remove newton background threads. alsoe remove the

also remove use define thread, the bug is no in newton it is with unreal checking that no unreal code run on a thread that is no own but unreal core.
the newton worker thread are children that run concurrent with the main but unreal just crash them

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCollision/CMakeLists.txt

@@ -0,0 +1,72 @@
+# Copyright (c) <2014-2017> <Newton Game Dynamics>
+#
+# This software is provided 'as-is', without any express or implied
+# warranty. In no event will the authors be held liable for any damages
+# arising from the use of this software.
+#
+# Permission is granted to anyone to use this software for any purpose,
+# including commercial applications, and to alter it and redistribute it
+# freely.
+
+cmake_minimum_required(VERSION 3.9.0 FATAL_ERROR)
+
+set (projectName "ndCollision")
+message (${projectName})
+
+#source and header files
+file(GLOB CPP_SOURCE *.h *.cpp)
+file(GLOB HEADERS *.h)
+
+source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}/" FILES ${CPP_SOURCE})
+
+include_directories(../dCore/)
+include_directories(../dTinyxml/)
+include_directories(../dProfiler/)
+
+if (MSVC)
+       set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /fp:fast")
+       set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /fp:fast")
+endif(MSVC)
+
+if(NEWTON_BUILD_SHARED_LIBS)
+	add_definitions(-D_D_COLLISION_EXPORT_DLL)
+	add_library(${projectName} SHARED ${CPP_SOURCE})
+
+	if(MSVC OR MINGW)
+		target_link_options(${projectName} PUBLIC "/DEBUG") 
+	endif()
+else()
+	add_library(${projectName} STATIC ${CPP_SOURCE})
+endif()
+
+if (MSVC)
+	if(CMAKE_VS_MSBUILD_COMMAND OR CMAKE_VS_DEVENV_COMMAND)
+		set_target_properties(${projectName} PROPERTIES COMPILE_FLAGS "/YundCollisionStdafx.h")
+		set_source_files_properties(ndCollisionStdafx.cpp PROPERTIES COMPILE_FLAGS "/YcndCollisionStdafx.h")
+	endif()
+
+	if (NEWTON_BUILD_TEST AND NEWTON_BUILD_SHARED_LIBS)
+		add_custom_command(
+			TARGET ${projectName} POST_BUILD
+			COMMAND ${CMAKE_COMMAND}
+			ARGS -E copy $<TARGET_FILE:${projectName}> ${PROJECT_BINARY_DIR}/applications/ndTest/${CMAKE_CFG_INTDIR}/$<TARGET_FILE_NAME:${projectName}>)
+	endif ()
+
+	if (NEWTON_BUILD_SANDBOX_DEMOS AND NEWTON_BUILD_SHARED_LIBS)
+		add_custom_command(
+			TARGET ${projectName} POST_BUILD
+			COMMAND ${CMAKE_COMMAND}
+			ARGS -E copy $<TARGET_FILE:${projectName}> ${PROJECT_BINARY_DIR}/applications/ndSandbox/${CMAKE_CFG_INTDIR}/$<TARGET_FILE_NAME:${projectName}>)
+	endif ()
+
+endif(MSVC)
+
+target_link_libraries(${projectName} ndCore ndTinyxml)
+
+install(TARGETS ${projectName} 
+		LIBRARY DESTINATION lib
+		ARCHIVE DESTINATION lib
+		RUNTIME DESTINATION bin)
+
+install(FILES ${HEADERS} DESTINATION include/${projectName})
+

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCollision/ndScene.cpp

@@ -46,8 +46,7 @@ ndVector ndScene::m_angularContactError2(D_CONTACT_ANGULAR_ERROR * D_CONTACT_ANG
 ndVector ndScene::m_linearContactError2(D_CONTACT_TRANSLATION_ERROR * D_CONTACT_TRANSLATION_ERROR);
 
 ndScene::ndScene()
-	:ndClassAlloc()
-	,ndThreadPool("newtonWorker")
+	:ndThreadPool("newtonWorker")
 	,m_bodyList()
 	,m_particleSetList()
 	,m_contactArray()
@@ -56,12 +55,12 @@ ndScene::ndScene()
 	,m_sceneBodyArray(1024)
 	,m_activeConstraintArray(1024)
 	,m_specialUpdateList()
-	,m_backgroundThread()
 	,m_newPairs(1024)
 	,m_lock()
 	,m_rootNode(nullptr)
 	,m_sentinelBody(nullptr)
 	,m_contactNotifyCallback(new ndContactNotify(nullptr))
+	,m_backgroundThread(nullptr)
 	,m_timestep(ndFloat32 (0.0f))
 	,m_lru(D_CONTACT_DELAY_FRAMES)
 	,m_frameNumber(0)
@@ -78,8 +77,7 @@ ndScene::ndScene()
 }
 
 ndScene::ndScene(const ndScene& src)
-	:ndClassAlloc()
-	,ndThreadPool("newtonWorker")
+	:ndThreadPool("newtonWorker")
 	,m_bodyList(src.m_bodyList)
 	,m_particleSetList()
 	,m_contactArray(src.m_contactArray)
@@ -88,12 +86,12 @@ ndScene::ndScene(const ndScene& src)
 	,m_sceneBodyArray()
 	,m_activeConstraintArray()
 	,m_specialUpdateList()
-	,m_backgroundThread()
 	,m_newPairs(1024)
 	,m_lock()
 	,m_rootNode(nullptr)
 	,m_sentinelBody(nullptr)
 	,m_contactNotifyCallback(nullptr)
+	,m_backgroundThread(nullptr)
 	,m_timestep(ndFloat32(0.0f))
 	,m_lru(src.m_lru)
 	,m_frameNumber(src.m_frameNumber)
@@ -103,7 +101,7 @@ ndScene::ndScene(const ndScene& src)
 	ndScene* const stealData = (ndScene*)&src;
 
 	SetThreadCount(src.GetThreadCount());
-	m_backgroundThread.SetThreadCount(m_backgroundThread.GetThreadCount());
+	//m_backgroundThread.SetThreadCount(m_backgroundThread.GetThreadCount());
 
 	m_scratchBuffer.Swap(stealData->m_scratchBuffer);
 	m_sceneBodyArray.Swap(stealData->m_sceneBodyArray);
@@ -1188,7 +1186,10 @@ void ndScene::BodiesInAabb(ndBodiesInAabbNotify& callback, const ndVector& minBo
 void ndScene::Cleanup()
 {
 	Sync();
-	m_backgroundThread.Terminate();
+	if (m_backgroundThread)
+	{
+		m_backgroundThread->Terminate();
+	}
 	PrepareCleanup();
 
 	m_frameNumber = 0;
@@ -1268,7 +1269,15 @@ bool ndScene::ConvexCast(ndConvexCastNotify& callback, const ndShapeInstance& co
 
 void ndScene::SendBackgroundTask(ndBackgroundTask* const job)
 {
-	m_backgroundThread.SendTask(job);
+	if (m_backgroundThread)
+	{
+		m_backgroundThread->SendTask(job);
+	}
+	else
+	{
+		ndAssert(0);
+		delete job;
+	}
 }
 
 void ndScene::AddPair(ndBodyKinematic* const body0, ndBodyKinematic* const body1, ndInt32 threadId)

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCollision/ndScene.h

@@ -55,7 +55,7 @@ class ndSceneTreeNotiFy : public ndClassAlloc
 } D_GCC_NEWTON_ALIGN_32;
 
 D_MSV_NEWTON_ALIGN_32
-class ndScene : public ndClassAlloc, public ndThreadPool
+class ndScene : public ndThreadPool
 {
 	protected:
 	class ndContactPairs
@@ -162,7 +162,6 @@ class ndScene : public ndClassAlloc, public ndThreadPool
 	ndArray<ndBodyKinematic*> m_sceneBodyArray;
 	ndArray<ndConstraint*> m_activeConstraintArray;
 	ndSpecialList<ndBodyKinematic> m_specialUpdateList;
-	ndThreadBackgroundWorker m_backgroundThread;
 	ndArray<ndContactPairs> m_newPairs;
 	ndArray<ndContactPairs> m_partialNewPairs[D_MAX_THREADS_COUNT];
 	ndPolygonMeshDesc::ndStaticMeshFaceQuery m_staticMeshQuery[D_MAX_THREADS_COUNT];
@@ -172,6 +171,7 @@ class ndScene : public ndClassAlloc, public ndThreadPool
 	ndBvhNode* m_rootNode;
 	ndBodyKinematic* m_sentinelBody;
 	ndContactNotify* m_contactNotifyCallback;
+	ndThreadBackgroundWorker* m_backgroundThread;
 
 	ndFloat32 m_timestep;
 	ndUnsigned32 m_lru;

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/CMakeLists.txt

@@ -0,0 +1,72 @@
+# Copyright (c) <2014-2017> <Newton Game Dynamics>
+#
+# This software is provided 'as-is', without any express or implied
+# warranty. In no event will the authors be held liable for any damages
+# arising from the use of this software.
+#
+# Permission is granted to anyone to use this software for any purpose,
+# including commercial applications, and to alter it and redistribute it
+# freely.
+
+cmake_minimum_required(VERSION 3.9.0 FATAL_ERROR)
+
+set (projectName "ndCore")
+message (${projectName})
+
+# source and header files
+file(GLOB CPP_SOURCE *.h *.cpp)
+file(GLOB HEADERS *.h)
+
+include_directories(../dTinyxml/)
+include_directories(../dProfiler/)
+
+source_group(TREE "${CMAKE_CURRENT_SOURCE_DIR}/" FILES ${CPP_SOURCE})
+
+if(NEWTON_BUILD_SHARED_LIBS STREQUAL "ON")
+	add_definitions(-D_D_CORE_EXPORT_DLL)
+	add_library(${projectName} SHARED ${CPP_SOURCE})
+
+	if(MSVC OR MINGW)
+		target_link_options(${projectName} PUBLIC "/DEBUG") 
+	endif()
+
+else()
+	add_library(${projectName} STATIC ${CPP_SOURCE})
+endif()
+
+if (MSVC)
+	if(CMAKE_VS_MSBUILD_COMMAND OR CMAKE_VS_DEVENV_COMMAND)
+		set_target_properties(${projectName} PROPERTIES COMPILE_FLAGS "/YundCoreStdafx.h")
+		set_source_files_properties(ndCoreStdAfx.cpp PROPERTIES COMPILE_FLAGS "/YcndCoreStdafx.h")
+	endif()
+
+	if (NEWTON_BUILD_TEST AND NEWTON_BUILD_SHARED_LIBS)
+		add_custom_command(
+			TARGET ${projectName} POST_BUILD
+			COMMAND ${CMAKE_COMMAND}
+			ARGS -E copy $<TARGET_FILE:${projectName}> ${PROJECT_BINARY_DIR}/applications/ndTest/${CMAKE_CFG_INTDIR}/$<TARGET_FILE_NAME:${projectName}>)
+	endif ()
+
+	if (NEWTON_BUILD_SANDBOX_DEMOS AND NEWTON_BUILD_SHARED_LIBS)
+		add_custom_command(
+			TARGET ${projectName} POST_BUILD
+			COMMAND ${CMAKE_COMMAND}
+			ARGS -E copy $<TARGET_FILE:${projectName}> ${PROJECT_BINARY_DIR}/applications/ndSandbox/${CMAKE_CFG_INTDIR}/$<TARGET_FILE_NAME:${projectName}>)
+	endif ()
+
+endif(MSVC)
+
+target_include_directories(${projectName} PUBLIC .)
+
+if (NEWTON_BUILD_PROFILER)
+    target_link_libraries (${projectName} dProfiler)
+endif()
+
+target_link_libraries (${projectName} ndTinyxml)
+
+install(TARGETS ${projectName} 
+		LIBRARY DESTINATION lib
+		ARCHIVE DESTINATION lib
+		RUNTIME DESTINATION bin)
+
+install(FILES ${HEADERS} DESTINATION include/${projectName})

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndMatrix.h

@@ -128,7 +128,7 @@ inline ndMatrix::ndMatrix (const ndVector &front, const ndVector &up, const ndVe
 {
 }
 
-inline ndVector& ndMatrix::operator[] (ndInt32 i)
+inline ndVector& ndMatrix::operator[] (ndInt32  i)
 {
 	ndAssert (i < 4);
 	ndAssert (i >= 0);

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndQuaternion.h

@@ -56,7 +56,7 @@ class ndQuaternion: public ndVector
 
 inline ndQuaternion::ndQuaternion()
 	//:ndVector(ndVector::m_wOne)
-	:ndVector(ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(1.0f))
+	:ndVector(ndFloat32 (0.0f), ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(1.0f))
 {
 }
 

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThread.cpp

@@ -31,19 +31,9 @@
 #pragma warning( disable : 4355)
 #endif
 
-ndThreadInterface::ndThreadInterface()
+ndThread::ndThread()
 	:ndClassAlloc()
 	,ndSemaphore()
-{
-}
-
-ndThreadInterface::~ndThreadInterface()
-{
-}
-
-
-ndThread::ndThread()
-	:ndThreadInterface()
 #ifndef D_USE_THREAD_EMULATION
 	,ndAtomic<bool>(true)
 	,std::condition_variable()

newton-4.00/applications/toolsAndWrapers/newtonUnreal/newton/Source/ThirdParty/newtonLibrary/Public/dCore/ndThread.h

@@ -36,25 +36,10 @@ class ndThreadName
 	char m_name[32];
 };
 
-class ndThreadInterface: public ndClassAlloc, public ndSemaphore
-{
-	public:
-	D_CORE_API ndThreadInterface();
-	D_CORE_API virtual ~ndThreadInterface();
-
-	virtual void Signal() = 0;
-	virtual void Finish() = 0;
-	virtual void Release() = 0;
-	virtual void ThreadFunction() = 0;
-	virtual void ThreadFunctionCallback() = 0;
-	virtual void SetName(const char* const name) = 0;
-
-	ndThreadName m_name;
-};
-
 /// Base class for for all multi thread functionality.
-class ndThread
-	:public ndThreadInterface
+class ndThread 
+	:public ndClassAlloc
+	,public ndSemaphore
 #ifndef D_USE_THREAD_EMULATION
 	,public ndAtomic<bool>
 	,public std::condition_variable
@@ -72,25 +57,27 @@ class ndThread
 
 	/// Set thread name. 
 	/// Useful for when debugging or profiler and application. 
-	D_CORE_API virtual void SetName(const char* const name) override;
+	D_CORE_API virtual void SetName(const char* const name);
 
 	/// Set the thread, to execute one call to and go back to a wait state  
-	D_CORE_API virtual void Signal() override;
+	D_CORE_API virtual void Signal();
 
 	/// Force the thread loop to terminate.
 	/// This function must be call explicitly when the application
 	/// wants to terminate the thread because the destructor does not do it. 
-	D_CORE_API virtual void Finish() override;
+	D_CORE_API virtual void Finish();
 
 	/// Thread function to execute in a perpetual loop until the thread is terminated.
 	/// Each time the thread owner calls function Signal, the loop execute one call to 
 	/// this function and upon return, the thread goes back to wait for another signal  
 	/// or to exit the loop. 
-	//virtual virtual void ThreadFunction() = 0;
+	virtual void ThreadFunction() = 0;
 
 	protected:
-	D_CORE_API virtual void Release() override;
-	D_CORE_API virtual void ThreadFunctionCallback() override;
+	D_CORE_API virtual void Release();
+	D_CORE_API virtual void ThreadFunctionCallback();
+
+	ndThreadName m_name;
 };
 
 #endif