The extern/bullet from HEAD is needed to compile the gameengine inorange

orange

10 files changed, 220 insertions, 61 deletions

diff --git a/extern/bullet/Bullet/BLI_Bullet.dsp b/extern/bullet/Bullet/BLI_Bullet.dsp
index 48b6e8bb335..dad314f72ba 100644
--- a/extern/bullet/Bullet/BLI_Bullet.dsp
+++ b/extern/bullet/Bullet/BLI_Bullet.dsp
@@ -159,10 +159,6 @@ SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.h
 # End Source File
 # Begin Source File
 
-SOURCE=.\NarrowPhaseCollision\CollisionMargin.h
-# End Source File
-# Begin Source File
-
 SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.cpp
 # End Source File
 # Begin Source File
@@ -203,6 +199,14 @@ SOURCE=.\NarrowPhaseCollision\GjkPairDetector.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\NarrowPhaseCollision\ManifoldPoint.h
 # End Source File
 # Begin Source File
@@ -307,6 +311,18 @@ SOURCE=.\CollisionShapes\BoxShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\BvhTriangleMeshShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\BvhTriangleMeshShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CollisionMargin.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\CollisionShape.cpp
 # End Source File
 # Begin Source File
@@ -339,6 +355,14 @@ SOURCE=.\CollisionShapes\ConvexShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\ConvexTriangleCallback.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexTriangleCallback.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\CylinderShape.cpp
 # End Source File
 # Begin Source File
@@ -347,6 +371,14 @@ SOURCE=.\CollisionShapes\CylinderShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\EmptyShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\EmptyShape.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\MinkowskiSumShape.cpp
 # End Source File
 # Begin Source File
@@ -363,6 +395,14 @@ SOURCE=.\CollisionShapes\MultiSphereShape.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\OptimizedBvh.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\OptimizedBvh.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\PolyhedralConvexShape.cpp
 # End Source File
 # Begin Source File
@@ -395,10 +435,22 @@ SOURCE=.\CollisionShapes\StridingMeshInterface.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\TriangleCallback.cpp
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\TriangleCallback.h
 # End Source File
 # Begin Source File
 
+SOURCE=.\CollisionShapes\TriangleIndexVertexArray.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleIndexVertexArray.h
+# End Source File
+# Begin Source File
+
 SOURCE=.\CollisionShapes\TriangleMesh.cpp
 # End Source File
 # Begin Source File
diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index b9046f451e5..4c8bc67557b 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -42,6 +42,7 @@
 				Optimization="0"
 				AdditionalIncludeDirectories=".;..\LinearMath"
 				PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+				ExceptionHandling="0"
 				BasicRuntimeChecks="3"
 				RuntimeLibrary="1"
 				UsePrecompiledHeader="0"
@@ -273,6 +274,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.h"
+				>
+			</File>
+			<File
 				RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
 				>
 			</File>
@@ -369,6 +378,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\CollisionShapes\ConvexTriangleCallback.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexTriangleCallback.h"
+				>
+			</File>
+			<File
 				RelativePath=".\CollisionShapes\CylinderShape.cpp"
 				>
 			</File>
@@ -377,6 +394,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\CollisionShapes\EmptyShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\EmptyShape.h"
+				>
+			</File>
+			<File
 				RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp"
 				>
 			</File>
@@ -425,6 +450,10 @@
 				>
 			</File>
 			<File
+				RelativePath=".\CollisionShapes\TriangleCallback.cpp"
+				>
+			</File>
+			<File
 				RelativePath=".\CollisionShapes\TriangleCallback.h"
 				>
 			</File>
@@ -549,6 +578,30 @@
 				>
 			</File>
 		</Filter>
+		<File
+			RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\CollisionShapes\BvhTriangleMeshShape.h"
+			>
+		</File>
+		<File
+			RelativePath=".\CollisionShapes\OptimizedBvh.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\CollisionShapes\OptimizedBvh.h"
+			>
+		</File>
+		<File
+			RelativePath=".\CollisionShapes\TriangleIndexVertexArray.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\CollisionShapes\TriangleIndexVertexArray.h"
+			>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>
diff --git a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
index fe3a51883ec..a07e2919bd6 100644
--- a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
@@ -84,28 +84,30 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
 
 OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)
 {
+	OptimizedBvhNode* internalNode;
 
+	int splitAxis, splitIndex, i;
 	int numIndices =endIndex-startIndex;
-	assert(numIndices>0);
-
 	int curIndex = m_curNodeIndex;
 
+	assert(numIndices>0);
+
 	if (numIndices==1)
 	{
 		return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
 	}
 	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
 	
-	int splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
+	splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
 
-	int splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
+	splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
 
-	OptimizedBvhNode* internalNode = &m_contiguousNodes[m_curNodeIndex++];
+	internalNode = &m_contiguousNodes[m_curNodeIndex++];
 	
 	internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
 	internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
 	
-	for (int i=startIndex;i<endIndex;i++)
+	for (i=startIndex;i<endIndex;i++)
 	{
 		internalNode->m_aabbMax.setMax(leafNodes[i].m_aabbMax);
 		internalNode->m_aabbMin.setMin(leafNodes[i].m_aabbMin);
@@ -123,21 +125,23 @@ OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,i
 
 int	OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,int endIndex,int splitAxis)
 {
+	int i;
 	int splitIndex =startIndex;
 	int numIndices = endIndex - startIndex;
+	float splitValue;
 
 	SimdVector3 means(0.f,0.f,0.f);
-	for (int i=startIndex;i<endIndex;i++)
+	for (i=startIndex;i<endIndex;i++)
 	{
 		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
 		means+=center;
 	}
 	means *= (1.f/(float)numIndices);
 	
-	float splitValue = means[splitAxis];
+	splitValue = means[splitAxis];
 	
 	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (int i=startIndex;i<endIndex;i++)
+	for (i=startIndex;i<endIndex;i++)
 	{
 		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
 		if (center[splitAxis] > splitValue)
@@ -159,19 +163,20 @@ int	OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,
 
 int	OptimizedBvh::CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endIndex)
 {
+	int i;
+
 	SimdVector3 means(0.f,0.f,0.f);
+	SimdVector3 variance(0.f,0.f,0.f);
 	int numIndices = endIndex-startIndex;
 
-	for (int i=startIndex;i<endIndex;i++)
+	for (i=startIndex;i<endIndex;i++)
 	{
 		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
 		means+=center;
 	}
 	means *= (1.f/(float)numIndices);
 		
-	SimdVector3 variance(0.f,0.f,0.f);
-
-	for (int i=startIndex;i<endIndex;i++)
+	for (i=startIndex;i<endIndex;i++)
 	{
 		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
 		SimdVector3 diff2 = center-means;
@@ -180,18 +185,18 @@ int	OptimizedBvh::CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endI
 	}
 	variance *= (1.f/	((float)numIndices-1)	);
 	
-	int biggestAxis = variance.maxAxis();
-	return biggestAxis;
-
+	return variance.maxAxis();
 }
 
 
 	
 void	OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
+	int i;
+
 	if (aabbMin.length() > 1000.f)
 	{
-		for (int i=0;i<m_leafNodes.size();i++)
+		for (i=0;i<m_leafNodes.size();i++)
 		{
 			const OptimizedBvhNode&	node = m_leafNodes[i];
 			nodeCallback->ProcessNode(&node);
@@ -205,10 +210,10 @@ void	OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,
 
 void	OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
-	bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+	bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
 	if (aabbOverlap)
 	{
-		bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
 		if (isLeafNode)
 		{
 			nodeCallback->ProcessNode(rootNode);
@@ -225,8 +230,9 @@ int maxIterations = 0;
 
 void	OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
-	int curIndex = 0;
+	int escapeIndex, curIndex = 0;
 	int walkIterations = 0;
+	bool aabbOverlap, isLeafNode;
 
 	while (curIndex < m_curNodeIndex)
 	{
@@ -234,8 +240,8 @@ void	OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallb
 		assert (walkIterations < m_curNodeIndex);
 
 		walkIterations++;
-		bool aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-		bool isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
 		
 		if (isLeafNode && aabbOverlap)
 		{
@@ -248,7 +254,7 @@ void	OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallb
 			curIndex++;
 		} else
 		{
-			int escapeIndex = rootNode->m_escapeIndex;
+			escapeIndex = rootNode->m_escapeIndex;
 			rootNode += escapeIndex;
 			curIndex += escapeIndex;
 		}
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
index bbffb8137de..37d34a65948 100644
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
@@ -22,14 +22,7 @@ SphereShape ::SphereShape (SimdScalar radius)
 
 SimdVector3	SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
 {
-	float radius = m_radius - GetMargin();
-
-	SimdScalar len = vec.length2();
-	if (SimdFabs(len) < 0.0001f)
-	{
-		return SimdVector3(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius);
-	} 
-	return vec *  (m_localScaling*(radius / SimdSqrt(len)));
+	return SimdVector3(0.f,0.f,0.f);
 }
 
 SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
@@ -37,38 +30,31 @@ SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
 	SimdVector3 supVertex;
 	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
 
-	if ( GetMargin()!=0.f )
+	SimdVector3 vecnorm = vec;
+	if (SimdFuzzyZero(vecnorm .length2()))
 	{
-		SimdVector3 vecnorm = vec;
-		if (vecnorm .length2() == 0.f)
-		{
-			vecnorm.setValue(-1.f,-1.f,-1.f);
-		} 
-		vecnorm.normalize();
-		supVertex+= GetMargin() * vecnorm;
-	}
+		vecnorm.setValue(-1.f,-1.f,-1.f);
+	} 
+	vecnorm.normalize();
+	supVertex+= GetMargin() * vecnorm;
 	return supVertex;
 }
 
-/*
+
 //broken due to scaling
 void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
 	const SimdVector3& center = t.getOrigin();
-	SimdScalar radius = m_radius;
-	
-	SimdVector3 extent = m_localScaling*radius;
-	extent+= SimdVector3(GetMargin(),GetMargin(),GetMargin());
-
+	SimdVector3 extent(GetMargin(),GetMargin(),GetMargin());
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 }
-*/
+
 
 
 void	SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
 {
-	SimdScalar elem = 0.4f * mass * m_radius*m_radius;
+	SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
 	inertia[0] = inertia[1] = inertia[2] = elem;
 
 }
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.h b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
index 82c00ea43eb..235af6c4db2 100644
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
@@ -20,7 +20,7 @@ class SphereShape : public ConvexShape
 
 {
 	SimdScalar m_radius;
-
+	
 public:
 	SphereShape (SimdScalar radius);
 	
@@ -31,7 +31,7 @@ public:
 
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
-	//virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
 
 	virtual int	GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
@@ -40,6 +40,18 @@ public:
 	//debugging
 	virtual char*	GetName()const {return "SPHERE";}
 
+	virtual void	SetMargin(float margin)
+	{
+		ConvexShape::SetMargin(margin);
+	}
+	virtual float	GetMargin() const
+	{
+		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
+		//this means, non-uniform scaling is not supported anymore
+		return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
+	}
+
+
 };
 
 
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index f7e41e61824..a7375e78d38 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -153,7 +153,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 		
 		if (m_convex.IsConvexShape())
 		{
-			float collisionMarginTriangle = 0.02f;//triangleMesh->GetMargin();
+			float collisionMarginTriangle = triangleMesh->GetMargin();
 					
 			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, collisionMarginTriangle,useContinuous);
 #ifdef USE_BOX_TRIANGLE
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
index 9471c1faf7c..81b75e6e1b8 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
@@ -14,17 +14,20 @@
 
 
 static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
+static int gConstraintId = 1;
 
 Point2PointConstraint::Point2PointConstraint():
 m_rbA(s_fixed),m_rbB(s_fixed)
 {
+	m_constraintId = gConstraintId++;//just create some unique ID for now
+
 	s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
 }
 
 Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
 :m_rbA(rbA),m_rbB(rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
 {
-
+	m_constraintId = gConstraintId++;//just create some unique ID for now
 }
 
 
@@ -32,6 +35,7 @@ Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& p
 :m_rbA(rbA),m_rbB(s_fixed),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
 {
 	s_fixed.setMassProps(0.f,SimdVector3(1e10f,1e10f,1e10f));
+	m_constraintId = gConstraintId++;//just create some unique ID for now
 }
 
 void	Point2PointConstraint::BuildJacobian()
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
index 82b4dcc83db..59b7a5576c4 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
@@ -27,6 +27,7 @@ class Point2PointConstraint
 	SimdVector3	m_pivotInA;
 	SimdVector3	m_pivotInB;
 	
+	int	m_constraintId;
 public:
 
 	Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
@@ -50,6 +51,11 @@ public:
 		return m_rbB;
 	}
 
+	int GetConstraintId()
+	{
+		return m_constraintId;
+	}
+
 
 };
 
diff --git a/extern/bullet/SConscript b/extern/bullet/SConscript
index ae3763d6e45..453d18aff6d 100644
--- a/extern/bullet/SConscript
+++ b/extern/bullet/SConscript
@@ -57,7 +57,13 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
 				'Bullet/CollisionShapes/StridingMeshInterface.cpp',
 				'Bullet/CollisionShapes/TriangleMesh.cpp',
 				'Bullet/CollisionShapes/TriangleMeshShape.cpp',
-				
+				'Bullet/CollisionShapes/BvhTriangleMeshShape.cpp',
+				'Bullet/CollisionShapes/ConvexTriangleCallback.cpp',
+				'Bullet/CollisionShapes/EmptyShape.cpp',
+				'Bullet/CollisionShapes/OptimizedBvh.cpp',
+				'Bullet/CollisionShapes/TriangleCallback.cpp',
+				'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp',
+											
 				'Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp',
 				'Bullet/NarrowPhaseCollision/BU_Collidable.cpp',
 				'Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp',
@@ -73,7 +79,8 @@ bullet_sources = ['Bullet/BroadphaseCollision/BroadphaseProxy.cpp',
 				'Bullet/NarrowPhaseCollision/RaycastCallback.cpp',
 				'Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp',
 				'Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp',
-				
+				'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp',
+								
 				'BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp',
 				'BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp',
 				'BulletDynamics/CollisionDispatch/EmptyCollisionAlgorithm.cpp',
diff --git a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
index f0cd96247d2..60c6b02a924 100644
--- a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
+++ b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
@@ -717,9 +717,6 @@ ECHO Done
 					RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_VertexPoly.h">
 				</File>
 				<File
-					RelativePath="..\..\Bullet\NarrowPhaseCollision\CollisionMargin.h">
-				</File>
-				<File
 					RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.h">
 				</File>
 				<File
@@ -797,6 +794,9 @@ ECHO Done
 					</FileConfiguration>
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.cpp">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.cpp">
 					<FileConfiguration
 						Name="Blender Debug|Win32">
@@ -905,6 +905,9 @@ ECHO Done
 					</FileConfiguration>
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleCallback.cpp">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.cpp">
 					<FileConfiguration
 						Name="Blender Debug|Win32">
@@ -932,6 +935,9 @@ ECHO Done
 					</FileConfiguration>
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.cpp">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.cpp">
 					<FileConfiguration
 						Name="Blender Debug|Win32">
@@ -986,6 +992,9 @@ ECHO Done
 					</FileConfiguration>
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.cpp">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.cpp">
 					<FileConfiguration
 						Name="Blender Debug|Win32">
@@ -1094,6 +1103,12 @@ ECHO Done
 					</FileConfiguration>
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.cpp">
+				</File>
+				<File
+					RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.cpp">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.cpp">
 					<FileConfiguration
 						Name="Blender Debug|Win32">
@@ -1155,6 +1170,12 @@ ECHO Done
 					RelativePath="..\..\Bullet\CollisionShapes\BoxShape.h">
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.h">
+				</File>
+				<File
+					RelativePath="..\..\Bullet\CollisionShapes\CollisionMargin.h">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.h">
 				</File>
 				<File
@@ -1167,15 +1188,24 @@ ECHO Done
 					RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.h">
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleCallback.h">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.h">
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.h">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.h">
 				</File>
 				<File
 					RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.h">
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.h">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.h">
 				</File>
 				<File
@@ -1191,6 +1221,9 @@ ECHO Done
 					RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.h">
 				</File>
 				<File
+					RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.h">
+				</File>
+				<File
 					RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.h">
 				</File>
 				<File