeyboardDeviceTest.cpp      |    27 +-
 .../Keyboard/UnitTests/KeyboardScaffoldTest.cpp    |     2 +-
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 .../RenderTests/PaintBehaviorRenderTests.cpp       |   181 +
 SurgSim/Graphics/RenderTests/RenderTest.cpp        |     4 +-
 SurgSim/Graphics/RenderTests/RenderTest.h          |     2 +
 SurgSim/Graphics/RenderTests/config.txt.in         |     6 +-
 SurgSim/Graphics/Representation.cpp                |    18 +-
 SurgSim/Graphics/Representation.h                  |    30 +-
 SurgSim/Graphics/SceneryRepresentation.cpp         |    38 +
 SurgSim/Graphics/SceneryRepresentation.h           |    27 +-
 SurgSim/Graphics/ScreenSpaceQuadRepresentation.h   |    14 +-
 SurgSim/Graphics/Shader.h                          |   123 -
 SurgSim/Graphics/SkeletonRepresentation.h          |   109 +
 SurgSim/Graphics/TangentSpaceGenerator.cpp         |   287 +
 SurgSim/Graphics/TangentSpaceGenerator.h           |   149 +
 SurgSim/Graphics/TextRepresentation.cpp            |    60 +
 SurgSim/Graphics/TextRepresentation.h              |   145 +
 SurgSim/Graphics/Texture.cpp                       |    38 +
 SurgSim/Graphics/Texture.h                         |    11 +
 SurgSim/Graphics/UnitTests/CMakeLists.txt          |    10 +-
 .../shader.frag                                    |     0
 .../shader.geom                                    |     0
 .../shader.vert                                    |     0
 .../rigged_cylinder.osgt                           | 11743 +++++++++++++++++++
 .../Data/OsgTextureTests/CheckerBoard.png          |   Bin 4009 -> 0 bytes
 SurgSim/Graphics/UnitTests/ManagerTests.cpp        |     8 +-
 SurgSim/Graphics/UnitTests/MockObjects.h           |   168 +-
 SurgSim/Graphics/UnitTests/MockOsgObjects.h        |    26 +-
 .../UnitTests/OsgAxesRepresentationTests.cpp       |    49 +
 .../UnitTests/OsgBoxRepresentationTests.cpp        |    89 -
 SurgSim/Graphics/UnitTests/OsgCameraTests.cpp      |   164 +-
 .../UnitTests/OsgCurveRepresentationTests.cpp      |    87 +
 SurgSim/Graphics/UnitTests/OsgGroupTests.cpp       |    16 +-
 SurgSim/Graphics/UnitTests/OsgLightTests.cpp       |    44 +-
 SurgSim/Graphics/UnitTests/OsgMaterialTests.cpp    |   101 +-
 .../UnitTests/OsgMeshRepresentationTests.cpp       |    23 +-
 .../UnitTests/OsgOctreeRepresentationTests.cpp     |    19 +-
 .../UnitTests/OsgPlaneRepresentationTests.cpp      |   120 +-
 .../UnitTests/OsgPointCloudRepresentationTests.cpp |     1 -
 SurgSim/Graphics/UnitTests/OsgProgramTests.cpp     |   294 +
 .../Graphics/UnitTests/OsgRepresentationTests.cpp  |   189 +-
 .../UnitTests/OsgSceneryRepresentationTests.cpp    |    79 +-
 .../Graphics/UnitTests/OsgScreenSpaceQuadTests.cpp |     8 +
 SurgSim/Graphics/UnitTests/OsgShaderTests.cpp      |   297 -
 .../UnitTests/OsgSkeletonRepresentationTests.cpp   |   235 +
 .../UnitTests/OsgSphereRepresentationTests.cpp     |   118 -
 .../UnitTests/OsgTextRepresentationTests.cpp       |   153 +
 SurgSim/Graphics/UnitTests/OsgTexture1dTests.cpp   |    10 +-
 SurgSim/Graphics/UnitTests/OsgTexture2dTests.cpp   |    10 +-
 SurgSim/Graphics/UnitTests/OsgTexture3dTests.cpp   |    20 +-
 .../Graphics/UnitTests/OsgTextureCubeMapTests.cpp  |    28 +-
 .../UnitTests/OsgTextureRectangleTests.cpp         |    10 +-
 SurgSim/Graphics/UnitTests/OsgTextureTests.cpp     |    10 +-
 SurgSim/Graphics/UnitTests/OsgUniformBaseTests.cpp |    11 +-
 SurgSim/Graphics/UnitTests/OsgUniformTests.cpp     |    40 +-
 .../OsgVectorFieldRepresentationTests.cpp          |    18 +-
 SurgSim/Graphics/UnitTests/OsgViewTests.cpp        |    59 +-
 SurgSim/Graphics/UnitTests/PaintBehaviorTests.cpp  |    55 +
 SurgSim/Graphics/UnitTests/RenderPassTests.cpp     |     3 +-
 SurgSim/Graphics/UnitTests/ViewElementTests.cpp    |    16 +-
 SurgSim/Graphics/UnitTests/config.txt.in           |     6 +-
 SurgSim/Graphics/VectorFieldRepresentation.h       |     7 +-
 SurgSim/Graphics/View.cpp                          |    16 +-
 SurgSim/Graphics/View.h                            |    12 +-
 SurgSim/Graphics/ViewElement.h                     |     2 +-
 SurgSim/Input/CMakeLists.txt                       |     4 +-
 SurgSim/Input/CombiningOutputComponent.cpp         |   167 +
 SurgSim/Input/CombiningOutputComponent.h           |    86 +
 SurgSim/Input/CommonDevice.cpp                     |   121 +-
 SurgSim/Input/CommonDevice.h                       |    73 +-
 SurgSim/Input/DeviceInterface.h                    |    20 +-
 SurgSim/Input/InputComponent.cpp                   |    83 +-
 SurgSim/Input/InputComponent.h                     |    62 +-
 SurgSim/Input/InputManager.cpp                     |   107 +-
 SurgSim/Input/InputManager.h                       |    19 +-
 SurgSim/Input/OutputComponent.cpp                  |    86 +-
 SurgSim/Input/OutputComponent.h                    |    55 +-
 SurgSim/Input/UnitTests/CMakeLists.txt             |    16 +-
 .../UnitTests/CombiningOutputComponentTest.cpp     |   309 +
 SurgSim/Input/UnitTests/CommonDeviceTests.cpp      |    11 +
 .../UnitTests/Data/CombiningOutputComponent.yaml   |    25 +
 SurgSim/Input/UnitTests/InputComponentTest.cpp     |    28 +-
 SurgSim/Input/UnitTests/InputManagerTest.cpp       |    33 +-
 SurgSim/Input/UnitTests/OutputComponentTest.cpp    |    33 +-
 SurgSim/Input/UnitTests/TestDevice.cpp             |    13 +-
 SurgSim/Input/UnitTests/TestDevice.h               |    14 +-
 SurgSim/{Blocks => Input}/UnitTests/config.txt.in  |     0
 SurgSim/Math/Aabb.h                                |    36 +-
 SurgSim/Math/BoxShape.cpp                          |    38 +-
 SurgSim/Math/BoxShape.h                            |    17 +-
 SurgSim/Math/CMakeLists.txt                        |    43 +-
 SurgSim/Math/CapsuleShape.cpp                      |    16 +-
 SurgSim/Math/CapsuleShape.h                        |    14 +-
 SurgSim/Math/CardinalSplines.cpp                   |   104 +
 SurgSim/Math/CardinalSplines.h                     |    58 +
 SurgSim/Math/CompoundShape.cpp                     |   279 +
 SurgSim/Math/CompoundShape.h                       |   135 +
 SurgSim/Math/CubicSolver-inl.h                     |   132 +
 SurgSim/Math/CubicSolver.h                         |    54 +
 SurgSim/Math/CylinderShape.cpp                     |    12 +-
 SurgSim/Math/CylinderShape.h                       |    15 +-
 SurgSim/Math/DoubleSidedPlaneShape.cpp             |     2 +-
 SurgSim/Math/DoubleSidedPlaneShape.h               |    10 +-
 SurgSim/Math/GaussLegendreQuadrature.cpp           |    45 +-
 SurgSim/Math/GaussLegendreQuadrature.h             |    71 +-
 SurgSim/Math/Geometry.h                            |   945 +-
 SurgSim/Math/IntervalArithmetic-inl.h              |   899 ++
 SurgSim/Math/IntervalArithmetic.h                  |   568 +
 SurgSim/Math/KalmanFilter-inl.h                    |   122 +
 SurgSim/Math/KalmanFilter.h                        |   111 +
 SurgSim/Math/LinearMotionArithmetic-inl.h          |   705 ++
 SurgSim/Math/LinearMotionArithmetic.h              |   499 +
 SurgSim/Math/LinearSolveAndInverse-inl.h           |    59 +-
 SurgSim/Math/LinearSolveAndInverse.cpp             |    58 +-
 SurgSim/Math/LinearSolveAndInverse.h               |    59 +-
 SurgSim/Math/LinearSparseSolveAndInverse.cpp       |    78 +
 SurgSim/Math/LinearSparseSolveAndInverse.h         |   129 +
 SurgSim/Math/MathConvert-inl.h                     |   163 +-
 SurgSim/Math/MathConvert.cpp                       |    69 +-
 SurgSim/Math/MathConvert.h                         |   110 +-
 SurgSim/Math/Matrix.h                              |    32 +-
 SurgSim/Math/MeshShape-inl.h                       |    16 +-
 SurgSim/Math/MeshShape.cpp                         |   139 +-
 SurgSim/Math/MeshShape.h                           |   110 +-
 SurgSim/Math/MinMax-inl.h                          |   169 +
 SurgSim/Math/MinMax.h                              |    78 +
 SurgSim/Math/MlcpGaussSeidelSolver.cpp             |  2099 +---
 SurgSim/Math/MlcpGaussSeidelSolver.h               |   198 +-
 SurgSim/Math/MlcpProblem.cpp                       |     9 +-
 SurgSim/Math/MlcpProblem.h                         |     3 +-
 SurgSim/Math/MlcpSolution.h                        |     2 +-
 SurgSim/Math/OctreeShape.cpp                       |    61 +-
 SurgSim/Math/OctreeShape.h                         |    31 +-
 SurgSim/Math/OdeEquation.cpp                       |    51 +
 SurgSim/Math/OdeEquation.h                         |   121 +-
 SurgSim/Math/OdeSolver.cpp                         |    36 +-
 SurgSim/Math/OdeSolver.h                           |   122 +-
 SurgSim/Math/OdeSolverEulerExplicit.cpp            |    66 +-
 SurgSim/Math/OdeSolverEulerExplicit.h              |    46 +-
 SurgSim/Math/OdeSolverEulerExplicitModified.cpp    |    66 +-
 SurgSim/Math/OdeSolverEulerExplicitModified.h      |    39 +-
 SurgSim/Math/OdeSolverEulerImplicit.cpp            |   168 +-
 SurgSim/Math/OdeSolverEulerImplicit.dox            |   109 +
 SurgSim/Math/OdeSolverEulerImplicit.h              |    39 +-
 SurgSim/Math/OdeSolverLinearEulerExplicit.cpp      |    13 +-
 SurgSim/Math/OdeSolverLinearEulerExplicit.h        |     4 +-
 .../Math/OdeSolverLinearEulerExplicitModified.cpp  |    13 +-
 .../Math/OdeSolverLinearEulerExplicitModified.h    |     4 +-
 SurgSim/Math/OdeSolverLinearEulerImplicit.cpp      |    29 +-
 SurgSim/Math/OdeSolverLinearEulerImplicit.h        |    12 +-
 SurgSim/Math/OdeSolverLinearRungeKutta4.cpp        |    27 +-
 SurgSim/Math/OdeSolverLinearRungeKutta4.h          |     4 +-
 SurgSim/Math/OdeSolverLinearStatic.cpp             |    11 +-
 SurgSim/Math/OdeSolverLinearStatic.h               |     4 +-
 SurgSim/Math/OdeSolverRungeKutta4.cpp              |    63 +-
 SurgSim/Math/OdeSolverRungeKutta4.h                |    55 +-
 SurgSim/Math/OdeSolverStatic.cpp                   |    60 +-
 SurgSim/Math/OdeSolverStatic.h                     |    19 +-
 SurgSim/Math/OdeState.cpp                          |    75 +-
 SurgSim/Math/OdeState.h                            |    43 +-
 SurgSim/Math/ParticlesShape-inl.h                  |    45 +
 SurgSim/Math/ParticlesShape.cpp                    |   149 +
 SurgSim/Math/ParticlesShape.h                      |   118 +
 SurgSim/Math/PlaneShape.cpp                        |     2 +-
 SurgSim/Math/PlaneShape.h                          |    10 +-
 .../Math/PointTriangleCcdContactCalculation-inl.h  |   121 +
 SurgSim/Math/Polynomial-inl.h                      |   699 ++
 SurgSim/Math/Polynomial.h                          |   388 +
 SurgSim/Math/PolynomialRoots-inl.h                 |   127 +
 SurgSim/Math/PolynomialRoots.h                     |   135 +
 SurgSim/Math/PolynomialValues-inl.h                |   156 +
 SurgSim/Math/PolynomialValues.h                    |   167 +
 SurgSim/Math/Scalar-inl.h                          |    42 +
 SurgSim/Math/Scalar.h                              |    76 +
 SurgSim/Math/SegmentMeshShape-inl.h                |    37 +
 SurgSim/Math/SegmentMeshShape.cpp                  |   158 +
 SurgSim/Math/SegmentMeshShape.h                    |    98 +
 SurgSim/Math/SegmentMeshShapePlyReaderDelegate.cpp |    84 +
 SurgSim/Math/SegmentMeshShapePlyReaderDelegate.h   |    65 +
 .../Math/SegmentSegmentCcdContactCalculation-inl.h |   143 +
 SurgSim/Math/Shape.cpp                             |    27 +-
 SurgSim/Math/Shape.h                               |    80 +-
 SurgSim/Math/Shapes.h                              |     4 +-
 SurgSim/Math/SparseMatrix.h                        |   395 +
 SurgSim/Math/SphereShape.cpp                       |    12 +-
 SurgSim/Math/SphereShape.h                         |    12 +-
 SurgSim/Math/SurfaceMeshShape-inl.h                |     9 +-
 SurgSim/Math/SurfaceMeshShape.cpp                  |    66 +-
 SurgSim/Math/SurfaceMeshShape.h                    |    60 +-
 .../Math/TriangleCapsuleContactCalculation-inl.h   |   579 +
 .../Math/TriangleTriangleContactCalculation-inl.h  |   200 +
 SurgSim/Math/TriangleTriangleIntersection-inl.h    |    22 +-
 SurgSim/Math/UnitTests/AabbTests.cpp               |    20 +-
 SurgSim/Math/UnitTests/AngleAxisTests.cpp          |    66 +
 SurgSim/Math/UnitTests/CMakeLists.txt              |    23 +-
 SurgSim/Math/UnitTests/CardinalSplinesTests.cpp    |    92 +
 SurgSim/Math/UnitTests/CompoundShapeTests.cpp      |   238 +
 SurgSim/Math/UnitTests/CubicSolverTests.cpp        |   185 +
 SurgSim/Math/UnitTests/Data/segmentmesh.ply        |    21 +
 SurgSim/Math/UnitTests/GeometryTests.cpp           |   391 +-
 SurgSim/Math/UnitTests/IntervalArithmeticTests.cpp |   734 ++
 SurgSim/Math/UnitTests/KalmanFilterTests.cpp       |   110 +
 .../Math/UnitTests/LinearMotionArithmeticTests.cpp |   435 +
 .../Math/UnitTests/LinearSolveAndInverseTests.cpp  |    62 +-
 .../UnitTests/LinearSparseSolveAndInverseTests.cpp |   197 +
 SurgSim/Math/UnitTests/MeshShapeTests.cpp          |   256 +-
 SurgSim/Math/UnitTests/MinMaxTests.cpp             |   217 +
 .../UnitTests/MlcpTestData/mlcpOriginalTest.txt    |     2 +-
 .../Math/UnitTests/MlcpTestData/mlcpTest001.txt    |     2 +-
 .../Math/UnitTests/MlcpTestData/mlcpTest002.txt    |     2 +-
 .../Math/UnitTests/MlcpTestData/mlcpTest003.txt    |     2 +-
 .../Math/UnitTests/MlcpTestData/mlcpTest009.txt    |     2 +-
 SurgSim/Math/UnitTests/MockCapsule.h               |    93 +
 SurgSim/Math/UnitTests/MockObject.h                |   273 +-
 SurgSim/Math/UnitTests/MockTriangle.h              |     9 +
 SurgSim/Math/UnitTests/OdeEquationTests.cpp        |    62 +-
 .../OdeSolverEulerExplicitModifiedTests.cpp        |    66 +-
 .../Math/UnitTests/OdeSolverEulerExplicitTests.cpp |    65 +-
 .../Math/UnitTests/OdeSolverEulerImplicitTests.cpp |   152 +-
 .../Math/UnitTests/OdeSolverRungeKutta4Tests.cpp   |    87 +-
 SurgSim/Math/UnitTests/OdeSolverStaticTests.cpp    |    68 +-
 SurgSim/Math/UnitTests/OdeSolverTests.cpp          |    55 +-
 SurgSim/Math/UnitTests/OdeStateTests.cpp           |   131 +-
 SurgSim/Math/UnitTests/ParticlesShapeTests.cpp     |   151 +
 SurgSim/Math/UnitTests/PolynomialRootTests.cpp     |   123 +
 SurgSim/Math/UnitTests/PolynomialTests.cpp         |   377 +
 SurgSim/Math/UnitTests/PolynomialValuesTests.cpp   |   105 +
 SurgSim/Math/UnitTests/QuaternionTests.cpp         |    10 +
 SurgSim/Math/UnitTests/ScalarTests.cpp             |   184 +
 SurgSim/Math/UnitTests/SegmentMeshShapeTests.cpp   |   145 +
 SurgSim/Math/UnitTests/ShapeTests.cpp              |   206 +-
 SurgSim/Math/UnitTests/SparseMatrixTests.cpp       |   363 +
 SurgSim/Math/UnitTests/SurfaceMeshShapeTests.cpp   |    30 +-
 .../TriangleCapsuleContactCalculationTests.cpp     |   483 +
 ...iangleSeparatingAxisContactCalculationTests.cpp |   174 +
 .../UnitTests/TriangleTriangleTestParameters.h     |    12 +
 SurgSim/Math/UnitTests/VectorTests.cpp             |   362 +-
 SurgSim/Math/UnitTests/config.txt.in               |     4 +-
 SurgSim/Math/Vector.h                              |    41 +-
 SurgSim/Particles/CMakeLists.txt                   |    61 +
 SurgSim/Particles/DefaultPointGenerator.cpp        |    48 +
 SurgSim/Particles/DefaultPointGenerator.h          |    49 +
 SurgSim/Particles/Emitter.cpp                      |   218 +
 SurgSim/Particles/Emitter.h                        |   182 +
 SurgSim/Particles/Particles.h                      |    60 +
 .../Particles/ParticlesCollisionRepresentation.cpp |   109 +
 .../Particles/ParticlesCollisionRepresentation.h   |    94 +
 SurgSim/Particles/PointGenerator.cpp               |    40 +
 SurgSim/Particles/PointGenerator.h                 |    71 +
 SurgSim/Particles/RandomBoxPointGenerator.cpp      |    65 +
 SurgSim/Particles/RandomBoxPointGenerator.h        |    47 +
 SurgSim/Particles/RandomMeshPointGenerator.cpp     |    77 +
 SurgSim/Particles/RandomMeshPointGenerator.h       |    49 +
 SurgSim/Particles/RandomPointGenerator.cpp         |    65 +
 SurgSim/Particles/RandomPointGenerator.h           |    53 +
 SurgSim/Particles/RandomSpherePointGenerator.cpp   |    73 +
 SurgSim/Particles/RandomSpherePointGenerator.h     |    47 +
 SurgSim/Particles/RenderTests/CMakeLists.txt       |    50 +
 SurgSim/Particles/RenderTests/RenderTest.cpp       |    67 +
 SurgSim/Particles/RenderTests/RenderTest.h         |    56 +
 .../RenderTests/RenderTestSphRepresentation.cpp    |   166 +
 SurgSim/Particles/RenderTests/config.txt.in        |     2 +
 SurgSim/Particles/Representation.cpp               |   160 +
 SurgSim/Particles/Representation.h                 |   122 +
 SurgSim/Particles/Sink.cpp                         |   107 +
 SurgSim/Particles/Sink.h                           |    94 +
 SurgSim/Particles/SphRepresentation.cpp            |   367 +
 SurgSim/Particles/SphRepresentation.h              |   205 +
 SurgSim/Particles/UnitTests/CMakeLists.txt         |    50 +
 SurgSim/Particles/UnitTests/EmitterTests.cpp       |   296 +
 SurgSim/Particles/UnitTests/MockObjects.cpp        |    47 +
 SurgSim/Particles/UnitTests/MockObjects.h          |    47 +
 .../ParticlesCollisionRepresentationTests.cpp      |   110 +
 .../Particles/UnitTests/PointGeneratorTests.cpp    |   105 +
 .../UnitTests/RandomPointGeneratorTests.cpp        |    53 +
 .../Particles/UnitTests/RepresentationTests.cpp    |   147 +
 SurgSim/Particles/UnitTests/SinkTests.cpp          |   165 +
 .../Particles/UnitTests/SphRepresentationTests.cpp |   327 +
 SurgSim/Particles/UnitTests/config.txt.in          |     2 +
 SurgSim/Physics/BuildMlcp.cpp                      |    27 +-
 SurgSim/Physics/BuildMlcp.h                        |     7 +-
 SurgSim/Physics/CMakeLists.txt                     |   116 +-
 SurgSim/Physics/CcdCollision.cpp                   |    73 +
 SurgSim/Physics/CcdCollision.h                     |    69 +
 SurgSim/Physics/CcdCollisionLoop.cpp               |   228 +
 SurgSim/Physics/CcdCollisionLoop.h                 |   124 +
 SurgSim/Physics/Computation.cpp                    |    43 +-
 SurgSim/Physics/Computation.h                      |    14 +
 SurgSim/Physics/ComputationGroup.cpp               |    93 +
 SurgSim/Physics/ComputationGroup.h                 |    79 +
 SurgSim/Physics/Constraint.cpp                     |   116 +-
 SurgSim/Physics/Constraint.h                       |    53 +-
 SurgSim/Physics/ConstraintComponent.h              |     4 +-
 SurgSim/Physics/ConstraintImplementation.cpp       |    22 +
 SurgSim/Physics/ConstraintImplementation.h         |    28 +-
 .../Physics/ConstraintImplementationFactory.cpp    |    75 +-
 SurgSim/Physics/ConstraintImplementationFactory.h  |    27 +-
 SurgSim/Physics/ConstraintType.h                   |    39 +
 SurgSim/Physics/ContactConstraintData.h            |    28 +-
 SurgSim/Physics/ContactConstraintGeneration.cpp    |   172 +-
 SurgSim/Physics/ContactConstraintGeneration.h      |    21 +-
 SurgSim/Physics/ContactFiltering.cpp               |    98 +
 SurgSim/Physics/ContactFiltering.h                 |    57 +
 SurgSim/Physics/DcdCollision.cpp                   |   127 +-
 SurgSim/Physics/DcdCollision.h                     |    29 +-
 .../Physics/DeformableCollisionRepresentation.cpp  |   175 +-
 .../Physics/DeformableCollisionRepresentation.h    |    35 +-
 SurgSim/Physics/DeformableRepresentation.cpp       |   179 +-
 SurgSim/Physics/DeformableRepresentation.h         |    95 +-
 SurgSim/Physics/Fem-inl.h                          |   116 +
 SurgSim/Physics/Fem.h                              |   104 +
 SurgSim/Physics/Fem1D.cpp                          |    35 +
 SurgSim/Physics/Fem1D.h                            |    45 +
 SurgSim/Physics/Fem1DElementBeam.cpp               |   168 +-
 SurgSim/Physics/Fem1DElementBeam.h                 |   128 +-
 SurgSim/Physics/Fem1DLocalization.cpp              |   108 +
 SurgSim/Physics/Fem1DLocalization.h                |    54 +
 SurgSim/Physics/Fem1DPlyReaderDelegate.cpp         |    89 +-
 SurgSim/Physics/Fem1DPlyReaderDelegate.h           |    45 +-
 SurgSim/Physics/Fem1DRepresentation.cpp            |   194 +-
 SurgSim/Physics/Fem1DRepresentation.h              |    68 +-
 .../Physics/Fem1DRepresentationLocalization.cpp    |    98 -
 SurgSim/Physics/Fem1DRepresentationLocalization.h  |    72 -
 SurgSim/Physics/Fem2D.cpp                          |    36 +
 SurgSim/Physics/Fem2D.h                            |    46 +
 SurgSim/Physics/Fem2DElementTriangle.cpp           |   815 +-
 SurgSim/Physics/Fem2DElementTriangle.h             |   298 +-
 ...m2DElementTriangle_computeLocalMembraneMass.dox |   141 +
 .../Fem2DElementTriangle_computeLocalPlateMass.dox |   165 +
 SurgSim/Physics/Fem2DLocalization.cpp              |    72 +
 SurgSim/Physics/Fem2DLocalization.h                |    57 +
 SurgSim/Physics/Fem2DPlyReaderDelegate.cpp         |    92 +-
 SurgSim/Physics/Fem2DPlyReaderDelegate.h           |    44 +-
 SurgSim/Physics/Fem2DRepresentation.cpp            |   201 +-
 SurgSim/Physics/Fem2DRepresentation.h              |    59 +-
 .../Physics/Fem2DRepresentationLocalization.cpp    |    98 -
 SurgSim/Physics/Fem2DRepresentationLocalization.h  |    72 -
 SurgSim/Physics/Fem3D.cpp                          |    37 +
 SurgSim/Physics/Fem3D.h                            |    47 +
 .../Fem3DElementCorotationalTetrahedron.cpp        |   307 +-
 .../Physics/Fem3DElementCorotationalTetrahedron.h  |    51 +-
 SurgSim/Physics/Fem3DElementCube.cpp               |   269 +-
 SurgSim/Physics/Fem3DElementCube.h                 |   170 +-
 SurgSim/Physics/Fem3DElementTetrahedron.cpp        |   166 +-
 SurgSim/Physics/Fem3DElementTetrahedron.h          |   152 +-
 SurgSim/Physics/Fem3DLocalization.cpp              |    50 +
 SurgSim/Physics/Fem3DLocalization.h                |    57 +
 SurgSim/Physics/Fem3DPlyReaderDelegate.cpp         |    83 +-
 SurgSim/Physics/Fem3DPlyReaderDelegate.h           |    38 +-
 SurgSim/Physics/Fem3DRepresentation.cpp            |   285 +-
 SurgSim/Physics/Fem3DRepresentation.h              |    80 +-
 SurgSim/Physics/Fem3DRepresentationBilateral3D.cpp |   128 -
 SurgSim/Physics/Fem3DRepresentationBilateral3D.h   |    74 -
 SurgSim/Physics/Fem3DRepresentationContact.cpp     |   130 -
 SurgSim/Physics/Fem3DRepresentationContact.h       |    73 -
 .../Physics/Fem3DRepresentationLocalization.cpp    |    98 -
 SurgSim/Physics/Fem3DRepresentationLocalization.h  |    73 -
 SurgSim/Physics/FemConstraintFixedPoint.cpp        |   124 +
 SurgSim/Physics/FemConstraintFixedPoint.h          |    55 +
 .../Physics/FemConstraintFixedRotationVector.cpp   |   133 +
 SurgSim/Physics/FemConstraintFixedRotationVector.h |    60 +
 SurgSim/Physics/FemConstraintFrictionalSliding.cpp |   107 +
 SurgSim/Physics/FemConstraintFrictionalSliding.h   |    55 +
 .../Physics/FemConstraintFrictionlessContact.cpp   |   124 +
 SurgSim/Physics/FemConstraintFrictionlessContact.h |    62 +
 .../Physics/FemConstraintFrictionlessSliding.cpp   |   101 +
 SurgSim/Physics/FemConstraintFrictionlessSliding.h |    55 +
 SurgSim/Physics/FemElement-inl.h                   |    56 +
 SurgSim/Physics/FemElement.cpp                     |   109 +-
 SurgSim/Physics/FemElement.h                       |    97 +-
 SurgSim/Physics/FemElementStructs.h                |    89 +
 SurgSim/Physics/FemLocalization.cpp                |   132 +
 SurgSim/Physics/FemLocalization.h                  |    68 +
 SurgSim/Physics/FemPlyFormat.dox                   |    88 +
 SurgSim/Physics/FemPlyReaderDelegate.cpp           |   188 +-
 SurgSim/Physics/FemPlyReaderDelegate.h             |    73 +-
 SurgSim/Physics/FemRepresentation.cpp              |   386 +-
 SurgSim/Physics/FemRepresentation.h                |   164 +-
 SurgSim/Physics/FemRepresentationParameters.cpp    |   198 -
 SurgSim/Physics/FemRepresentationParameters.h      |   171 -
 SurgSim/Physics/FixedConstraintFixedPoint.cpp      |    71 +
 SurgSim/Physics/FixedConstraintFixedPoint.h        |    70 +
 .../Physics/FixedConstraintFixedRotationVector.cpp |    72 +
 .../Physics/FixedConstraintFixedRotationVector.h   |    68 +
 .../Physics/FixedConstraintFrictionlessContact.cpp |    84 +
 .../Physics/FixedConstraintFrictionlessContact.h   |    72 +
 SurgSim/Physics/FixedRepresentation.cpp            |     8 +-
 SurgSim/Physics/FixedRepresentation.h              |    10 +-
 SurgSim/Physics/FixedRepresentationBilateral3D.cpp |    77 -
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 SurgSim/Physics/FixedRepresentationContact.cpp     |    84 -
 SurgSim/Physics/FixedRepresentationContact.h       |    76 -
 SurgSim/Physics/FixedRepresentationLocalization.h  |   105 -
 SurgSim/Physics/FreeMotion.cpp                     |    33 +-
 SurgSim/Physics/FreeMotion.h                       |    15 +-
 SurgSim/Physics/LinearSpring.cpp                   |   299 +-
 SurgSim/Physics/LinearSpring.h                     |    35 +-
 SurgSim/Physics/Localization.cpp                   |    61 +-
 SurgSim/Physics/Localization.h                     |    62 +-
 SurgSim/Physics/MassSpringConstraintFixedPoint.cpp |   119 +
 SurgSim/Physics/MassSpringConstraintFixedPoint.h   |    57 +
 .../MassSpringConstraintFrictionlessContact.cpp    |   106 +
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 SurgSim/Physics/MassSpringLocalization.cpp         |   110 +
 SurgSim/Physics/MassSpringLocalization.h           |    83 +
 SurgSim/Physics/MassSpringRepresentation.cpp       |   252 +-
 SurgSim/Physics/MassSpringRepresentation.h         |    74 +-
 .../Physics/MassSpringRepresentationContact.cpp    |   109 -
 SurgSim/Physics/MassSpringRepresentationContact.h  |    79 -
 .../MassSpringRepresentationLocalization.cpp       |    88 -
 .../Physics/MassSpringRepresentationLocalization.h |    81 -
 SurgSim/Physics/MlcpPhysicsProblem-inl.h           |    57 -
 SurgSim/Physics/MlcpPhysicsProblem.cpp             |    36 +-
 SurgSim/Physics/MlcpPhysicsProblem.h               |    18 +-
 SurgSim/Physics/ParticleCollisionResponse.cpp      |    51 +
 SurgSim/Physics/ParticleCollisionResponse.h        |    50 +
 SurgSim/Physics/PerformanceTests/CMakeLists.txt    |     6 +-
 .../Data/Fem3DPerformanceTest/wound_deformable.ply |  2389 ----
 .../DivisibleCubeRepresentation.cpp                |   160 +
 .../PerformanceTests/DivisibleCubeRepresentation.h |    75 +
 .../PerformanceTests/Fem3DPerformanceTest.cpp      |   267 +-
 .../Fem3DSolutionComponentsTest.cpp                |   335 +
 SurgSim/Physics/PerformanceTests/config.txt.in     |     2 +-
 SurgSim/Physics/PhysicsConvert.cpp                 |     8 +-
 SurgSim/Physics/PhysicsConvert.h                   |     8 +-
 SurgSim/Physics/PhysicsManager.cpp                 |   189 +-
 SurgSim/Physics/PhysicsManager.h                   |   121 +-
 SurgSim/Physics/PhysicsManagerState.cpp            |    81 +-
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 SurgSim/Physics/PostUpdate.cpp                     |    33 +-
 SurgSim/Physics/PostUpdate.h                       |     7 +-
 SurgSim/Physics/PreUpdate.cpp                      |     6 +-
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 SurgSim/Physics/PrepareCollisionPairs.cpp          |   112 +
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 SurgSim/Physics/PushResults.cpp                    |    31 +-
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 SurgSim/Physics/RenderTests/CMakeLists.txt         |     3 +-
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 SurgSim/Physics/RenderTests/Data/loop.ply          |   101 +
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 .../Physics/RenderTests/Fem3DMeshRenderTest.cpp    |    86 +-
 .../RenderTests/Fem3DvsTruthCubeRenderTest.cpp     |    27 +-
 .../Physics/RenderTests/RenderTestCcdSuture.cpp    |   341 +
 SurgSim/Physics/RenderTests/RenderTestFem1D.cpp    |    33 +-
 SurgSim/Physics/RenderTests/RenderTestFem2D.cpp    |     8 +-
 SurgSim/Physics/RenderTests/RenderTestFem3D.cpp    |    16 +-
 .../RenderTests/RenderTestFem3DCorotational.cpp    |    10 +-
 .../Physics/RenderTests/RenderTestMassSprings.cpp  |    42 +-
 .../Physics/RenderTests/RenderTestRigidBodies.cpp  |   145 +-
 SurgSim/Physics/RenderTests/config.txt.in          |     2 +-
 SurgSim/Physics/Representation.cpp                 |    22 +-
 SurgSim/Physics/Representation.h                   |    37 +-
 SurgSim/Physics/RigidCollisionRepresentation.cpp   |    68 +-
 SurgSim/Physics/RigidCollisionRepresentation.h     |    12 +-
 SurgSim/Physics/RigidConstraintFixedPoint.cpp      |   133 +
 SurgSim/Physics/RigidConstraintFixedPoint.h        |    70 +
 .../Physics/RigidConstraintFixedRotationVector.cpp |    73 +
 .../Physics/RigidConstraintFixedRotationVector.h   |    68 +
 .../Physics/RigidConstraintFrictionlessContact.cpp |   109 +
 .../Physics/RigidConstraintFrictionlessContact.h   |    71 +
 SurgSim/Physics/RigidLocalization.cpp              |   122 +
 SurgSim/Physics/RigidLocalization.h                |    74 +
 SurgSim/Physics/RigidRepresentation.cpp            |   103 +-
 SurgSim/Physics/RigidRepresentation.h              |    25 +-
 SurgSim/Physics/RigidRepresentationBase-inl.h      |     5 +-
 SurgSim/Physics/RigidRepresentationBase.cpp        |    21 +-
 SurgSim/Physics/RigidRepresentationBase.h          |    39 +-
 SurgSim/Physics/RigidRepresentationBilateral3D.cpp |   136 -
 SurgSim/Physics/RigidRepresentationBilateral3D.h   |    74 -
 SurgSim/Physics/RigidRepresentationContact.cpp     |   115 -
 SurgSim/Physics/RigidRepresentationContact.h       |    75 -
 .../Physics/RigidRepresentationLocalization.cpp    |    88 -
 SurgSim/Physics/RigidRepresentationLocalization.h  |    78 -
 SurgSim/Physics/RigidRepresentationState.cpp       |   114 -
 SurgSim/Physics/RigidRepresentationState.h         |   108 -
 SurgSim/Physics/RigidState.cpp                     |   114 +
 SurgSim/Physics/RigidState.h                       |   108 +
 SurgSim/Physics/RotationVectorConstraint.cpp       |    98 +
 SurgSim/Physics/RotationVectorConstraint.h         |    61 +
 SurgSim/Physics/RotationVectorConstraintData.h     |   121 +
 SurgSim/Physics/SlidingConstraint.cpp              |    79 +
 SurgSim/Physics/SlidingConstraint.h                |    77 +
 SurgSim/Physics/SlidingConstraintData.cpp          |    89 +
 SurgSim/Physics/SlidingConstraintData.h            |    93 +
 SurgSim/Physics/SolveMlcp.cpp                      |    65 +-
 SurgSim/Physics/SolveMlcp.h                        |    31 +-
 SurgSim/Physics/Spring.cpp                         |    46 +
 SurgSim/Physics/Spring.h                           |    29 +-
 SurgSim/Physics/UnitTests/BuildMlcpTests.cpp       |   194 +-
 SurgSim/Physics/UnitTests/CMakeLists.txt           |    66 +-
 SurgSim/Physics/UnitTests/CcdCollisionLoopTest.cpp |    92 +
 SurgSim/Physics/UnitTests/CommonTests.h            |    25 +-
 SurgSim/Physics/UnitTests/ComputationGroupTest.cpp |   129 +
 SurgSim/Physics/UnitTests/ComputationTests.cpp     |    61 +-
 .../ConstraintImplementationFactoryTests.cpp       |   105 +
 .../UnitTests/ConstraintImplementationTests.cpp    |    31 +
 SurgSim/Physics/UnitTests/ConstraintTests.cpp      |   242 +-
 .../UnitTests/ContactConstraintDataTests.cpp       |     9 +
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 SurgSim/Physics/UnitTests/ContactFilteringTest.cpp |   145 +
 .../Data/PlyReaderTests/Fem1DMaterial.ply          |    32 +
 .../Data/PlyReaderTests/Fem1DNoMaterial.ply        |    29 +
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 .../PlyReaderTests/Wrong3DFileWithRotationData.ply |    26 +
 SurgSim/Physics/UnitTests/DcdCollisionTests.cpp    |   168 +-
 .../DeformableCollisionRepresentationTest.cpp      |    43 +-
 .../UnitTests/DeformableRepresentationTest.cpp     |   148 +-
 .../Physics/UnitTests/DeformableTestsUtility-inl.h |    49 +
 SurgSim/Physics/UnitTests/DeformableTestsUtility.h |    44 +
 .../UnitTests/Fem1DConstraintFixedPointTests.cpp   |   223 +
 .../Fem1DConstraintFixedRotationVectorTests.cpp    |   247 +
 .../Fem1DConstraintFrictionalSlidingTests.cpp      |   283 +
 .../Fem1DConstraintFrictionlessContactTests.cpp    |   319 +
 .../Fem1DConstraintFrictionlessSlidingTests.cpp    |   287 +
 .../Physics/UnitTests/Fem1DElementBeamTests.cpp    |   226 +-
 .../Physics/UnitTests/Fem1DLocalizationTest.cpp    |   188 +
 .../UnitTests/Fem1DMechanicalValidationTests.cpp   |    27 +-
 .../UnitTests/Fem1DPlyReaderDelegateTests.cpp      |    83 +-
 .../Fem1DRepresentationLocalizationTest.cpp        |   228 -
 .../Physics/UnitTests/Fem1DRepresentationTests.cpp |   248 +-
 .../UnitTests/Fem2DConstraintFixedPointTests.cpp   |   227 +
 .../Fem2DConstraintFrictionalSlidingTests.cpp      |   288 +
 .../Fem2DConstraintFrictionlessContactTests.cpp    |   318 +
 .../Fem2DConstraintFrictionlessSlidingTests.cpp    |   290 +
 .../UnitTests/Fem2DElementTriangleTests.cpp        |   865 +-
 .../Physics/UnitTests/Fem2DLocalizationTest.cpp    |   177 +
 .../UnitTests/Fem2DMechanicalValidationTests.cpp   |    12 +-
 .../UnitTests/Fem2DPlyReaderDelegateTests.cpp      |    83 +-
 .../Fem2DRepresentationLocalizationTest.cpp        |   235 -
 .../Physics/UnitTests/Fem2DRepresentationTests.cpp |   235 +-
 .../UnitTests/Fem3DConstraintFixedPointTests.cpp   |   223 +
 .../Fem3DConstraintFrictionalSlidingTests.cpp      |   299 +
 .../Fem3DConstraintFrictionlessContactTests.cpp    |   318 +
 .../Fem3DConstraintFrictionlessSlidingTests.cpp    |   299 +
 .../Fem3DElementCorotationalTetrahedronTests.cpp   |   402 +-
 .../Physics/UnitTests/Fem3DElementCubeTests.cpp    |   222 +-
 .../UnitTests/Fem3DElementTetrahedronTests.cpp     |   196 +-
 .../Physics/UnitTests/Fem3DLocalizationTest.cpp    |   185 +
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 .../Fem3DRepresentationBilateral3DTests.cpp        |   237 -
 .../UnitTests/Fem3DRepresentationContactTests.cpp  |   275 -
 .../Fem3DRepresentationLocalizationTest.cpp        |   371 -
 .../Physics/UnitTests/Fem3DRepresentationTests.cpp |   269 +-
 SurgSim/Physics/UnitTests/FemElementTests.cpp      |   100 +-
 SurgSim/Physics/UnitTests/FemLocalizationTest.cpp  |   291 +
 .../UnitTests/FemRepresentationParametersTest.cpp  |   183 -
 .../Physics/UnitTests/FemRepresentationTests.cpp   |   302 +-
 .../UnitTests/FixedConstraintFixedPointTests.cpp   |   114 +
 .../FixedConstraintFixedRotationVectorTests.cpp    |   106 +
 .../FixedConstraintFrictionlessContactTests.cpp    |    86 +
 .../FixedRepresentationBilateral3DTests.cpp        |   116 -
 .../UnitTests/FixedRepresentationContactTests.cpp  |    87 -
 .../FixedRepresentationLocalizationTest.cpp        |    99 -
 .../Physics/UnitTests/FixedRepresentationTest.cpp  |    22 +-
 SurgSim/Physics/UnitTests/LinearSpringTest.cpp     |   309 +-
 .../MassSpringConstraintFixedPointTest.cpp         |   251 +
 ...MassSpringConstraintFrictionlessContactTest.cpp |   271 +
 .../UnitTests/MassSpringLocalizationTest.cpp       |   150 +
 .../MassSpringMechanicalValidationTests.cpp        |    12 +-
 .../MassSpringRepresentationContactTest.cpp        |   259 -
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 .../UnitTests/MassSpringRepresentationTests.cpp    |   157 +-
 SurgSim/Physics/UnitTests/MockObjects.cpp          |   401 +-
 SurgSim/Physics/UnitTests/MockObjects.h            |   370 +-
 .../UnitTests/ParticleCollisionResponseTests.cpp   |    83 +
 .../Physics/UnitTests/PhysicsManagerStateTests.cpp |   105 +-
 SurgSim/Physics/UnitTests/PhysicsManagerTests.cpp  |   146 +-
 .../UnitTests/PrepareCollisionPairsTests.cpp       |   217 +
 SurgSim/Physics/UnitTests/PushResultsTests.cpp     |   151 +-
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 .../UnitTests/RigidConstraintFixedPointTests.cpp   |   161 +
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 SurgSim/Physics/UnitTests/RigidStateTest.cpp       |   134 +
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 SurgSim/Physics/UnitTests/SolveMlcpTests.cpp       |     7 +-
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 .../Physics/UnitTests/VirtualToolCouplerTest.cpp   |   204 +-
 SurgSim/Physics/UnitTests/config.txt.in            |     4 +-
 SurgSim/Physics/UpdateCcdData.cpp                  |    81 +
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 SurgSim/Serialize/CMakeLists.txt                   |     3 +-
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 Tools/run-lint.py                                  |     2 +-
 1433 files changed, 130512 insertions(+), 37163 deletions(-)
 create mode 100644 CMake/FindLeapSdk.cmake
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 copy Examples/{Stapling => InputVtc}/config.txt.in (100%)
 create mode 100644 Examples/ShowScenery/CMakeLists.txt
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 create mode 100644 SurgSim/Blocks/TransferParticlesToPointCloudBehavior.h
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SurgSim/Blocks/UnitTests/Data/TransferPhysicsToGraphicsMeshBehavior/data.ply
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SurgSim/Blocks/UnitTests/DriveElementFromInputBehaviorTests.cpp
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SurgSim/Blocks/UnitTests/TransferParticlesToPointCloudBehaviorTests.cpp
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SurgSim/Collision/PerformanceTests/TriangleMeshTriangleMeshContactCalculationPerformanceTest.cpp
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SurgSim/Collision/UnitTests/CompoundShapeContactCalculationTests.cpp
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SurgSim/Collision/UnitTests/SegmentMeshTriangleMeshContactCalculationTests.cpp
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SurgSim/Collision/UnitTests/SegmentSegmentCcdIntervalCheckTests.cpp
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SurgSim/Collision/UnitTests/SegmentSegmentCcdMovingContactTests.cpp
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SurgSim/Collision/UnitTests/TriangleMeshParticlesContactCalculationTests.cpp
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SurgSim/Collision/UnitTests/TriangleMeshSurfaceMeshContactCalculationTests.cpp
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SurgSim/DataStructures/PerformanceTests/GridPerformanceTest.cpp
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SurgSim/DataStructures/UnitTests/Data/PlyReaderTests/Cube_with_physics.ply
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SurgSim/Devices/DeviceFilters/UnitTests/Data/FilteredDevice.yaml
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SurgSim/Devices/DeviceFilters/UnitTests/Data/PoseTransform.yaml
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SurgSim/Devices/DeviceFilters/UnitTests/FilteredDeviceTest.cpp
 copy SurgSim/{Blocks => Devices/DeviceFilters}/UnitTests/config.txt.in (100%)
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 create mode 100644 SurgSim/Devices/Oculus/CMakeLists.txt
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SurgSim/Devices/Oculus/UnitTests/OculusDisplaySettingsTests.cpp
 create mode 100644 SurgSim/Devices/Oculus/UnitTests/OculusViewTests.cpp
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 create mode 100644 SurgSim/Devices/OpenNI/CMakeLists.txt
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 create mode 100644 SurgSim/Devices/OpenNI/VisualTest/main.cpp
 create mode 100644 SurgSim/Devices/ReplayPoseDevice/CMakeLists.txt
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 create mode 100644 SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h
 create mode 100644 SurgSim/Devices/ReplayPoseDevice/ReplayPoseScaffold.cpp
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SurgSim/Devices/ReplayPoseDevice/UnitTests/ReplayPoseDeviceTest.cpp
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 create mode 100644 SurgSim/Devices/UnitTests/DeviceUtilitiesTests.cpp
 copy SurgSim/{Blocks => Devices}/UnitTests/config.txt.in (100%)
 create mode 100644 SurgSim/Framework/Component-inl.h
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SurgSim/Framework/UnitTests/Data/SceneElementTest/circle-1.yaml
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SurgSim/Framework/UnitTests/Data/SceneElementTest/circle-2.yaml
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SurgSim/Framework/UnitTests/Data/SceneElementTest/included.yaml
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SurgSim/Framework/UnitTests/Data/SceneElementTest/includer.yaml
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 create mode 100644 SurgSim/Graphics/OsgFont.cpp
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SurgSim/Graphics/RenderTests/Data/OsgMeshRepresentationRenderTests/wound_deformable.ply
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SurgSim/Graphics/RenderTests/Data/OsgScreenSpaceQuadRenderTests/CheckerBoard.png
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SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/L_forcep.obj
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shader_axis_mirrored.geom} (100%)
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SurgSim/Graphics/RenderTests/Data/OsgSkeletonRepresentationRenderTests/rigged_cylinder.osgt
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SurgSim/Graphics/RenderTests/OsgCurveRepresentationRenderTests.cpp
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SurgSim/Graphics/RenderTests/OsgSkeletonRepresentationRenderTests.cpp
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SurgSim/Graphics/RenderTests/OsgTextRepresentationRenderTests.cpp
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OsgProgramTests}/shader.frag (100%)
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OsgProgramTests}/shader.geom (100%)
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OsgProgramTests}/shader.vert (100%)
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SurgSim/Graphics/UnitTests/Data/OsgSkeletonRepresentationTests/rigged_cylinder.osgt
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SurgSim/Graphics/UnitTests/Data/OsgTextureTests/CheckerBoard.png
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SurgSim/Graphics/UnitTests/OsgSkeletonRepresentationTests.cpp
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 create mode 100644 SurgSim/Math/UnitTests/Data/segmentmesh.ply
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SurgSim/Math/UnitTests/TriangleCapsuleContactCalculationTests.cpp
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SurgSim/Math/UnitTests/TriangleTriangleSeparatingAxisContactCalculationTests.cpp
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SurgSim/Particles/RenderTests/RenderTestSphRepresentation.cpp
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SurgSim/Particles/UnitTests/ParticlesCollisionRepresentationTests.cpp
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SurgSim/Physics/Fem2DElementTriangle_computeLocalMembraneMass.dox
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SurgSim/Physics/Fem2DElementTriangle_computeLocalPlateMass.dox
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 create mode 100644 SurgSim/Physics/Fem2DLocalization.h
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 create mode 100644 SurgSim/Physics/Fem3D.cpp
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 create mode 100644 SurgSim/Physics/Fem3DLocalization.h
 delete mode 100644 SurgSim/Physics/Fem3DRepresentationBilateral3D.cpp
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 create mode 100644 SurgSim/Physics/FemConstraintFixedPoint.cpp
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 create mode 100644 SurgSim/Physics/FemConstraintFrictionlessSliding.cpp
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 create mode 100644 SurgSim/Physics/MassSpringConstraintFrictionlessContact.cpp
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SurgSim/Physics/PerformanceTests/Data/Fem3DPerformanceTest/wound_deformable.ply
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SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.cpp
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SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.h
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SurgSim/Physics/PerformanceTests/Fem3DSolutionComponentsTest.cpp
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 create mode 100644 SurgSim/Physics/PrepareCollisionPairs.h
 create mode 100644 SurgSim/Physics/RenderTests/CompoundCollisionRenderTest.cpp
 create mode 100644 SurgSim/Physics/RenderTests/Data/bar.ply
 create mode 100644 SurgSim/Physics/RenderTests/Data/collider.ply
 create mode 100644 SurgSim/Physics/RenderTests/Data/cylinder.ply
 create mode 100644 SurgSim/Physics/RenderTests/Data/half_knot.ply
 create mode 100644 SurgSim/Physics/RenderTests/Data/loop.ply
 create mode 100644 SurgSim/Physics/RenderTests/Data/prolene 
3.0-fixedExtremity.ply
 create mode 100644 SurgSim/Physics/RenderTests/RenderTestCcdSuture.cpp
 create mode 100644 SurgSim/Physics/RigidConstraintFixedPoint.cpp
 create mode 100644 SurgSim/Physics/RigidConstraintFixedPoint.h
 create mode 100644 SurgSim/Physics/RigidConstraintFixedRotationVector.cpp
 create mode 100644 SurgSim/Physics/RigidConstraintFixedRotationVector.h
 create mode 100644 SurgSim/Physics/RigidConstraintFrictionlessContact.cpp
 create mode 100644 SurgSim/Physics/RigidConstraintFrictionlessContact.h
 create mode 100644 SurgSim/Physics/RigidLocalization.cpp
 create mode 100644 SurgSim/Physics/RigidLocalization.h
 delete mode 100644 SurgSim/Physics/RigidRepresentationBilateral3D.cpp
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 delete mode 100644 SurgSim/Physics/RigidRepresentationContact.h
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 delete mode 100644 SurgSim/Physics/RigidRepresentationLocalization.h
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 delete mode 100644 SurgSim/Physics/RigidRepresentationState.h
 create mode 100644 SurgSim/Physics/RigidState.cpp
 create mode 100644 SurgSim/Physics/RigidState.h
 create mode 100644 SurgSim/Physics/RotationVectorConstraint.cpp
 create mode 100644 SurgSim/Physics/RotationVectorConstraint.h
 create mode 100644 SurgSim/Physics/RotationVectorConstraintData.h
 create mode 100644 SurgSim/Physics/SlidingConstraint.cpp
 create mode 100644 SurgSim/Physics/SlidingConstraint.h
 create mode 100644 SurgSim/Physics/SlidingConstraintData.cpp
 create mode 100644 SurgSim/Physics/SlidingConstraintData.h
 create mode 100644 SurgSim/Physics/Spring.cpp
 create mode 100644 SurgSim/Physics/UnitTests/CcdCollisionLoopTest.cpp
 create mode 100644 SurgSim/Physics/UnitTests/ComputationGroupTest.cpp
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SurgSim/Physics/UnitTests/ConstraintImplementationFactoryTests.cpp
 create mode 100644 SurgSim/Physics/UnitTests/ConstraintImplementationTests.cpp
 create mode 100644 SurgSim/Physics/UnitTests/ContactFilteringTest.cpp
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SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem1DMaterial.ply
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SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem1DNoMaterial.ply
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SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem2DMaterial.ply
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SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem2DNoMaterial.ply
 create mode 100644 
SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem3DCubeMaterial.ply
 create mode 100644 
SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem3DCubeNoMaterial.ply
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SurgSim/Physics/UnitTests/Data/PlyReaderTests/Wrong3DFileWithRotationData.ply
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 create mode 100644 SurgSim/Physics/UnitTests/DeformableTestsUtility.h
 create mode 100644 SurgSim/Physics/UnitTests/Fem1DConstraintFixedPointTests.cpp
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SurgSim/Physics/UnitTests/Fem1DConstraintFixedRotationVectorTests.cpp
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SurgSim/Physics/UnitTests/Fem1DConstraintFrictionalSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem1DConstraintFrictionlessContactTests.cpp
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SurgSim/Physics/UnitTests/Fem1DConstraintFrictionlessSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem1DRepresentationLocalizationTest.cpp
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SurgSim/Physics/UnitTests/Fem2DConstraintFrictionalSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem2DConstraintFrictionlessContactTests.cpp
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SurgSim/Physics/UnitTests/Fem2DConstraintFrictionlessSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem2DRepresentationLocalizationTest.cpp
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SurgSim/Physics/UnitTests/Fem3DConstraintFrictionalSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem3DConstraintFrictionlessContactTests.cpp
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SurgSim/Physics/UnitTests/Fem3DConstraintFrictionlessSlidingTests.cpp
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SurgSim/Physics/UnitTests/Fem3DRepresentationBilateral3DTests.cpp
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SurgSim/Physics/UnitTests/Fem3DRepresentationContactTests.cpp
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SurgSim/Physics/UnitTests/Fem3DRepresentationLocalizationTest.cpp
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SurgSim/Physics/UnitTests/FemRepresentationParametersTest.cpp
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SurgSim/Physics/UnitTests/FixedConstraintFixedRotationVectorTests.cpp
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SurgSim/Physics/UnitTests/FixedConstraintFrictionlessContactTests.cpp
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SurgSim/Physics/UnitTests/FixedRepresentationBilateral3DTests.cpp
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SurgSim/Physics/UnitTests/FixedRepresentationContactTests.cpp
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SurgSim/Physics/UnitTests/FixedRepresentationLocalizationTest.cpp
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SurgSim/Physics/UnitTests/MassSpringConstraintFixedPointTest.cpp
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SurgSim/Physics/UnitTests/MassSpringConstraintFrictionlessContactTest.cpp
 create mode 100644 SurgSim/Physics/UnitTests/MassSpringLocalizationTest.cpp
 delete mode 100644 
SurgSim/Physics/UnitTests/MassSpringRepresentationContactTest.cpp
 delete mode 100644 
SurgSim/Physics/UnitTests/MassSpringRepresentationLocalizationTest.cpp
 create mode 100644 SurgSim/Physics/UnitTests/ParticleCollisionResponseTests.cpp
 create mode 100644 SurgSim/Physics/UnitTests/PrepareCollisionPairsTests.cpp
 create mode 100644 SurgSim/Physics/UnitTests/RigidConstraintFixedPointTests.cpp
 create mode 100644 
SurgSim/Physics/UnitTests/RigidConstraintFixedRotationVectorTests.cpp
 create mode 100644 
SurgSim/Physics/UnitTests/RigidConstraintFrictionlessContactTests.cpp
 create mode 100644 SurgSim/Physics/UnitTests/RigidLocalizationTest.cpp
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SurgSim/Physics/UnitTests/RigidRepresentationBilateral3DTests.cpp
 delete mode 100644 
SurgSim/Physics/UnitTests/RigidRepresentationContactTests.cpp
 delete mode 100644 
SurgSim/Physics/UnitTests/RigidRepresentationLocalizationTest.cpp
 delete mode 100644 SurgSim/Physics/UnitTests/RigidRepresentationStateTest.cpp
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SurgSim/Physics/UnitTests/RotationVectorConstraintDataTests.cpp
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SurgSim/Physics/UnitTests/UpdateCollisionRepresentationsTest.cpp
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 create mode 100644 SurgSim/Physics/UpdateCcdData.h
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 create mode 100644 SurgSim/Physics/UpdateCollisionData.h
 create mode 100644 SurgSim/Physics/UpdateDcdData.cpp
 create mode 100644 SurgSim/Physics/UpdateDcdData.h
 rename SurgSim/{DataStructures/UnitTests/Data/PlyReaderTests => 
Testing/Data/Geometry}/Cube.ply (100%)
 rename SurgSim/{Graphics/UnitTests/Data/OsgMeshRepresentationTests/Cube.ply => 
Testing/Data/Geometry/Cube_with_texture.ply} (100%)
 rename SurgSim/Testing/{MeshShapeData => Data/Geometry}/InvalidMesh.ply (100%)
 rename SurgSim/Testing/{OsgSceneryRepresentationTests => 
Data/Geometry}/Torus.mtl (100%)
 rename SurgSim/Testing/{OsgSceneryRepresentationTests => 
Data/Geometry}/Torus.obj (100%)
 rename SurgSim/Testing/{OsgSceneryRepresentationTests => 
Data/Geometry}/Torus.osgb (100%)
 rename SurgSim/{Physics/RenderTests/Data => Testing/Data/Geometry}/box.ply 
(100%)
 create mode 100644 SurgSim/Testing/Data/Geometry/cube.osgt
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Data/Geometry/invalid-staple.ply} (100%)
 create mode 100644 SurgSim/Testing/Data/Geometry/plane.ply
 rename SurgSim/{Physics/RenderTests/Data => Testing/Data/Geometry}/sphere.ply 
(100%)
 create mode 100644 SurgSim/Testing/Data/Geometry/sphere0_025.ply
 copy Examples/Stapling/Data/Geometry/staple.mtl => 
SurgSim/Testing/Data/Geometry/sphere0_5.mtl (100%)
 create mode 100644 SurgSim/Testing/Data/Geometry/sphere0_5.obj
 create mode 100644 SurgSim/Testing/Data/Geometry/staple.ply
 rename SurgSim/Testing/{MeshShapeData => Data/Geometry}/staple_collision.ply 
(100%)
 copy {Examples/Stapling => 
SurgSim/Testing}/Data/Geometry/stapler_collision.ply (100%)
 copy Examples/Stapling/Data/Geometry/wound_deformable.ply => 
SurgSim/Testing/Data/Geometry/wound_deformable_with_texture.ply (100%)
 rename SurgSim/{Graphics/UnitTests/Data/OsgTextureTests => 
Testing/Data/Textures}/Brdf0.png (100%)
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Testing/Data/Textures}/Brdf1.png (100%)
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Testing/Data/Textures/CubeMap_axes.png} (100%)
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 create mode 100644 
SurgSim/Testing/Data/Textures/CubeMap_reflection_specular.png
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SurgSim/{Graphics/RenderTests/Data/OsgMeshRepresentationRenderTests/cube.png => 
Testing/Data/Textures/CubeMap_rgb_rotate.png} (100%)
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Testing/Data/Textures}/Gradient.png (100%)
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Testing/Data/Textures}/NegativeX.png (100%)
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Testing/Data/Textures}/NegativeY.png (100%)
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Testing/Data/Textures}/NegativeZ.png (100%)
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Testing/Data/Textures}/PositiveX.png (100%)
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Testing/Data/Textures}/PositiveY.png (100%)
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Testing/Data/Textures}/PositiveZ.png (100%)
 rename SurgSim/{Graphics/RenderTests/Data/OsgScreenSpaceQuadRenderTests => 
Testing/Data/Textures}/Rectangle.png (100%)
 create mode 100644 SurgSim/Testing/Data/Textures/bricks.png
 rename 
SurgSim/{Graphics/RenderTests/Data/OsgMeshRepresentationRenderTests/wound.png 
=> Testing/Data/Textures/wound_deformable.png} (100%)
 create mode 100644 SurgSim/Testing/MockInputComponent.cpp
 create mode 100644 SurgSim/Testing/MockInputComponent.h
 delete mode 100644 SurgSim/Testing/OctreeShapeData/staple.vox
 delete mode 100644 SurgSim/Testing/TriangleMeshBaseTests/Cube.ply
 create mode 100644 SurgSim/Testing/Utilities.h
 create mode 100644 Tools/CMakeLists.txt
 create mode 100644 Tools/Converters/tetgen2ply.py
 create mode 100644 Tools/NeedleSutureGeneration/CMakeLists.txt
 create mode 100644 Tools/NeedleSutureGeneration/Data/properties.ini
 create mode 100644 Tools/NeedleSutureGeneration/NeedleSutureGeneration.cpp

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