Revert changes back to original state, before 29506.

49 files changed, 0 insertions, 14945 deletions

diff --git a/extern/bullet2/BulletDynamics/CMakeLists.txt b/extern/bullet2/BulletDynamics/CMakeLists.txt
deleted file mode 100644
index 7516e2b957f..00000000000
--- a/extern/bullet2/BulletDynamics/CMakeLists.txt
+++ /dev/null
@@ -1,112 +0,0 @@
-INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src  )
-
-
-
-SET(BulletDynamics_SRCS
-	Character/btKinematicCharacterController.cpp
-	ConstraintSolver/btConeTwistConstraint.cpp
-	ConstraintSolver/btContactConstraint.cpp
-	ConstraintSolver/btGeneric6DofConstraint.cpp
-	ConstraintSolver/btGeneric6DofSpringConstraint.cpp
-	ConstraintSolver/btHinge2Constraint.cpp
-	ConstraintSolver/btHingeConstraint.cpp
-	ConstraintSolver/btPoint2PointConstraint.cpp
-	ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
-	ConstraintSolver/btSliderConstraint.cpp
-	ConstraintSolver/btSolve2LinearConstraint.cpp
-	ConstraintSolver/btTypedConstraint.cpp
-	ConstraintSolver/btUniversalConstraint.cpp
-	Dynamics/btContinuousDynamicsWorld.cpp
-	Dynamics/btDiscreteDynamicsWorld.cpp
-	Dynamics/btRigidBody.cpp
-	Dynamics/btSimpleDynamicsWorld.cpp
-	Dynamics/Bullet-C-API.cpp
-	Vehicle/btRaycastVehicle.cpp
-	Vehicle/btWheelInfo.cpp
-)
-
-SET(Root_HDRS
-	../btBulletDynamicsCommon.h
-	../btBulletCollisionCommon.h
-)
-SET(ConstraintSolver_HDRS
-	ConstraintSolver/btConeTwistConstraint.h
-	ConstraintSolver/btConstraintSolver.h
-	ConstraintSolver/btContactConstraint.h
-	ConstraintSolver/btContactSolverInfo.h
-	ConstraintSolver/btGeneric6DofConstraint.h
-	ConstraintSolver/btGeneric6DofSpringConstraint.h
-	ConstraintSolver/btHinge2Constraint.h
-	ConstraintSolver/btHingeConstraint.h
-	ConstraintSolver/btJacobianEntry.h
-	ConstraintSolver/btPoint2PointConstraint.h
-	ConstraintSolver/btSequentialImpulseConstraintSolver.h
-	ConstraintSolver/btSliderConstraint.h
-	ConstraintSolver/btSolve2LinearConstraint.h
-	ConstraintSolver/btSolverBody.h
-	ConstraintSolver/btSolverConstraint.h
-	ConstraintSolver/btTypedConstraint.h
-	ConstraintSolver/btUniversalConstraint.h
-)
-SET(Dynamics_HDRS
-	Dynamics/btActionInterface.h
-	Dynamics/btContinuousDynamicsWorld.h
-	Dynamics/btDiscreteDynamicsWorld.h
-	Dynamics/btDynamicsWorld.h
-	Dynamics/btSimpleDynamicsWorld.h
-	Dynamics/btRigidBody.h
-)
-SET(Vehicle_HDRS
-	Vehicle/btRaycastVehicle.h
-	Vehicle/btVehicleRaycaster.h
-	Vehicle/btWheelInfo.h
-)
-
-SET(Character_HDRS
-	Character/btCharacterControllerInterface.h
-	Character/btKinematicCharacterController.h
-)
-
-
-
-SET(BulletDynamics_HDRS
-	${Root_HDRS}
-	${ConstraintSolver_HDRS}
-	${Dynamics_HDRS}
-	${Vehicle_HDRS}
-	${Character_HDRS}
-)
-
-
-ADD_LIBRARY(BulletDynamics ${BulletDynamics_SRCS} ${BulletDynamics_HDRS})
-SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES VERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
-IF (BUILD_SHARED_LIBS)
-	TARGET_LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath)
-ENDIF (BUILD_SHARED_LIBS)
-
-IF (INSTALL_LIBS)
-	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
-		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS BulletDynamics DESTINATION .)
-			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS BulletDynamics DESTINATION lib${LIB_SUFFIX})
-				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
-				INSTALL(FILES ../btBulletDynamicsCommon.h DESTINATION include/BulletDynamics)
-			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-
-		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-			SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES FRAMEWORK true)
-			
-			SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES PUBLIC_HEADER ${Root_HDRS})
-			# Have to list out sub-directories manually:
-			SET_PROPERTY(SOURCE ${ConstraintSolver_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/ConstraintSolver)
-			SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics)
-			SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle)
-			SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character)
-				
-		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
-ENDIF (INSTALL_LIBS)
\ No newline at end of file
diff --git a/extern/bullet2/BulletDynamics/Character/btCharacterControllerInterface.h b/extern/bullet2/BulletDynamics/Character/btCharacterControllerInterface.h
deleted file mode 100644
index 19373daa241..00000000000
--- a/extern/bullet2/BulletDynamics/Character/btCharacterControllerInterface.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CHARACTER_CONTROLLER_INTERFACE_H
-#define CHARACTER_CONTROLLER_INTERFACE_H
-
-#include "LinearMath/btVector3.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-class btCollisionShape;
-class btRigidBody;
-class btCollisionWorld;
-
-class btCharacterControllerInterface : public btActionInterface
-{
-public:
-	btCharacterControllerInterface () {};
-	virtual ~btCharacterControllerInterface () {};
-	
-	virtual void	setWalkDirection(const btVector3& walkDirection) = 0;
-	virtual void	setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
-	virtual void	reset () = 0;
-	virtual void	warp (const btVector3& origin) = 0;
-
-	virtual void	preStep ( btCollisionWorld* collisionWorld) = 0;
-	virtual void	playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0;
-	virtual bool	canJump () const = 0;
-	virtual void	jump () = 0;
-
-	virtual bool	onGround () const = 0;
-};
-
-#endif
diff --git a/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.cpp
deleted file mode 100644
index d551218272e..00000000000
--- a/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ /dev/null
@@ -1,553 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionDispatch/btGhostObject.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "LinearMath/btDefaultMotionState.h"
-#include "btKinematicCharacterController.h"
-
-
-// static helper method
-static btVector3
-getNormalizedVector(const btVector3& v)
-{
-	btVector3 n = v.normalized();
-	if (n.length() < SIMD_EPSILON) {
-		n.setValue(0, 0, 0);
-	}
-	return n;
-}
-
-
-///@todo Interact with dynamic objects,
-///Ride kinematicly animated platforms properly
-///More realistic (or maybe just a config option) falling
-/// -> Should integrate falling velocity manually and use that in stepDown()
-///Support jumping
-///Support ducking
-class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
-{
-public:
-	btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-	{
-		m_me = me;
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
-	{
-		if (rayResult.m_collisionObject == m_me)
-			return 1.0;
-
-		return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
-	}
-protected:
-	btCollisionObject* m_me;
-};
-
-class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
-{
-public:
-	btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-	{
-		m_me = me;
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
-	{
-		if (convexResult.m_hitCollisionObject == m_me)
-			return 1.0;
-
-		return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
-	}
-protected:
-	btCollisionObject* m_me;
-};
-
-/*
- * Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
- *
- * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
- */
-btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
-{
-	return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
-}
-
-/*
- * Returns the portion of 'direction' that is parallel to 'normal'
- */
-btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
-{
-	btScalar magnitude = direction.dot(normal);
-	return normal * magnitude;
-}
-
-/*
- * Returns the portion of 'direction' that is perpindicular to 'normal'
- */
-btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
-{
-	return direction - parallelComponent(direction, normal);
-}
-
-btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
-{
-	m_upAxis = upAxis;
-	m_addedMargin = 0.02f;
-	m_walkDirection.setValue(0,0,0);
-	m_useGhostObjectSweepTest = true;
-	m_ghostObject = ghostObject;
-	m_stepHeight = stepHeight;
-	m_turnAngle = btScalar(0.0);
-	m_convexShape=convexShape;	
-	m_useWalkDirection = true;	// use walk direction by default, legacy behavior
-	m_velocityTimeInterval = 0.0;
-}
-
-btKinematicCharacterController::~btKinematicCharacterController ()
-{
-}
-
-btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
-{
-	return m_ghostObject;
-}
-
-bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
-{
-
-	bool penetration = false;
-
-	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
-
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-	
-	btScalar maxPen = btScalar(0.0);
-	for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
-	{
-		m_manifoldArray.resize(0);
-
-		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
-		
-		if (collisionPair->m_algorithm)
-			collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
-
-		
-		for (int j=0;j<m_manifoldArray.size();j++)
-		{
-			btPersistentManifold* manifold = m_manifoldArray[j];
-			btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
-			for (int p=0;p<manifold->getNumContacts();p++)
-			{
-				const btManifoldPoint&pt = manifold->getContactPoint(p);
-
-				if (pt.getDistance() < 0.0)
-				{
-					if (pt.getDistance() < maxPen)
-					{
-						maxPen = pt.getDistance();
-						m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
-
-					}
-					m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
-					penetration = true;
-				} else {
-					//printf("touching %f\n", pt.getDistance());
-				}
-			}
-			
-			//manifold->clearManifold();
-		}
-	}
-	btTransform newTrans = m_ghostObject->getWorldTransform();
-	newTrans.setOrigin(m_currentPosition);
-	m_ghostObject->setWorldTransform(newTrans);
-//	printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
-	return penetration;
-}
-
-void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
-{
-	// phase 1: up
-	btTransform start, end;
-	m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * m_stepHeight;
-
-	start.setIdentity ();
-	end.setIdentity ();
-
-	/* FIXME: Handle penetration properly */
-	start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * btScalar(0.1f));
-	end.setOrigin (m_targetPosition);
-
-	btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-	
-	if (m_useGhostObjectSweepTest)
-	{
-		m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
-	}
-	else
-	{
-		world->convexSweepTest (m_convexShape, start, end, callback);
-	}
-	
-	if (callback.hasHit())
-	{
-		// we moved up only a fraction of the step height
-		m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
-		m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-	} else {
-		m_currentStepOffset = m_stepHeight;
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
-{
-	btVector3 movementDirection = m_targetPosition - m_currentPosition;
-	btScalar movementLength = movementDirection.length();
-	if (movementLength>SIMD_EPSILON)
-	{
-		movementDirection.normalize();
-
-		btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
-		reflectDir.normalize();
-
-		btVector3 parallelDir, perpindicularDir;
-
-		parallelDir = parallelComponent (reflectDir, hitNormal);
-		perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
-
-		m_targetPosition = m_currentPosition;
-		if (0)//tangentMag != 0.0)
-		{
-			btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
-//			printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
-			m_targetPosition +=  parComponent;
-		}
-
-		if (normalMag != 0.0)
-		{
-			btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
-//			printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
-			m_targetPosition += perpComponent;
-		}
-	} else
-	{
-//		printf("movementLength don't normalize a zero vector\n");
-	}
-}
-
-void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
-{
-	// printf("m_normalizedDirection=%f,%f,%f\n",
-	// 	m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
-	// phase 2: forward and strafe
-	btTransform start, end;
-	m_targetPosition = m_currentPosition + walkMove;
-	start.setIdentity ();
-	end.setIdentity ();
-	
-	btScalar fraction = 1.0;
-	btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
-//	printf("distance2=%f\n",distance2);
-
-	if (m_touchingContact)
-	{
-		if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
-			updateTargetPositionBasedOnCollision (m_touchingNormal);
-	}
-
-	int maxIter = 10;
-
-	while (fraction > btScalar(0.01) && maxIter-- > 0)
-	{
-		start.setOrigin (m_currentPosition);
-		end.setOrigin (m_targetPosition);
-
-		btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
-		callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-		callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-
-
-		btScalar margin = m_convexShape->getMargin();
-		m_convexShape->setMargin(margin + m_addedMargin);
-
-
-		if (m_useGhostObjectSweepTest)
-		{
-			m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-		} else
-		{
-			collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-		}
-		
-		m_convexShape->setMargin(margin);
-
-		
-		fraction -= callback.m_closestHitFraction;
-
-		if (callback.hasHit())
-		{	
-			// we moved only a fraction
-			btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
-			if (hitDistance<0.f)
-			{
-//				printf("neg dist?\n");
-			}
-
-			/* If the distance is farther than the collision margin, move */
-			if (hitDistance > m_addedMargin)
-			{
-//				printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
-				m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-			}
-
-			updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
-			btVector3 currentDir = m_targetPosition - m_currentPosition;
-			distance2 = currentDir.length2();
-			if (distance2 > SIMD_EPSILON)
-			{
-				currentDir.normalize();
-				/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
-				if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
-				{
-					break;
-				}
-			} else
-			{
-//				printf("currentDir: don't normalize a zero vector\n");
-				break;
-			}
-		} else {
-			// we moved whole way
-			m_currentPosition = m_targetPosition;
-		}
-
-	//	if (callback.m_closestHitFraction == 0.f)
-	//		break;
-
-	}
-}
-
-void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
-{
-	btTransform start, end;
-
-	// phase 3: down
-	btVector3 step_drop = getUpAxisDirections()[m_upAxis] * m_currentStepOffset;
-	btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * m_stepHeight; 
-	m_targetPosition -= (step_drop + gravity_drop);
-
-	start.setIdentity ();
-	end.setIdentity ();
-
-	start.setOrigin (m_currentPosition);
-	end.setOrigin (m_targetPosition);
-
-	btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
-	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
-	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
-	
-	if (m_useGhostObjectSweepTest)
-	{
-		m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-	} else
-	{
-		collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
-	}
-
-	if (callback.hasHit())
-	{
-		// we dropped a fraction of the height -> hit floor
-		m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-	} else {
-		// we dropped the full height
-		
-		m_currentPosition = m_targetPosition;
-	}
-}
-
-
-
-void btKinematicCharacterController::setWalkDirection
-(
-const btVector3& walkDirection
-)
-{
-	m_useWalkDirection = true;
-	m_walkDirection = walkDirection;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-}
-
-
-
-void btKinematicCharacterController::setVelocityForTimeInterval
-(
-const btVector3& velocity,
-btScalar timeInterval
-)
-{
-//	printf("setVelocity!\n");
-//	printf("  interval: %f\n", timeInterval);
-//	printf("  velocity: (%f, %f, %f)\n",
-//	    velocity.x(), velocity.y(), velocity.z());
-
-	m_useWalkDirection = false;
-	m_walkDirection = velocity;
-	m_normalizedDirection = getNormalizedVector(m_walkDirection);
-	m_velocityTimeInterval = timeInterval;
-}
-
-
-
-void btKinematicCharacterController::reset ()
-{
-}
-
-void btKinematicCharacterController::warp (const btVector3& origin)
-{
-	btTransform xform;
-	xform.setIdentity();
-	xform.setOrigin (origin);
-	m_ghostObject->setWorldTransform (xform);
-}
-
-
-void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
-{
-	
-	int numPenetrationLoops = 0;
-	m_touchingContact = false;
-	while (recoverFromPenetration (collisionWorld))
-	{
-		numPenetrationLoops++;
-		m_touchingContact = true;
-		if (numPenetrationLoops > 4)
-		{
-//			printf("character could not recover from penetration = %d\n", numPenetrationLoops);
-			break;
-		}
-	}
-
-	m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
-	m_targetPosition = m_currentPosition;
-//	printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
-
-	
-}
-
-void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
-{
-//	printf("playerStep(): ");
-//	printf("  dt = %f", dt);
-
-	// quick check...
-	if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
-//		printf("\n");
-		return;		// no motion
-	}
-
-	btTransform xform;
-	xform = m_ghostObject->getWorldTransform ();
-
-//	printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
-//	printf("walkSpeed=%f\n",walkSpeed);
-
-	stepUp (collisionWorld);
-	if (m_useWalkDirection) {
-		stepForwardAndStrafe (collisionWorld, m_walkDirection);
-	} else {
-		//printf("  time: %f", m_velocityTimeInterval);
-		// still have some time left for moving!
-		btScalar dtMoving =
-		   (dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
-		m_velocityTimeInterval -= dt;
-
-		// how far will we move while we are moving?
-		btVector3 move = m_walkDirection * dtMoving;
-
-		// printf("  dtMoving: %f", dtMoving);
-
-		// okay, step
-		stepForwardAndStrafe(collisionWorld, move);
-	}
-	stepDown (collisionWorld, dt);
-
-	// printf("\n");
-
-	xform.setOrigin (m_currentPosition);
-	m_ghostObject->setWorldTransform (xform);
-}
-
-void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
-{
-	m_fallSpeed = fallSpeed;
-}
-
-void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
-{
-	m_jumpSpeed = jumpSpeed;
-}
-
-void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
-{
-	m_maxJumpHeight = maxJumpHeight;
-}
-
-bool btKinematicCharacterController::canJump () const
-{
-	return onGround();
-}
-
-void btKinematicCharacterController::jump ()
-{
-	if (!canJump())
-		return;
-
-#if 0
-	currently no jumping.
-	btTransform xform;
-	m_rigidBody->getMotionState()->getWorldTransform (xform);
-	btVector3 up = xform.getBasis()[1];
-	up.normalize ();
-	btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
-	m_rigidBody->applyCentralImpulse (up * magnitude);
-#endif
-}
-
-bool btKinematicCharacterController::onGround () const
-{
-	return true;
-}
-
-
-void	btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
-{
-}
-
-
-btVector3* btKinematicCharacterController::getUpAxisDirections()
-{
-	static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
-	
-	return sUpAxisDirection;
-}
\ No newline at end of file
diff --git a/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.h b/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.h
deleted file mode 100644
index 16bf5df7e70..00000000000
--- a/extern/bullet2/BulletDynamics/Character/btKinematicCharacterController.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
-#define KINEMATIC_CHARACTER_CONTROLLER_H
-
-#include "LinearMath/btVector3.h"
-
-#include "btCharacterControllerInterface.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-
-class btCollisionShape;
-class btRigidBody;
-class btCollisionWorld;
-class btCollisionDispatcher;
-class btPairCachingGhostObject;
-
-///btKinematicCharacterController is an object that supports a sliding motion in a world.
-///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
-///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-class btKinematicCharacterController : public btCharacterControllerInterface
-{
-protected:
-
-	btScalar m_halfHeight;
-	
-	btPairCachingGhostObject* m_ghostObject;
-	btConvexShape*	m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-	
-	btScalar m_fallSpeed;
-	btScalar m_jumpSpeed;
-	btScalar m_maxJumpHeight;
-
-	btScalar m_turnAngle;
-	
-	btScalar m_stepHeight;
-
-	btScalar	m_addedMargin;//@todo: remove this and fix the code
-
-	///this is the desired walk direction, set by the user
-	btVector3	m_walkDirection;
-	btVector3	m_normalizedDirection;
-
-	//some internal variables
-	btVector3 m_currentPosition;
-	btScalar  m_currentStepOffset;
-	btVector3 m_targetPosition;
-
-	///keep track of the contact manifolds
-	btManifoldArray	m_manifoldArray;
-
-	bool m_touchingContact;
-	btVector3 m_touchingNormal;
-
-	bool	m_useGhostObjectSweepTest;
-	bool	m_useWalkDirection;
-	btScalar	m_velocityTimeInterval;
-	int m_upAxis;
-
-	static btVector3* getUpAxisDirections();
-
-	btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
-	btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
-	btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
-
-	bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
-	void stepUp (btCollisionWorld* collisionWorld);
-	void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
-	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
-	void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
-public:
-	btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
-	~btKinematicCharacterController ();
-	
-
-	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
-	{
-		preStep ( collisionWorld);
-		playerStep (collisionWorld, deltaTime);
-	}
-	
-	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-
-	void setUpAxis (int axis)
-	{
-		if (axis < 0)
-			axis = 0;
-		if (axis > 2)
-			axis = 2;
-		m_upAxis = axis;
-	}
-
-	/// This should probably be called setPositionIncrementPerSimulatorStep.
-	/// This is neither a direction nor a velocity, but the amount to
-	///   increment the position each simulation iteration, regardless
-	///   of dt.
-	/// This call will reset any velocity set by setVelocityForTimeInterval().
-	virtual void	setWalkDirection(const btVector3& walkDirection);
-
-	/// Caller provides a velocity with which the character should move for
-	///   the given time period.  After the time period, velocity is reset
-	///   to zero.
-	/// This call will reset any walk direction set by setWalkDirection().
-	/// Negative time intervals will result in no motion.
-	virtual void setVelocityForTimeInterval(const btVector3& velocity,
-				btScalar timeInterval);
-
-	void reset ();
-	void warp (const btVector3& origin);
-
-	void preStep (  btCollisionWorld* collisionWorld);
-	void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
-
-	void setFallSpeed (btScalar fallSpeed);
-	void setJumpSpeed (btScalar jumpSpeed);
-	void setMaxJumpHeight (btScalar maxJumpHeight);
-	bool canJump () const;
-	void jump ();
-
-	btPairCachingGhostObject* getGhostObject();
-	void	setUseGhostSweepTest(bool useGhostObjectSweepTest)
-	{
-		m_useGhostObjectSweepTest = useGhostObjectSweepTest;
-	}
-
-	bool onGround () const;
-};
-
-#endif // KINEMATIC_CHARACTER_CONTROLLER_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
deleted file mode 100644
index bf77c495404..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ /dev/null
@@ -1,1117 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marcus Hennix
-*/
-
-
-#include "btConeTwistConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMinMax.h"
-#include <new>
-
-
-
-//#define CONETWIST_USE_OBSOLETE_SOLVER true
-#define CONETWIST_USE_OBSOLETE_SOLVER false
-#define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
-
-
-SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis, const btMatrix3x3& invInertiaWorld)
-{
-	btVector3 vec = axis * invInertiaWorld;
-	return axis.dot(vec);
-}
-
-
-
-
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, 
-											 const btTransform& rbAFrame,const btTransform& rbBFrame)
-											 :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
-											 m_angularOnly(false),
-											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
-{
-	init();
-}
-
-btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
-											:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame),
-											 m_angularOnly(false),
-											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
-{
-	m_rbBFrame = m_rbAFrame;
-	init();	
-}
-
-
-void btConeTwistConstraint::init()
-{
-	m_angularOnly = false;
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-	m_bMotorEnabled = false;
-	m_maxMotorImpulse = btScalar(-1);
-
-	setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
-	m_damping = btScalar(0.01);
-	m_fixThresh = CONETWIST_DEF_FIX_THRESH;
-	m_flags = 0;
-	m_linCFM = btScalar(0.f);
-	m_linERP = btScalar(0.7f);
-	m_angCFM = btScalar(0.f);
-}
-
-
-void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	} 
-	else
-	{
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
-		if(m_solveSwingLimit)
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-		if(m_solveTwistLimit)
-		{
-			info->m_numConstraintRows++;
-			info->nub--;
-		}
-	}
-}
-
-void btConeTwistConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
-{
-	//always reserve 6 rows: object transform is not available on SPU
-	info->m_numConstraintRows = 6;
-	info->nub = 0;
-		
-}
-	
-
-void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
-}
-
-void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
-{
-	calcAngleInfo2(transA,transB,invInertiaWorldA,invInertiaWorldB);
-	
-	btAssert(!m_useSolveConstraintObsolete);
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-    info->m_J1linearAxis[info->rowskip+1] = 1;
-    info->m_J1linearAxis[2*info->rowskip+2] = 1;
-	btVector3 a1 = transA.getBasis() * m_rbAFrame.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-	btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-    // set right hand side
-	btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp;
-    btScalar k = info->fps * linERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
-		info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY;
-		info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY;
-		if(m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
-		{
-			info->cfm[j*info->rowskip] = m_linCFM;
-		}
-    }
-	int row = 3;
-    int srow = row * info->rowskip;
-	btVector3 ax1;
-	// angular limits
-	if(m_solveSwingLimit)
-	{
-		btScalar *J1 = info->m_J1angularAxis;
-		btScalar *J2 = info->m_J2angularAxis;
-		if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-		{
-			btTransform trA = transA*m_rbAFrame;
-			btVector3 p = trA.getBasis().getColumn(1);
-			btVector3 q = trA.getBasis().getColumn(2);
-			int srow1 = srow + info->rowskip;
-			J1[srow+0] = p[0];
-			J1[srow+1] = p[1];
-			J1[srow+2] = p[2];
-			J1[srow1+0] = q[0];
-			J1[srow1+1] = q[1];
-			J1[srow1+2] = q[2];
-			J2[srow+0] = -p[0];
-			J2[srow+1] = -p[1];
-			J2[srow+2] = -p[2];
-			J2[srow1+0] = -q[0];
-			J2[srow1+1] = -q[1];
-			J2[srow1+2] = -q[2];
-			btScalar fact = info->fps * m_relaxationFactor;
-			info->m_constraintError[srow] =   fact * m_swingAxis.dot(p);
-			info->m_constraintError[srow1] =  fact * m_swingAxis.dot(q);
-			info->m_lowerLimit[srow] = -SIMD_INFINITY;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-			info->m_lowerLimit[srow1] = -SIMD_INFINITY;
-			info->m_upperLimit[srow1] = SIMD_INFINITY;
-			srow = srow1 + info->rowskip;
-		}
-		else
-		{
-			ax1 = m_swingAxis * m_relaxationFactor * m_relaxationFactor;
-			J1[srow+0] = ax1[0];
-			J1[srow+1] = ax1[1];
-			J1[srow+2] = ax1[2];
-			J2[srow+0] = -ax1[0];
-			J2[srow+1] = -ax1[1];
-			J2[srow+2] = -ax1[2];
-			btScalar k = info->fps * m_biasFactor;
-
-			info->m_constraintError[srow] = k * m_swingCorrection;
-			if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
-			{
-				info->cfm[srow] = m_angCFM;
-			}
-			// m_swingCorrection is always positive or 0
-			info->m_lowerLimit[srow] = 0;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-			srow += info->rowskip;
-		}
-	}
-	if(m_solveTwistLimit)
-	{
-		ax1 = m_twistAxis * m_relaxationFactor * m_relaxationFactor;
-		btScalar *J1 = info->m_J1angularAxis;
-		btScalar *J2 = info->m_J2angularAxis;
-		J1[srow+0] = ax1[0];
-		J1[srow+1] = ax1[1];
-		J1[srow+2] = ax1[2];
-		J2[srow+0] = -ax1[0];
-		J2[srow+1] = -ax1[1];
-		J2[srow+2] = -ax1[2];
-		btScalar k = info->fps * m_biasFactor;
-		info->m_constraintError[srow] = k * m_twistCorrection;
-		if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
-		{
-			info->cfm[srow] = m_angCFM;
-		}
-		if(m_twistSpan > 0.0f)
-		{
-
-			if(m_twistCorrection > 0.0f)
-			{
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			} 
-			else
-			{
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			} 
-		}
-		else
-		{
-			info->m_lowerLimit[srow] = -SIMD_INFINITY;
-			info->m_upperLimit[srow] = SIMD_INFINITY;
-		}
-		srow += info->rowskip;
-	}
-}
-	
-
-
-void	btConeTwistConstraint::buildJacobian()
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		m_appliedImpulse = btScalar(0.);
-		m_accTwistLimitImpulse = btScalar(0.);
-		m_accSwingLimitImpulse = btScalar(0.);
-		m_accMotorImpulse = btVector3(0.,0.,0.);
-
-		if (!m_angularOnly)
-		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
-			btVector3 relPos = pivotBInW - pivotAInW;
-
-			btVector3 normal[3];
-			if (relPos.length2() > SIMD_EPSILON)
-			{
-				normal[0] = relPos.normalized();
-			}
-			else
-			{
-				normal[0].setValue(btScalar(1.0),0,0);
-			}
-
-			btPlaneSpace1(normal[0], normal[1], normal[2]);
-
-			for (int i=0;i<3;i++)
-			{
-				new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				pivotAInW - m_rbA.getCenterOfMassPosition(),
-				pivotBInW - m_rbB.getCenterOfMassPosition(),
-				normal[i],
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-			}
-		}
-
-		calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
-	}
-}
-
-
-
-void	btConeTwistConstraint::solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep)
-{
-	#ifndef __SPU__
-	if (m_useSolveConstraintObsolete)
-	{
-		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-		btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
-
-		btScalar tau = btScalar(0.3);
-
-		//linear part
-		if (!m_angularOnly)
-		{
-			btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-			btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-			btVector3 vel1;
-			bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
-			btVector3 vel2;
-			bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
-			btVector3 vel = vel1 - vel2;
-
-			for (int i=0;i<3;i++)
-			{		
-				const btVector3& normal = m_jac[i].m_linearJointAxis;
-				btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
-				btScalar rel_vel;
-				rel_vel = normal.dot(vel);
-				//positional error (zeroth order error)
-				btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-				btScalar impulse = depth*tau/timeStep  * jacDiagABInv -  rel_vel * jacDiagABInv;
-				m_appliedImpulse += impulse;
-				
-				btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
-				btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
-				bodyA.internalApplyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
-				bodyB.internalApplyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
-		
-			}
-		}
-
-		// apply motor
-		if (m_bMotorEnabled)
-		{
-			// compute current and predicted transforms
-			btTransform trACur = m_rbA.getCenterOfMassTransform();
-			btTransform trBCur = m_rbB.getCenterOfMassTransform();
-			btVector3 omegaA; bodyA.internalGetAngularVelocity(omegaA);
-			btVector3 omegaB; bodyB.internalGetAngularVelocity(omegaB);
-			btTransform trAPred; trAPred.setIdentity(); 
-			btVector3 zerovec(0,0,0);
-			btTransformUtil::integrateTransform(
-				trACur, zerovec, omegaA, timeStep, trAPred);
-			btTransform trBPred; trBPred.setIdentity(); 
-			btTransformUtil::integrateTransform(
-				trBCur, zerovec, omegaB, timeStep, trBPred);
-
-			// compute desired transforms in world
-			btTransform trPose(m_qTarget);
-			btTransform trABDes = m_rbBFrame * trPose * m_rbAFrame.inverse();
-			btTransform trADes = trBPred * trABDes;
-			btTransform trBDes = trAPred * trABDes.inverse();
-
-			// compute desired omegas in world
-			btVector3 omegaADes, omegaBDes;
-			
-			btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes);
-			btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes);
-
-			// compute delta omegas
-			btVector3 dOmegaA = omegaADes - omegaA;
-			btVector3 dOmegaB = omegaBDes - omegaB;
-
-			// compute weighted avg axis of dOmega (weighting based on inertias)
-			btVector3 axisA, axisB;
-			btScalar kAxisAInv = 0, kAxisBInv = 0;
-
-			if (dOmegaA.length2() > SIMD_EPSILON)
-			{
-				axisA = dOmegaA.normalized();
-				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(axisA);
-			}
-
-			if (dOmegaB.length2() > SIMD_EPSILON)
-			{
-				axisB = dOmegaB.normalized();
-				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(axisB);
-			}
-
-			btVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB;
-
-			static bool bDoTorque = true;
-			if (bDoTorque && avgAxis.length2() > SIMD_EPSILON)
-			{
-				avgAxis.normalize();
-				kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(avgAxis);
-				kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(avgAxis);
-				btScalar kInvCombined = kAxisAInv + kAxisBInv;
-
-				btVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) /
-									(kInvCombined * kInvCombined);
-
-				if (m_maxMotorImpulse >= 0)
-				{
-					btScalar fMaxImpulse = m_maxMotorImpulse;
-					if (m_bNormalizedMotorStrength)
-						fMaxImpulse = fMaxImpulse/kAxisAInv;
-
-					btVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse;
-					btScalar  newUnclampedMag = newUnclampedAccImpulse.length();
-					if (newUnclampedMag > fMaxImpulse)
-					{
-						newUnclampedAccImpulse.normalize();
-						newUnclampedAccImpulse *= fMaxImpulse;
-						impulse = newUnclampedAccImpulse - m_accMotorImpulse;
-					}
-					m_accMotorImpulse += impulse;
-				}
-
-				btScalar  impulseMag  = impulse.length();
-				btVector3 impulseAxis =  impulse / impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
-
-			}
-		}
-		else if (m_damping > SIMD_EPSILON) // no motor: do a little damping
-		{
-			btVector3 angVelA; bodyA.internalGetAngularVelocity(angVelA);
-			btVector3 angVelB; bodyB.internalGetAngularVelocity(angVelB);
-			btVector3 relVel = angVelB - angVelA;
-			if (relVel.length2() > SIMD_EPSILON)
-			{
-				btVector3 relVelAxis = relVel.normalized();
-				btScalar m_kDamping =  btScalar(1.) /
-					(getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) +
-					 getRigidBodyB().computeAngularImpulseDenominator(relVelAxis));
-				btVector3 impulse = m_damping * m_kDamping * relVel;
-
-				btScalar  impulseMag  = impulse.length();
-				btVector3 impulseAxis = impulse / impulseMag;
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
-			}
-		}
-
-		// joint limits
-		{
-			///solve angular part
-			btVector3 angVelA;
-			bodyA.internalGetAngularVelocity(angVelA);
-			btVector3 angVelB;
-			bodyB.internalGetAngularVelocity(angVelB);
-
-			// solve swing limit
-			if (m_solveSwingLimit)
-			{
-				btScalar amplitude = m_swingLimitRatio * m_swingCorrection*m_biasFactor/timeStep;
-				btScalar relSwingVel = (angVelB - angVelA).dot(m_swingAxis);
-				if (relSwingVel > 0)
-					amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor;
-				btScalar impulseMag = amplitude * m_kSwing;
-
-				// Clamp the accumulated impulse
-				btScalar temp = m_accSwingLimitImpulse;
-				m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) );
-				impulseMag = m_accSwingLimitImpulse - temp;
-
-				btVector3 impulse = m_swingAxis * impulseMag;
-
-				// don't let cone response affect twist
-				// (this can happen since body A's twist doesn't match body B's AND we use an elliptical cone limit)
-				{
-					btVector3 impulseTwistCouple = impulse.dot(m_twistAxisA) * m_twistAxisA;
-					btVector3 impulseNoTwistCouple = impulse - impulseTwistCouple;
-					impulse = impulseNoTwistCouple;
-				}
-
-				impulseMag = impulse.length();
-				btVector3 noTwistSwingAxis = impulse / impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
-			}
-
-
-			// solve twist limit
-			if (m_solveTwistLimit)
-			{
-				btScalar amplitude = m_twistLimitRatio * m_twistCorrection*m_biasFactor/timeStep;
-				btScalar relTwistVel = (angVelB - angVelA).dot( m_twistAxis );
-				if (relTwistVel > 0) // only damp when moving towards limit (m_twistAxis flipping is important)
-					amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor;
-				btScalar impulseMag = amplitude * m_kTwist;
-
-				// Clamp the accumulated impulse
-				btScalar temp = m_accTwistLimitImpulse;
-				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
-				impulseMag = m_accTwistLimitImpulse - temp;
-
-				btVector3 impulse = m_twistAxis * impulseMag;
-
-				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
-				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
-			}		
-		}
-	}
-#else
-btAssert(0);
-#endif //__SPU__
-}
-
-
-
-
-void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
-{
-	(void)timeStep;
-
-}
-
-
-#ifndef __SPU__
-void btConeTwistConstraint::calcAngleInfo()
-{
-	m_swingCorrection = btScalar(0.);
-	m_twistLimitSign = btScalar(0.);
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-
-	btVector3 b1Axis1,b1Axis2,b1Axis3;
-	btVector3 b2Axis1,b2Axis2;
-
-	b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
-	b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
-
-	btScalar swing1=btScalar(0.),swing2 = btScalar(0.);
-
-	btScalar swx=btScalar(0.),swy = btScalar(0.);
-	btScalar thresh = btScalar(10.);
-	btScalar fact;
-
-	// Get Frame into world space
-	if (m_swingSpan1 >= btScalar(0.05f))
-	{
-		b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
-		swx = b2Axis1.dot(b1Axis1);
-		swy = b2Axis1.dot(b1Axis2);
-		swing1  = btAtan2Fast(swy, swx);
-		fact = (swy*swy + swx*swx) * thresh * thresh;
-		fact = fact / (fact + btScalar(1.0));
-		swing1 *= fact; 
-	}
-
-	if (m_swingSpan2 >= btScalar(0.05f))
-	{
-		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);			
-		swx = b2Axis1.dot(b1Axis1);
-		swy = b2Axis1.dot(b1Axis3);
-		swing2  = btAtan2Fast(swy, swx);
-		fact = (swy*swy + swx*swx) * thresh * thresh;
-		fact = fact / (fact + btScalar(1.0));
-		swing2 *= fact; 
-	}
-
-	btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);		
-	btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2);	
-	btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq;
-
-	if (EllipseAngle > 1.0f)
-	{
-		m_swingCorrection = EllipseAngle-1.0f;
-		m_solveSwingLimit = true;
-		// Calculate necessary axis & factors
-		m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3));
-		m_swingAxis.normalize();
-		btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
-		m_swingAxis *= swingAxisSign;
-	}
-
-	// Twist limits
-	if (m_twistSpan >= btScalar(0.))
-	{
-		btVector3 b2Axis2 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(1);
-		btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1);
-		btVector3 TwistRef = quatRotate(rotationArc,b2Axis2); 
-		btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) );
-		m_twistAngle = twist;
-
-//		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.);
-		btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.);
-		if (twist <= -m_twistSpan*lockedFreeFactor)
-		{
-			m_twistCorrection = -(twist + m_twistSpan);
-			m_solveTwistLimit = true;
-			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
-			m_twistAxis.normalize();
-			m_twistAxis *= -1.0f;
-		}
-		else if (twist >  m_twistSpan*lockedFreeFactor)
-		{
-			m_twistCorrection = (twist - m_twistSpan);
-			m_solveTwistLimit = true;
-			m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f;
-			m_twistAxis.normalize();
-		}
-	}
-}
-#endif //__SPU__
-
-static btVector3 vTwist(1,0,0); // twist axis in constraint's space
-
-
-
-void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
-{
-	m_swingCorrection = btScalar(0.);
-	m_twistLimitSign = btScalar(0.);
-	m_solveTwistLimit = false;
-	m_solveSwingLimit = false;
-	// compute rotation of A wrt B (in constraint space)
-	if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
-	{	// it is assumed that setMotorTarget() was alredy called 
-		// and motor target m_qTarget is within constraint limits
-		// TODO : split rotation to pure swing and pure twist
-		// compute desired transforms in world
-		btTransform trPose(m_qTarget);
-		btTransform trA = transA * m_rbAFrame;
-		btTransform trB = transB * m_rbBFrame;
-		btTransform trDeltaAB = trB * trPose * trA.inverse();
-		btQuaternion qDeltaAB = trDeltaAB.getRotation();
-		btVector3 swingAxis = 	btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
-		m_swingAxis = swingAxis;
-		m_swingAxis.normalize();
-		m_swingCorrection = qDeltaAB.getAngle();
-		if(!btFuzzyZero(m_swingCorrection))
-		{
-			m_solveSwingLimit = true;
-		}
-		return;
-	}
-
-
-	{
-		// compute rotation of A wrt B (in constraint space)
-		btQuaternion qA = transA.getRotation() * m_rbAFrame.getRotation();
-		btQuaternion qB = transB.getRotation() * m_rbBFrame.getRotation();
-		btQuaternion qAB = qB.inverse() * qA;
-		// split rotation into cone and twist
-		// (all this is done from B's perspective. Maybe I should be averaging axes...)
-		btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
-		btQuaternion qABCone  = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
-		btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
-
-		if (m_swingSpan1 >= m_fixThresh && m_swingSpan2 >= m_fixThresh)
-		{
-			btScalar swingAngle, swingLimit = 0; btVector3 swingAxis;
-			computeConeLimitInfo(qABCone, swingAngle, swingAxis, swingLimit);
-
-			if (swingAngle > swingLimit * m_limitSoftness)
-			{
-				m_solveSwingLimit = true;
-
-				// compute limit ratio: 0->1, where
-				// 0 == beginning of soft limit
-				// 1 == hard/real limit
-				m_swingLimitRatio = 1.f;
-				if (swingAngle < swingLimit && m_limitSoftness < 1.f - SIMD_EPSILON)
-				{
-					m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness)/
-										(swingLimit - swingLimit * m_limitSoftness);
-				}				
-
-				// swing correction tries to get back to soft limit
-				m_swingCorrection = swingAngle - (swingLimit * m_limitSoftness);
-
-				// adjustment of swing axis (based on ellipse normal)
-				adjustSwingAxisToUseEllipseNormal(swingAxis);
-
-				// Calculate necessary axis & factors		
-				m_swingAxis = quatRotate(qB, -swingAxis);
-
-				m_twistAxisA.setValue(0,0,0);
-
-				m_kSwing =  btScalar(1.) /
-					(computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
-					 computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
-			}
-		}
-		else
-		{
-			// you haven't set any limits;
-			// or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?)
-			// anyway, we have either hinge or fixed joint
-			btVector3 ivA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
-			btVector3 jvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
-			btVector3 kvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(2);
-			btVector3 ivB = transB.getBasis() * m_rbBFrame.getBasis().getColumn(0);
-			btVector3 target;
-			btScalar x = ivB.dot(ivA);
-			btScalar y = ivB.dot(jvA);
-			btScalar z = ivB.dot(kvA);
-			if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
-			{ // fixed. We'll need to add one more row to constraint
-				if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
-				{
-					m_solveSwingLimit = true;
-					m_swingAxis = -ivB.cross(ivA);
-				}
-			}
-			else
-			{
-				if(m_swingSpan1 < m_fixThresh)
-				{ // hinge around Y axis
-					if(!(btFuzzyZero(y)))
-					{
-						m_solveSwingLimit = true;
-						if(m_swingSpan2 >= m_fixThresh)
-						{
-							y = btScalar(0.f);
-							btScalar span2 = btAtan2(z, x);
-							if(span2 > m_swingSpan2)
-							{
-								x = btCos(m_swingSpan2);
-								z = btSin(m_swingSpan2);
-							}
-							else if(span2 < -m_swingSpan2)
-							{
-								x =  btCos(m_swingSpan2);
-								z = -btSin(m_swingSpan2);
-							}
-						}
-					}
-				}
-				else
-				{ // hinge around Z axis
-					if(!btFuzzyZero(z))
-					{
-						m_solveSwingLimit = true;
-						if(m_swingSpan1 >= m_fixThresh)
-						{
-							z = btScalar(0.f);
-							btScalar span1 = btAtan2(y, x);
-							if(span1 > m_swingSpan1)
-							{
-								x = btCos(m_swingSpan1);
-								y = btSin(m_swingSpan1);
-							}
-							else if(span1 < -m_swingSpan1)
-							{
-								x =  btCos(m_swingSpan1);
-								y = -btSin(m_swingSpan1);
-							}
-						}
-					}
-				}
-				target[0] = x * ivA[0] + y * jvA[0] + z * kvA[0];
-				target[1] = x * ivA[1] + y * jvA[1] + z * kvA[1];
-				target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2];
-				target.normalize();
-				m_swingAxis = -ivB.cross(target);
-				m_swingCorrection = m_swingAxis.length();
-				m_swingAxis.normalize();
-			}
-		}
-
-		if (m_twistSpan >= btScalar(0.f))
-		{
-			btVector3 twistAxis;
-			computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis);
-
-			if (m_twistAngle > m_twistSpan*m_limitSoftness)
-			{
-				m_solveTwistLimit = true;
-
-				m_twistLimitRatio = 1.f;
-				if (m_twistAngle < m_twistSpan && m_limitSoftness < 1.f - SIMD_EPSILON)
-				{
-					m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness)/
-										(m_twistSpan  - m_twistSpan * m_limitSoftness);
-				}
-
-				// twist correction tries to get back to soft limit
-				m_twistCorrection = m_twistAngle - (m_twistSpan * m_limitSoftness);
-
-				m_twistAxis = quatRotate(qB, -twistAxis);
-
-				m_kTwist = btScalar(1.) /
-					(computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
-					 computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
-			}
-
-			if (m_solveSwingLimit)
-				m_twistAxisA = quatRotate(qA, -twistAxis);
-		}
-		else
-		{
-			m_twistAngle = btScalar(0.f);
-		}
-	}
-}
-
-
-
-// given a cone rotation in constraint space, (pre: twist must already be removed)
-// this method computes its corresponding swing angle and axis.
-// more interestingly, it computes the cone/swing limit (angle) for this cone "pose".
-void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
-												 btScalar& swingAngle, // out
-												 btVector3& vSwingAxis, // out
-												 btScalar& swingLimit) // out
-{
-	swingAngle = qCone.getAngle();
-	if (swingAngle > SIMD_EPSILON)
-	{
-		vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
-		vSwingAxis.normalize();
-		if (fabs(vSwingAxis.x()) > SIMD_EPSILON)
-		{
-			// non-zero twist?! this should never happen.
-			int wtf = 0; wtf = wtf;
-		}
-
-		// Compute limit for given swing. tricky:
-		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
-		// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
-
-		// For starters, compute the direction from center to surface of ellipse.
-		// This is just the perpendicular (ie. rotate 2D vector by PI/2) of the swing axis.
-		// (vSwingAxis is the cone rotation (in z,y); change vars and rotate to (x,y) coords.)
-		btScalar xEllipse =  vSwingAxis.y();
-		btScalar yEllipse = -vSwingAxis.z();
-
-		// Now, we use the slope of the vector (using x/yEllipse) and find the length
-		// of the line that intersects the ellipse:
-		//  x^2   y^2
-		//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
-		//  a^2   b^2
-		// Do the math and it should be clear.
-
-		swingLimit = m_swingSpan1; // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1
-		if (fabs(xEllipse) > SIMD_EPSILON)
-		{
-			btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
-			btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
-			norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
-			btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-			swingLimit = sqrt(swingLimit2);
-		}
-
-		// test!
-		/*swingLimit = m_swingSpan2;
-		if (fabs(vSwingAxis.z()) > SIMD_EPSILON)
-		{
-		btScalar mag_2 = m_swingSpan1*m_swingSpan1 + m_swingSpan2*m_swingSpan2;
-		btScalar sinphi = m_swingSpan2 / sqrt(mag_2);
-		btScalar phi = asin(sinphi);
-		btScalar theta = atan2(fabs(vSwingAxis.y()),fabs(vSwingAxis.z()));
-		btScalar alpha = 3.14159f - theta - phi;
-		btScalar sinalpha = sin(alpha);
-		swingLimit = m_swingSpan1 * sinphi/sinalpha;
-		}*/
-	}
-	else if (swingAngle < 0)
-	{
-		// this should never happen!
-		int wtf = 0; wtf = wtf;
-	}
-}
-
-btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
-{
-	// compute x/y in ellipse using cone angle (0 -> 2*PI along surface of cone)
-	btScalar xEllipse = btCos(fAngleInRadians);
-	btScalar yEllipse = btSin(fAngleInRadians);
-
-	// Use the slope of the vector (using x/yEllipse) and find the length
-	// of the line that intersects the ellipse:
-	//  x^2   y^2
-	//  --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits)
-	//  a^2   b^2
-	// Do the math and it should be clear.
-
-	float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1)
-	if (fabs(xEllipse) > SIMD_EPSILON)
-	{
-		btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
-		btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
-		norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
-		btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
-		swingLimit = sqrt(swingLimit2);
-	}
-
-	// convert into point in constraint space:
-	// note: twist is x-axis, swing 1 and 2 are along the z and y axes respectively
-	btVector3 vSwingAxis(0, xEllipse, -yEllipse);
-	btQuaternion qSwing(vSwingAxis, swingLimit);
-	btVector3 vPointInConstraintSpace(fLength,0,0);
-	return quatRotate(qSwing, vPointInConstraintSpace);
-}
-
-// given a twist rotation in constraint space, (pre: cone must already be removed)
-// this method computes its corresponding angle and axis.
-void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
-												  btScalar& twistAngle, // out
-												  btVector3& vTwistAxis) // out
-{
-	btQuaternion qMinTwist = qTwist;
-	twistAngle = qTwist.getAngle();
-
-	if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
-	{
-		qMinTwist = operator-(qTwist);
-		twistAngle = qMinTwist.getAngle();
-	}
-	if (twistAngle < 0)
-	{
-		// this should never happen
-		int wtf = 0; wtf = wtf;			
-	}
-
-	vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
-	if (twistAngle > SIMD_EPSILON)
-		vTwistAxis.normalize();
-}
-
-
-void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const
-{
-	// the swing axis is computed as the "twist-free" cone rotation,
-	// but the cone limit is not circular, but elliptical (if swingspan1 != swingspan2).
-	// so, if we're outside the limits, the closest way back inside the cone isn't 
-	// along the vector back to the center. better (and more stable) to use the ellipse normal.
-
-	// convert swing axis to direction from center to surface of ellipse
-	// (ie. rotate 2D vector by PI/2)
-	btScalar y = -vSwingAxis.z();
-	btScalar z =  vSwingAxis.y();
-
-	// do the math...
-	if (fabs(z) > SIMD_EPSILON) // avoid division by 0. and we don't need an update if z == 0.
-	{
-		// compute gradient/normal of ellipse surface at current "point"
-		btScalar grad = y/z;
-		grad *= m_swingSpan2 / m_swingSpan1;
-
-		// adjust y/z to represent normal at point (instead of vector to point)
-		if (y > 0)
-			y =  fabs(grad * z);
-		else
-			y = -fabs(grad * z);
-
-		// convert ellipse direction back to swing axis
-		vSwingAxis.setZ(-y);
-		vSwingAxis.setY( z);
-		vSwingAxis.normalize();
-	}
-}
-
-
-
-void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
-{
-	btTransform trACur = m_rbA.getCenterOfMassTransform();
-	btTransform trBCur = m_rbB.getCenterOfMassTransform();
-	btTransform trABCur = trBCur.inverse() * trACur;
-	btQuaternion qABCur = trABCur.getRotation();
-	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
-	btQuaternion qConstraintCur = trConstraintCur.getRotation();
-
-	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
-	setMotorTargetInConstraintSpace(qConstraint);
-}
-
-
-void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &q)
-{
-	m_qTarget = q;
-
-	// clamp motor target to within limits
-	{
-		btScalar softness = 1.f;//m_limitSoftness;
-
-		// split into twist and cone
-		btVector3 vTwisted = quatRotate(m_qTarget, vTwist);
-		btQuaternion qTargetCone  = shortestArcQuat(vTwist, vTwisted); qTargetCone.normalize();
-		btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget; qTargetTwist.normalize();
-
-		// clamp cone
-		if (m_swingSpan1 >= btScalar(0.05f) && m_swingSpan2 >= btScalar(0.05f))
-		{
-			btScalar swingAngle, swingLimit; btVector3 swingAxis;
-			computeConeLimitInfo(qTargetCone, swingAngle, swingAxis, swingLimit);
-
-			if (fabs(swingAngle) > SIMD_EPSILON)
-			{
-				if (swingAngle > swingLimit*softness)
-					swingAngle = swingLimit*softness;
-				else if (swingAngle < -swingLimit*softness)
-					swingAngle = -swingLimit*softness;
-				qTargetCone = btQuaternion(swingAxis, swingAngle);
-			}
-		}
-
-		// clamp twist
-		if (m_twistSpan >= btScalar(0.05f))
-		{
-			btScalar twistAngle; btVector3 twistAxis;
-			computeTwistLimitInfo(qTargetTwist, twistAngle, twistAxis);
-
-			if (fabs(twistAngle) > SIMD_EPSILON)
-			{
-				// eddy todo: limitSoftness used here???
-				if (twistAngle > m_twistSpan*softness)
-					twistAngle = m_twistSpan*softness;
-				else if (twistAngle < -m_twistSpan*softness)
-					twistAngle = -m_twistSpan*softness;
-				qTargetTwist = btQuaternion(twistAxis, twistAngle);
-			}
-		}
-
-		m_qTarget = qTargetCone * qTargetTwist;
-	}
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-///If no axis is provided, it uses the default axis for this constraint.
-void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
-{
-	switch(num)
-	{
-		case BT_CONSTRAINT_ERP :
-		case BT_CONSTRAINT_STOP_ERP :
-			if((axis >= 0) && (axis < 3)) 
-			{
-				m_linERP = value;
-				m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
-			}
-			else
-			{
-				m_biasFactor = value;
-			}
-			break;
-		case BT_CONSTRAINT_CFM :
-		case BT_CONSTRAINT_STOP_CFM :
-			if((axis >= 0) && (axis < 3)) 
-			{
-				m_linCFM = value;
-				m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
-			}
-			else
-			{
-				m_angCFM = value;
-				m_flags |= BT_CONETWIST_FLAGS_ANG_CFM;
-			}
-			break;
-		default:
-			btAssertConstrParams(0);
-			break;
-	}
-}
-
-///return the local value of parameter
-btScalar btConeTwistConstraint::getParam(int num, int axis) const 
-{
-	btScalar retVal = 0;
-	switch(num)
-	{
-		case BT_CONSTRAINT_ERP :
-		case BT_CONSTRAINT_STOP_ERP :
-			if((axis >= 0) && (axis < 3)) 
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
-				retVal = m_linERP;
-			}
-			else if((axis >= 3) && (axis < 6)) 
-			{
-				retVal = m_biasFactor;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		case BT_CONSTRAINT_CFM :
-		case BT_CONSTRAINT_STOP_CFM :
-			if((axis >= 0) && (axis < 3)) 
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
-				retVal = m_linCFM;
-			}
-			else if((axis >= 3) && (axis < 6)) 
-			{
-				btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
-				retVal = m_angCFM;
-			}
-			else
-			{
-				btAssertConstrParams(0);
-			}
-			break;
-		default : 
-			btAssertConstrParams(0);
-	}
-	return retVal;
-}
-
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
deleted file mode 100644
index f310d474e7a..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ /dev/null
@@ -1,332 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marcus Hennix
-*/
-
-
-
-/*
-Overview:
-
-btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
-It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
-It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
-Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
-(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
-
-In the contraint's frame of reference:
-twist is along the x-axis,
-and swing 1 and 2 are along the z and y axes respectively.
-*/
-
-
-
-#ifndef CONETWISTCONSTRAINT_H
-#define CONETWISTCONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-enum btConeTwistFlags
-{
-	BT_CONETWIST_FLAGS_LIN_CFM = 1,
-	BT_CONETWIST_FLAGS_LIN_ERP = 2,
-	BT_CONETWIST_FLAGS_ANG_CFM = 4
-};
-
-///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
-class btConeTwistConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-
-	btTransform m_rbAFrame; 
-	btTransform m_rbBFrame;
-
-	btScalar	m_limitSoftness;
-	btScalar	m_biasFactor;
-	btScalar	m_relaxationFactor;
-
-	btScalar	m_damping;
-
-	btScalar	m_swingSpan1;
-	btScalar	m_swingSpan2;
-	btScalar	m_twistSpan;
-
-	btScalar	m_fixThresh;
-
-	btVector3   m_swingAxis;
-	btVector3	m_twistAxis;
-
-	btScalar	m_kSwing;
-	btScalar	m_kTwist;
-
-	btScalar	m_twistLimitSign;
-	btScalar	m_swingCorrection;
-	btScalar	m_twistCorrection;
-
-	btScalar	m_twistAngle;
-
-	btScalar	m_accSwingLimitImpulse;
-	btScalar	m_accTwistLimitImpulse;
-
-	bool		m_angularOnly;
-	bool		m_solveTwistLimit;
-	bool		m_solveSwingLimit;
-
-	bool	m_useSolveConstraintObsolete;
-
-	// not yet used...
-	btScalar	m_swingLimitRatio;
-	btScalar	m_twistLimitRatio;
-	btVector3   m_twistAxisA;
-
-	// motor
-	bool		 m_bMotorEnabled;
-	bool		 m_bNormalizedMotorStrength;
-	btQuaternion m_qTarget;
-	btScalar	 m_maxMotorImpulse;
-	btVector3	 m_accMotorImpulse;
-	
-	// parameters
-	int			m_flags;
-	btScalar	m_linCFM;
-	btScalar	m_linERP;
-	btScalar	m_angCFM;
-	
-protected:
-
-	void init();
-
-	void computeConeLimitInfo(const btQuaternion& qCone, // in
-		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
-
-	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
-		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
-
-	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
-
-
-public:
-
-	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
-	
-	btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
-
-	virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	void	getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
-	
-	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
-
-	virtual	void	solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep);
-
-	void	updateRHS(btScalar	timeStep);
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	void	setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-	void	setLimit(int limitIndex,btScalar limitValue)
-	{
-		switch (limitIndex)
-		{
-		case 3:
-			{
-				m_twistSpan = limitValue;
-				break;
-			}
-		case 4:
-			{
-				m_swingSpan2 = limitValue;
-				break;
-			}
-		case 5:
-			{
-				m_swingSpan1 = limitValue;
-				break;
-			}
-		default:
-			{
-			}
-		};
-	}
-
-	// setLimit(), a few notes:
-	// _softness:
-	//		0->1, recommend ~0.8->1.
-	//		describes % of limits where movement is free.
-	//		beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
-	// _biasFactor:
-	//		0->1?, recommend 0.3 +/-0.3 or so.
-	//		strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
-	// __relaxationFactor:
-	//		0->1, recommend to stay near 1.
-	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
-	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-		m_swingSpan1 = _swingSpan1;
-		m_swingSpan2 = _swingSpan2;
-		m_twistSpan  = _twistSpan;
-
-		m_limitSoftness =  _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-	}
-
-	const btTransform& getAFrame() { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
-
-	inline int getSolveTwistLimit()
-	{
-		return m_solveTwistLimit;
-	}
-
-	inline int getSolveSwingLimit()
-	{
-		return m_solveTwistLimit;
-	}
-
-	inline btScalar getTwistLimitSign()
-	{
-		return m_twistLimitSign;
-	}
-
-	void calcAngleInfo();
-	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
-
-	inline btScalar getSwingSpan1()
-	{
-		return m_swingSpan1;
-	}
-	inline btScalar getSwingSpan2()
-	{
-		return m_swingSpan2;
-	}
-	inline btScalar getTwistSpan()
-	{
-		return m_twistSpan;
-	}
-	inline btScalar getTwistAngle()
-	{
-		return m_twistAngle;
-	}
-	bool isPastSwingLimit() { return m_solveSwingLimit; }
-
-
-	void setDamping(btScalar damping) { m_damping = damping; }
-
-	void enableMotor(bool b) { m_bMotorEnabled = b; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
-	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
-
-	btScalar getFixThresh() { return m_fixThresh; }
-	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
-
-	// setMotorTarget:
-	// q: the desired rotation of bodyA wrt bodyB.
-	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
-	// note: don't forget to enableMotor()
-	void setMotorTarget(const btQuaternion &q);
-
-	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
-	void setMotorTargetInConstraintSpace(const btQuaternion &q);
-
-	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btConeTwistConstraintData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-
-	//limits
-	float	m_swingSpan1;
-	float	m_swingSpan2;
-	float	m_twistSpan;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
-	float	m_damping;
-		
-	char m_pad[4];
-
-};
-	
-
-
-SIMD_FORCE_INLINE int	btConeTwistConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btConeTwistConstraintData);
-
-}
-
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
-	btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
-
-	m_rbAFrame.serializeFloat(cone->m_rbAFrame);
-	m_rbBFrame.serializeFloat(cone->m_rbBFrame);
-	
-	cone->m_swingSpan1 = float(m_swingSpan1);
-	cone->m_swingSpan2 = float(m_swingSpan2);
-	cone->m_twistSpan = float(m_twistSpan);
-	cone->m_limitSoftness = float(m_limitSoftness);
-	cone->m_biasFactor = float(m_biasFactor);
-	cone->m_relaxationFactor = float(m_relaxationFactor);
-	cone->m_damping = float(m_damping);
-
-	return "btConeTwistConstraintData";
-}
-
-
-#endif //CONETWISTCONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btConstraintSolver.h
deleted file mode 100644
index 7a8e9c1953d..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONSTRAINT_SOLVER_H
-#define CONSTRAINT_SOLVER_H
-
-#include "LinearMath/btScalar.h"
-
-class btPersistentManifold;
-class btRigidBody;
-class btCollisionObject;
-class btTypedConstraint;
-struct btContactSolverInfo;
-struct btBroadphaseProxy;
-class btIDebugDraw;
-class btStackAlloc;
-class	btDispatcher;
-/// btConstraintSolver provides solver interface
-class btConstraintSolver
-{
-
-public:
-
-	virtual ~btConstraintSolver() {}
-	
-	virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
-
-	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
-
-	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
-
-	///clear internal cached data and reset random seed
-	virtual	void	reset() = 0;
-};
-
-
-
-
-#endif //CONSTRAINT_SOLVER_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
deleted file mode 100644
index d97096d9f26..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
-:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
-	m_contactManifold(*contactManifold)
-{
-
-}
-
-btContactConstraint::~btContactConstraint()
-{
-
-}
-
-void	btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
-{
-	m_contactManifold = *contactManifold;
-}
-
-void btContactConstraint::getInfo1 (btConstraintInfo1* info)
-{
-
-}
-
-void btContactConstraint::getInfo2 (btConstraintInfo2* info)
-{
-
-}
-
-void	btContactConstraint::buildJacobian()
-{
-
-}
-
-
-
-
-
-#include "btContactConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-#define ASSERT2 btAssert
-
-#define USE_INTERNAL_APPLY_IMPULSE 1
-
-
-//bilateral constraint between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
-{
-	(void)timeStep;
-	(void)distance;
-
-
-	btScalar normalLenSqr = normal.length2();
-	ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
-	if (normalLenSqr > btScalar(1.1))
-	{
-		impulse = btScalar(0.);
-		return;
-	}
-	btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	//this jacobian entry could be re-used for all iterations
-	
-	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-	
-
-	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
-		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
-		body2.getInvInertiaDiagLocal(),body2.getInvMass());
-
-	btScalar jacDiagAB = jac.getDiagonal();
-	btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-	
-	  btScalar rel_vel = jac.getRelativeVelocity(
-		body1.getLinearVelocity(),
-		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
-		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-	btScalar a;
-	a=jacDiagABInv;
-
-
-	rel_vel = normal.dot(vel);
-	
-	//todo: move this into proper structure
-	btScalar contactDamping = btScalar(0.2);
-
-#ifdef ONLY_USE_LINEAR_MASS
-	btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
-	impulse = - contactDamping * rel_vel * massTerm;
-#else	
-	btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
-	impulse = velocityImpulse;
-#endif
-}
-
-
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.h
deleted file mode 100644
index 63c1a417bc1..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_CONSTRAINT_H
-#define CONTACT_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
-ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
-{
-protected:
-
-	btPersistentManifold m_contactManifold;
-
-public:
-
-
-	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
-
-	void	setContactManifold(btPersistentManifold* contactManifold);
-
-	btPersistentManifold* getContactManifold()
-	{
-		return &m_contactManifold;
-	}
-
-	const btPersistentManifold* getContactManifold() const
-	{
-		return &m_contactManifold;
-	}
-
-	virtual ~btContactConstraint();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	///obsolete methods
-	virtual void	buildJacobian();
-
-
-};
-
-
-///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
-
-
-
-#endif //CONTACT_CONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
deleted file mode 100644
index 1025da42f5e..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_SOLVER_INFO
-#define CONTACT_SOLVER_INFO
-
-enum	btSolverMode
-{
-	SOLVER_RANDMIZE_ORDER = 1,
-	SOLVER_FRICTION_SEPARATE = 2,
-	SOLVER_USE_WARMSTARTING = 4,
-	SOLVER_USE_FRICTION_WARMSTARTING = 8,
-	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
-	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
-	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
-	SOLVER_CACHE_FRIENDLY = 128,
-	SOLVER_SIMD = 256,	//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
-	SOLVER_CUDA = 512	//will be open sourced during Game Developers Conference 2009. Much faster.
-};
-
-struct btContactSolverInfoData
-{
-	
-
-	btScalar	m_tau;
-	btScalar	m_damping;
-	btScalar	m_friction;
-	btScalar	m_timeStep;
-	btScalar	m_restitution;
-	int		m_numIterations;
-	btScalar	m_maxErrorReduction;
-	btScalar	m_sor;
-	btScalar	m_erp;//used as Baumgarte factor
-	btScalar	m_erp2;//used in Split Impulse
-	btScalar	m_globalCfm;//constraint force mixing
-	int			m_splitImpulse;
-	btScalar	m_splitImpulsePenetrationThreshold;
-	btScalar	m_linearSlop;
-	btScalar	m_warmstartingFactor;
-
-	int			m_solverMode;
-	int	m_restingContactRestitutionThreshold;
-	int			m_minimumSolverBatchSize;
-
-
-};
-
-struct btContactSolverInfo : public btContactSolverInfoData
-{
-
-	
-
-	inline btContactSolverInfo()
-	{
-		m_tau = btScalar(0.6);
-		m_damping = btScalar(1.0);
-		m_friction = btScalar(0.3);
-		m_restitution = btScalar(0.);
-		m_maxErrorReduction = btScalar(20.);
-		m_numIterations = 10;
-		m_erp = btScalar(0.2);
-		m_erp2 = btScalar(0.1);
-		m_globalCfm = btScalar(0.);
-		m_sor = btScalar(1.);
-		m_splitImpulse = false;
-		m_splitImpulsePenetrationThreshold = -0.02f;
-		m_linearSlop = btScalar(0.0);
-		m_warmstartingFactor=btScalar(0.85);
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
-		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
-	}
-};
-
-#endif //CONTACT_SOLVER_INFO
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
deleted file mode 100644
index a970d706284..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ /dev/null
@@ -1,1012 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-2007-09-09
-Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#include "btGeneric6DofConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btTransformUtil.h"
-#include <new>
-
-
-
-#define D6_USE_OBSOLETE_METHOD false
-#define D6_USE_FRAME_OFFSET true
-
-
-
-
-
-
-btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
-, m_frameInA(frameInA)
-, m_frameInB(frameInB),
-m_useLinearReferenceFrameA(useLinearReferenceFrameA),
-m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-m_flags(0),
-m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
-{
-	calculateTransforms();
-}
-
-
-
-btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
-        : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
-		m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
-		m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
-		m_flags(0),
-		m_useSolveConstraintObsolete(false)
-{
-	///not providing rigidbody A means implicitly using worldspace for body A
-	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-	calculateTransforms();
-}
-
-
-
-
-#define GENERIC_D6_DISABLE_WARMSTARTING 1
-
-
-
-btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
-btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
-{
-	int i = index%3;
-	int j = index/3;
-	return mat[i][j];
-}
-
-
-
-///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
-bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
-bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
-{
-	//	// rot =  cy*cz          -cy*sz           sy
-	//	//        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-	//	//       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-	//
-
-	btScalar fi = btGetMatrixElem(mat,2);
-	if (fi < btScalar(1.0f))
-	{
-		if (fi > btScalar(-1.0f))
-		{
-			xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8));
-			xyz[1] = btAsin(btGetMatrixElem(mat,2));
-			xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0));
-			return true;
-		}
-		else
-		{
-			// WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
-			xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
-			xyz[1] = -SIMD_HALF_PI;
-			xyz[2] = btScalar(0.0);
-			return false;
-		}
-	}
-	else
-	{
-		// WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
-		xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4));
-		xyz[1] = SIMD_HALF_PI;
-		xyz[2] = 0.0;
-	}
-	return false;
-}
-
-//////////////////////////// btRotationalLimitMotor ////////////////////////////////////
-
-int btRotationalLimitMotor::testLimitValue(btScalar test_value)
-{
-	if(m_loLimit>m_hiLimit)
-	{
-		m_currentLimit = 0;//Free from violation
-		return 0;
-	}
-	if (test_value < m_loLimit)
-	{
-		m_currentLimit = 1;//low limit violation
-		m_currentLimitError =  test_value - m_loLimit;
-		return 1;
-	}
-	else if (test_value> m_hiLimit)
-	{
-		m_currentLimit = 2;//High limit violation
-		m_currentLimitError = test_value - m_hiLimit;
-		return 2;
-	};
-
-	m_currentLimit = 0;//Free from violation
-	return 0;
-
-}
-
-
-
-btScalar btRotationalLimitMotor::solveAngularLimits(
-	btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
-	btRigidBody * body0, btRigidBody * body1 )
-{
-	if (needApplyTorques()==false) return 0.0f;
-
-	btScalar target_velocity = m_targetVelocity;
-	btScalar maxMotorForce = m_maxMotorForce;
-
-	//current error correction
-	if (m_currentLimit!=0)
-	{
-		target_velocity = -m_stopERP*m_currentLimitError/(timeStep);
-		maxMotorForce = m_maxLimitForce;
-	}
-
-	maxMotorForce *= timeStep;
-
-	// current velocity difference
-
-	btVector3 angVelA;
-	body0->internalGetAngularVelocity(angVelA);
-	btVector3 angVelB;
-	body1->internalGetAngularVelocity(angVelB);
-
-	btVector3 vel_diff;
-	vel_diff = angVelA-angVelB;
-
-
-
-	btScalar rel_vel = axis.dot(vel_diff);
-
-	// correction velocity
-	btScalar motor_relvel = m_limitSoftness*(target_velocity  - m_damping*rel_vel);
-
-
-	if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON  )
-	{
-		return 0.0f;//no need for applying force
-	}
-
-
-	// correction impulse
-	btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv;
-
-	// clip correction impulse
-	btScalar clippedMotorImpulse;
-
-	///@todo: should clip against accumulated impulse
-	if (unclippedMotorImpulse>0.0f)
-	{
-		clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;
-	}
-	else
-	{
-		clippedMotorImpulse =  unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse;
-	}
-
-
-	// sort with accumulated impulses
-	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar	hi = btScalar(BT_LARGE_FLOAT);
-
-	btScalar oldaccumImpulse = m_accumulatedImpulse;
-	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
-	m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
-
-	clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse;
-
-	btVector3 motorImp = clippedMotorImpulse * axis;
-
-	//body0->applyTorqueImpulse(motorImp);
-	//body1->applyTorqueImpulse(-motorImp);
-
-	body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
-	body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
-
-
-	return clippedMotorImpulse;
-
-
-}
-
-//////////////////////////// End btRotationalLimitMotor ////////////////////////////////////
-
-
-
-
-//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
-
-
-int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value)
-{
-	btScalar loLimit = m_lowerLimit[limitIndex];
-	btScalar hiLimit = m_upperLimit[limitIndex];
-	if(loLimit > hiLimit)
-	{
-		m_currentLimit[limitIndex] = 0;//Free from violation
-		m_currentLimitError[limitIndex] = btScalar(0.f);
-		return 0;
-	}
-
-	if (test_value < loLimit)
-	{
-		m_currentLimit[limitIndex] = 2;//low limit violation
-		m_currentLimitError[limitIndex] =  test_value - loLimit;
-		return 2;
-	}
-	else if (test_value> hiLimit)
-	{
-		m_currentLimit[limitIndex] = 1;//High limit violation
-		m_currentLimitError[limitIndex] = test_value - hiLimit;
-		return 1;
-	};
-
-	m_currentLimit[limitIndex] = 0;//Free from violation
-	m_currentLimitError[limitIndex] = btScalar(0.f);
-	return 0;
-}
-
-
-
-btScalar btTranslationalLimitMotor::solveLinearAxis(
-	btScalar timeStep,
-	btScalar jacDiagABInv,
-	btRigidBody& body1,const btVector3 &pointInA,
-	btRigidBody& body2,const btVector3 &pointInB,
-	int limit_index,
-	const btVector3 & axis_normal_on_a,
-	const btVector3 & anchorPos)
-{
-
-	///find relative velocity
-	//    btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition();
-	//    btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition();
-	btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
-	btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
-
-	btVector3 vel1;
-	body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
-	btVector3 vel2;
-	body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
-	btVector3 vel = vel1 - vel2;
-
-	btScalar rel_vel = axis_normal_on_a.dot(vel);
-
-
-
-	/// apply displacement correction
-
-	//positional error (zeroth order error)
-	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
-	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
-	btScalar	hi = btScalar(BT_LARGE_FLOAT);
-
-	btScalar minLimit = m_lowerLimit[limit_index];
-	btScalar maxLimit = m_upperLimit[limit_index];
-
-	//handle the limits
-	if (minLimit < maxLimit)
-	{
-		{
-			if (depth > maxLimit)
-			{
-				depth -= maxLimit;
-				lo = btScalar(0.);
-
-			}
-			else
-			{
-				if (depth < minLimit)
-				{
-					depth -= minLimit;
-					hi = btScalar(0.);
-				}
-				else
-				{
-					return 0.0f;
-				}
-			}
-		}
-	}
-
-	btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv;
-
-
-
-
-	btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index];
-	btScalar sum = oldNormalImpulse + normalImpulse;
-	m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum;
-	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
-
-	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	//body1.applyImpulse( impulse_vector, rel_pos1);
-	//body2.applyImpulse(-impulse_vector, rel_pos2);
-
-	btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
-	btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
-	body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
-	body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
-
-
-
-
-	return normalImpulse;
-}
-
-//////////////////////////// btTranslationalLimitMotor ////////////////////////////////////
-
-void btGeneric6DofConstraint::calculateAngleInfo()
-{
-	btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis();
-	matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff);
-	// in euler angle mode we do not actually constrain the angular velocity
-	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
-	//
-	//    to get			constrain w2-w1 along		...not
-	//    ------			---------------------		------
-	//    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
-	//    d(angle[1])/dt = 0	ax[1]
-	//    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
-	//
-	// constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-	// to prove the result for angle[0], write the expression for angle[0] from
-	// GetInfo1 then take the derivative. to prove this for angle[2] it is
-	// easier to take the euler rate expression for d(angle[2])/dt with respect
-	// to the components of w and set that to 0.
-	btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0);
-	btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2);
-
-	m_calculatedAxis[1] = axis2.cross(axis0);
-	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
-	m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]);
-
-	m_calculatedAxis[0].normalize();
-	m_calculatedAxis[1].normalize();
-	m_calculatedAxis[2].normalize();
-
-}
-
-void btGeneric6DofConstraint::calculateTransforms()
-{
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-}
-
-void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
-{
-	m_calculatedTransformA = transA * m_frameInA;
-	m_calculatedTransformB = transB * m_frameInB;
-	calculateLinearInfo();
-	calculateAngleInfo();
-	if(m_useOffsetForConstraintFrame)
-	{	//  get weight factors depending on masses
-		btScalar miA = getRigidBodyA().getInvMass();
-		btScalar miB = getRigidBodyB().getInvMass();
-		m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-		btScalar miS = miA + miB;
-		if(miS > btScalar(0.f))
-		{
-			m_factA = miB / miS;
-		}
-		else 
-		{
-			m_factA = btScalar(0.5f);
-		}
-		m_factB = btScalar(1.0f) - m_factA;
-	}
-}
-
-
-
-void btGeneric6DofConstraint::buildLinearJacobian(
-	btJacobianEntry & jacLinear,const btVector3 & normalWorld,
-	const btVector3 & pivotAInW,const btVector3 & pivotBInW)
-{
-	new (&jacLinear) btJacobianEntry(
-        m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-        m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-        pivotAInW - m_rbA.getCenterOfMassPosition(),
-        pivotBInW - m_rbB.getCenterOfMassPosition(),
-        normalWorld,
-        m_rbA.getInvInertiaDiagLocal(),
-        m_rbA.getInvMass(),
-        m_rbB.getInvInertiaDiagLocal(),
-        m_rbB.getInvMass());
-}
-
-
-
-void btGeneric6DofConstraint::buildAngularJacobian(
-	btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
-{
-	 new (&jacAngular)	btJacobianEntry(jointAxisW,
-                                      m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-                                      m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-                                      m_rbA.getInvInertiaDiagLocal(),
-                                      m_rbB.getInvInertiaDiagLocal());
-
-}
-
-
-
-bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
-{
-	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
-	angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
-	m_angularLimits[axis_index].m_currentPosition = angle;
-	//test limits
-	m_angularLimits[axis_index].testLimitValue(angle);
-	return m_angularLimits[axis_index].needApplyTorques();
-}
-
-
-
-void btGeneric6DofConstraint::buildJacobian()
-{
-#ifndef __SPU__
-	if (m_useSolveConstraintObsolete)
-	{
-
-		// Clear accumulated impulses for the next simulation step
-		m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-		int i;
-		for(i = 0; i < 3; i++)
-		{
-			m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
-		}
-		//calculates transform
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-
-		//  const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
-		//  const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
-		calcAnchorPos();
-		btVector3 pivotAInW = m_AnchorPos;
-		btVector3 pivotBInW = m_AnchorPos;
-
-		// not used here
-		//    btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
-		//    btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-		btVector3 normalWorld;
-		//linear part
-		for (i=0;i<3;i++)
-		{
-			if (m_linearLimits.isLimited(i))
-			{
-				if (m_useLinearReferenceFrameA)
-					normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
-				else
-					normalWorld = m_calculatedTransformB.getBasis().getColumn(i);
-
-				buildLinearJacobian(
-					m_jacLinear[i],normalWorld ,
-					pivotAInW,pivotBInW);
-
-			}
-		}
-
-		// angular part
-		for (i=0;i<3;i++)
-		{
-			//calculates error angle
-			if (testAngularLimitMotor(i))
-			{
-				normalWorld = this->getAxis(i);
-				// Create angular atom
-				buildAngularJacobian(m_jacAng[i],normalWorld);
-			}
-		}
-
-	}
-#endif //__SPU__
-
-}
-
-
-void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	} else
-	{
-		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-		info->m_numConstraintRows = 0;
-		info->nub = 6;
-		int i;
-		//test linear limits
-		for(i = 0; i < 3; i++)
-		{
-			if(m_linearLimits.needApplyForce(i))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-		//test angular limits
-		for (i=0;i<3 ;i++ )
-		{
-			if(testAngularLimitMotor(i))
-			{
-				info->m_numConstraintRows++;
-				info->nub--;
-			}
-		}
-	}
-}
-
-void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	} else
-	{
-		//pre-allocate all 6
-		info->m_numConstraintRows = 6;
-		info->nub = 0;
-	}
-}
-
-
-void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(),m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
-}
-
-void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-	//prepare constraint
-	calculateTransforms(transA,transB);
-	if(m_useOffsetForConstraintFrame)
-	{ // for stability better to solve angular limits first
-		int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
-	}
-	else
-	{ // leave old version for compatibility
-		int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
-		setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
-	}
-}
-
-
-
-int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
-{
-//	int row = 0;
-	//solve linear limits
-	btRotationalLimitMotor limot;
-	for (int i=0;i<3 ;i++ )
-	{
-		if(m_linearLimits.needApplyForce(i))
-		{ // re-use rotational motor code
-			limot.m_bounce = btScalar(0.f);
-			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
-			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
-			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
-			limot.m_damping  = m_linearLimits.m_damping;
-			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
-			limot.m_hiLimit  = m_linearLimits.m_upperLimit[i];
-			limot.m_limitSoftness  = m_linearLimits.m_limitSoftness;
-			limot.m_loLimit  = m_linearLimits.m_lowerLimit[i];
-			limot.m_maxLimitForce  = btScalar(0.f);
-			limot.m_maxMotorForce  = m_linearLimits.m_maxMotorForce[i];
-			limot.m_targetVelocity  = m_linearLimits.m_targetVelocity[i];
-			btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
-			int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT);
-			limot.m_normalCFM	= (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
-			limot.m_stopCFM		= (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
-			limot.m_stopERP		= (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
-			if(m_useOffsetForConstraintFrame)
-			{
-				int indx1 = (i + 1) % 3;
-				int indx2 = (i + 2) % 3;
-				int rotAllowed = 1; // rotations around orthos to current axis
-				if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
-				{
-					rotAllowed = 0;
-				}
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
-			}
-			else
-			{
-				row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
-			}
-		}
-	}
-	return row;
-}
-
-
-
-int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
-{
-	btGeneric6DofConstraint * d6constraint = this;
-	int row = row_offset;
-	//solve angular limits
-	for (int i=0;i<3 ;i++ )
-	{
-		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
-		{
-			btVector3 axis = d6constraint->getAxis(i);
-			int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT);
-			if(!(flags & BT_6DOF_FLAGS_CFM_NORM))
-			{
-				m_angularLimits[i].m_normalCFM = info->cfm[0];
-			}
-			if(!(flags & BT_6DOF_FLAGS_CFM_STOP))
-			{
-				m_angularLimits[i].m_stopCFM = info->cfm[0];
-			}
-			if(!(flags & BT_6DOF_FLAGS_ERP_STOP))
-			{
-				m_angularLimits[i].m_stopERP = info->erp;
-			}
-			row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
-												transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
-		}
-	}
-
-	return row;
-}
-
-
-
-
-void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
-{
-	(void)timeStep;
-
-}
-
-
-
-btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
-{
-	return m_calculatedAxis[axis_index];
-}
-
-
-btScalar	btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
-{
-	return m_calculatedLinearDiff[axisIndex];
-}
-
-
-btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
-{
-	return m_calculatedAxisAngleDiff[axisIndex];
-}
-
-
-
-void btGeneric6DofConstraint::calcAnchorPos(void)
-{
-	btScalar imA = m_rbA.getInvMass();
-	btScalar imB = m_rbB.getInvMass();
-	btScalar weight;
-	if(imB == btScalar(0.0))
-	{
-		weight = btScalar(1.0);
-	}
-	else
-	{
-		weight = imA / (imA + imB);
-	}
-	const btVector3& pA = m_calculatedTransformA.getOrigin();
-	const btVector3& pB = m_calculatedTransformB.getOrigin();
-	m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
-	return;
-}
-
-
-
-void btGeneric6DofConstraint::calculateLinearInfo()
-{
-	m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
-	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
-	for(int i = 0; i < 3; i++)
-	{
-		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
-		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
-	}
-}
-
-
-
-int btGeneric6DofConstraint::get_limit_motor_info2(
-	btRotationalLimitMotor * limot,
-	const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-	btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
-{
-    int srow = row * info->rowskip;
-    int powered = limot->m_enableMotor;
-    int limit = limot->m_currentLimit;
-    if (powered || limit)
-    {   // if the joint is powered, or has joint limits, add in the extra row
-        btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-        btScalar *J2 = rotational ? info->m_J2angularAxis : 0;
-        J1[srow+0] = ax1[0];
-        J1[srow+1] = ax1[1];
-        J1[srow+2] = ax1[2];
-        if(rotational)
-        {
-            J2[srow+0] = -ax1[0];
-            J2[srow+1] = -ax1[1];
-            J2[srow+2] = -ax1[2];
-        }
-        if((!rotational))
-        {
-			if (m_useOffsetForConstraintFrame)
-			{
-				btVector3 tmpA, tmpB, relA, relB;
-				// get vector from bodyB to frameB in WCS
-				relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				// get its projection to constraint axis
-				btVector3 projB = ax1 * relB.dot(ax1);
-				// get vector directed from bodyB to constraint axis (and orthogonal to it)
-				btVector3 orthoB = relB - projB;
-				// same for bodyA
-				relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
-				btVector3 projA = ax1 * relA.dot(ax1);
-				btVector3 orthoA = relA - projA;
-				// get desired offset between frames A and B along constraint axis
-				btScalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
-				// desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
-				btVector3 totalDist = projA + ax1 * desiredOffs - projB;
-				// get offset vectors relA and relB
-				relA = orthoA + totalDist * m_factA;
-				relB = orthoB - totalDist * m_factB;
-				tmpA = relA.cross(ax1);
-				tmpB = relB.cross(ax1);
-				if(m_hasStaticBody && (!rotAllowed))
-				{
-					tmpA *= m_factA;
-					tmpB *= m_factB;
-				}
-				int i;
-				for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
-				for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
-			} else
-			{
-				btVector3 ltd;	// Linear Torque Decoupling vector
-				btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
-				ltd = c.cross(ax1);
-				info->m_J1angularAxis[srow+0] = ltd[0];
-				info->m_J1angularAxis[srow+1] = ltd[1];
-				info->m_J1angularAxis[srow+2] = ltd[2];
-
-				c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
-				ltd = -c.cross(ax1);
-				info->m_J2angularAxis[srow+0] = ltd[0];
-				info->m_J2angularAxis[srow+1] = ltd[1];
-				info->m_J2angularAxis[srow+2] = ltd[2];
-			}
-        }
-        // if we're limited low and high simultaneously, the joint motor is
-        // ineffective
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
-        info->m_constraintError[srow] = btScalar(0.f);
-        if (powered)
-        {
-			info->cfm[srow] = limot->m_normalCFM;
-            if(!limit)
-            {
-				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
-
-				btScalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
-													limot->m_loLimit,
-													limot->m_hiLimit, 
-													tag_vel, 
-													info->fps * limot->m_stopERP);
-				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
-                info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
-                info->m_upperLimit[srow] = limot->m_maxMotorForce;
-            }
-        }
-        if(limit)
-        {
-            btScalar k = info->fps * limot->m_stopERP;
-			if(!rotational)
-			{
-				info->m_constraintError[srow] += k * limot->m_currentLimitError;
-			}
-			else
-			{
-				info->m_constraintError[srow] += -k * limot->m_currentLimitError;
-			}
-			info->cfm[srow] = limot->m_stopCFM;
-            if (limot->m_loLimit == limot->m_hiLimit)
-            {   // limited low and high simultaneously
-                info->m_lowerLimit[srow] = -SIMD_INFINITY;
-                info->m_upperLimit[srow] = SIMD_INFINITY;
-            }
-            else
-            {
-                if (limit == 1)
-                {
-                    info->m_lowerLimit[srow] = 0;
-                    info->m_upperLimit[srow] = SIMD_INFINITY;
-                }
-                else
-                {
-                    info->m_lowerLimit[srow] = -SIMD_INFINITY;
-                    info->m_upperLimit[srow] = 0;
-                }
-                // deal with bounce
-                if (limot->m_bounce > 0)
-                {
-                    // calculate joint velocity
-                    btScalar vel;
-                    if (rotational)
-                    {
-                        vel = angVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= angVelB.dot(ax1);
-                    }
-                    else
-                    {
-                        vel = linVelA.dot(ax1);
-//make sure that if no body -> angVelB == zero vec
-//                        if (body1)
-                            vel -= linVelB.dot(ax1);
-                    }
-                    // only apply bounce if the velocity is incoming, and if the
-                    // resulting c[] exceeds what we already have.
-                    if (limit == 1)
-                    {
-                        if (vel < 0)
-                        {
-                            btScalar newc = -limot->m_bounce* vel;
-                            if (newc > info->m_constraintError[srow]) 
-								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                    else
-                    {
-                        if (vel > 0)
-                        {
-                            btScalar newc = -limot->m_bounce * vel;
-                            if (newc < info->m_constraintError[srow]) 
-								info->m_constraintError[srow] = newc;
-                        }
-                    }
-                }
-            }
-        }
-        return 1;
-    }
-    else return 0;
-}
-
-
-
-
-
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
-{
-	if((axis >= 0) && (axis < 3))
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_STOP_ERP : 
-				m_linearLimits.m_stopERP[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_STOP_CFM : 
-				m_linearLimits.m_stopCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_CFM : 
-				m_linearLimits.m_normalCFM[axis] = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else if((axis >=3) && (axis < 6))
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_STOP_ERP : 
-				m_angularLimits[axis - 3].m_stopERP = value;
-				m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_STOP_CFM : 
-				m_angularLimits[axis - 3].m_stopCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			case BT_CONSTRAINT_CFM : 
-				m_angularLimits[axis - 3].m_normalCFM = value;
-				m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-}
-
-	///return the local value of parameter
-btScalar btGeneric6DofConstraint::getParam(int num, int axis) const 
-{
-	btScalar retVal = 0;
-	if((axis >= 0) && (axis < 3))
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_STOP_ERP : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopERP[axis];
-				break;
-			case BT_CONSTRAINT_STOP_CFM : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_stopCFM[axis];
-				break;
-			case BT_CONSTRAINT_CFM : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_linearLimits.m_normalCFM[axis];
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else if((axis >=3) && (axis < 6))
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_STOP_ERP : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopERP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_stopCFM;
-				break;
-			case BT_CONSTRAINT_CFM : 
-				btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
-				retVal = m_angularLimits[axis - 3].m_normalCFM;
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-	return retVal;
-}
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
deleted file mode 100644
index 2653d26dc3f..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ /dev/null
@@ -1,588 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
-/// Added support for generic constraint solver through getInfo1/getInfo2 methods
-
-/*
-2007-09-09
-btGeneric6DofConstraint Refactored by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-
-#ifndef GENERIC_6DOF_CONSTRAINT_H
-#define GENERIC_6DOF_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-
-
-
-//! Rotation Limit structure for generic joints
-class btRotationalLimitMotor
-{
-public:
-    //! limit_parameters
-    //!@{
-    btScalar m_loLimit;//!< joint limit
-    btScalar m_hiLimit;//!< joint limit
-    btScalar m_targetVelocity;//!< target motor velocity
-    btScalar m_maxMotorForce;//!< max force on motor
-    btScalar m_maxLimitForce;//!< max force on limit
-    btScalar m_damping;//!< Damping.
-    btScalar m_limitSoftness;//! Relaxation factor
-    btScalar m_normalCFM;//!< Constraint force mixing factor
-    btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
-    btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    btScalar m_bounce;//!< restitution factor
-    bool m_enableMotor;
-
-    //!@}
-
-    //! temp_variables
-    //!@{
-    btScalar m_currentLimitError;//!  How much is violated this limit
-    btScalar m_currentPosition;     //!  current value of angle 
-    int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
-    btScalar m_accumulatedImpulse;
-    //!@}
-
-    btRotationalLimitMotor()
-    {
-    	m_accumulatedImpulse = 0.f;
-        m_targetVelocity = 0;
-        m_maxMotorForce = 0.1f;
-        m_maxLimitForce = 300.0f;
-        m_loLimit = 1.0f;
-        m_hiLimit = -1.0f;
-		m_normalCFM = 0.f;
-		m_stopERP = 0.2f;
-		m_stopCFM = 0.f;
-        m_bounce = 0.0f;
-        m_damping = 1.0f;
-        m_limitSoftness = 0.5f;
-        m_currentLimit = 0;
-        m_currentLimitError = 0;
-        m_enableMotor = false;
-    }
-
-    btRotationalLimitMotor(const btRotationalLimitMotor & limot)
-    {
-        m_targetVelocity = limot.m_targetVelocity;
-        m_maxMotorForce = limot.m_maxMotorForce;
-        m_limitSoftness = limot.m_limitSoftness;
-        m_loLimit = limot.m_loLimit;
-        m_hiLimit = limot.m_hiLimit;
-		m_normalCFM = limot.m_normalCFM;
-		m_stopERP = limot.m_stopERP;
-		m_stopCFM =	limot.m_stopCFM;
-        m_bounce = limot.m_bounce;
-        m_currentLimit = limot.m_currentLimit;
-        m_currentLimitError = limot.m_currentLimitError;
-        m_enableMotor = limot.m_enableMotor;
-    }
-
-
-
-	//! Is limited
-    bool isLimited()
-    {
-    	if(m_loLimit > m_hiLimit) return false;
-    	return true;
-    }
-
-	//! Need apply correction
-    bool needApplyTorques()
-    {
-    	if(m_currentLimit == 0 && m_enableMotor == false) return false;
-    	return true;
-    }
-
-	//! calculates  error
-	/*!
-	calculates m_currentLimit and m_currentLimitError.
-	*/
-	int testLimitValue(btScalar test_value);
-
-	//! apply the correction impulses for two bodies
-    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
-
-};
-
-
-
-class btTranslationalLimitMotor
-{
-public:
-	btVector3 m_lowerLimit;//!< the constraint lower limits
-    btVector3 m_upperLimit;//!< the constraint upper limits
-    btVector3 m_accumulatedImpulse;
-    //! Linear_Limit_parameters
-    //!@{
-    btScalar	m_limitSoftness;//!< Softness for linear limit
-    btScalar	m_damping;//!< Damping for linear limit
-    btScalar	m_restitution;//! Bounce parameter for linear limit
-	btVector3	m_normalCFM;//!< Constraint force mixing factor
-    btVector3	m_stopERP;//!< Error tolerance factor when joint is at limit
-	btVector3	m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    //!@}
-	bool		m_enableMotor[3];
-    btVector3	m_targetVelocity;//!< target motor velocity
-    btVector3	m_maxMotorForce;//!< max force on motor
-    btVector3	m_currentLimitError;//!  How much is violated this limit
-    btVector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
-    int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
-
-    btTranslationalLimitMotor()
-    {
-    	m_lowerLimit.setValue(0.f,0.f,0.f);
-    	m_upperLimit.setValue(0.f,0.f,0.f);
-    	m_accumulatedImpulse.setValue(0.f,0.f,0.f);
-		m_normalCFM.setValue(0.f, 0.f, 0.f);
-		m_stopERP.setValue(0.2f, 0.2f, 0.2f);
-		m_stopCFM.setValue(0.f, 0.f, 0.f);
-
-    	m_limitSoftness = 0.7f;
-    	m_damping = btScalar(1.0f);
-    	m_restitution = btScalar(0.5f);
-		for(int i=0; i < 3; i++) 
-		{
-			m_enableMotor[i] = false;
-			m_targetVelocity[i] = btScalar(0.f);
-			m_maxMotorForce[i] = btScalar(0.f);
-		}
-    }
-
-    btTranslationalLimitMotor(const btTranslationalLimitMotor & other )
-    {
-    	m_lowerLimit = other.m_lowerLimit;
-    	m_upperLimit = other.m_upperLimit;
-    	m_accumulatedImpulse = other.m_accumulatedImpulse;
-
-    	m_limitSoftness = other.m_limitSoftness ;
-    	m_damping = other.m_damping;
-    	m_restitution = other.m_restitution;
-		m_normalCFM = other.m_normalCFM;
-		m_stopERP = other.m_stopERP;
-		m_stopCFM = other.m_stopCFM;
-
-		for(int i=0; i < 3; i++) 
-		{
-			m_enableMotor[i] = other.m_enableMotor[i];
-			m_targetVelocity[i] = other.m_targetVelocity[i];
-			m_maxMotorForce[i] = other.m_maxMotorForce[i];
-		}
-    }
-
-    //! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-    inline bool	isLimited(int limitIndex)
-    {
-       return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-    }
-    inline bool needApplyForce(int limitIndex)
-    {
-    	if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
-    	return true;
-    }
-	int testLimitValue(int limitIndex, btScalar test_value);
-
-
-    btScalar solveLinearAxis(
-    	btScalar timeStep,
-        btScalar jacDiagABInv,
-        btRigidBody& body1,const btVector3 &pointInA,
-        btRigidBody& body2,const btVector3 &pointInB,
-        int limit_index,
-        const btVector3 & axis_normal_on_a,
-		const btVector3 & anchorPos);
-
-
-};
-
-enum bt6DofFlags
-{
-	BT_6DOF_FLAGS_CFM_NORM = 1,
-	BT_6DOF_FLAGS_CFM_STOP = 2,
-	BT_6DOF_FLAGS_ERP_STOP = 4
-};
-#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
-
-
-/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/*!
-btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
-currently this limit supports rotational motors<br>
-<ul>
-<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method.
-At this moment translational motors are not supported. May be in the future. </li>
-
-<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit.
-This is accessible through btGeneric6DofConstraint.getLimitMotor method,
-This brings support for limit parameters and motors. </li>
-
-<li> Angulars limits have these possible ranges:
-<table border=1 >
-<tr>
-	<td><b>AXIS</b></td>
-	<td><b>MIN ANGLE</b></td>
-	<td><b>MAX ANGLE</b></td>
-</tr><tr>
-	<td>X</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr><tr>
-	<td>Y</td>
-	<td>-PI/2</td>
-	<td>PI/2</td>
-</tr><tr>
-	<td>Z</td>
-	<td>-PI</td>
-	<td>PI</td>
-</tr>
-</table>
-</li>
-</ul>
-
-*/
-class btGeneric6DofConstraint : public btTypedConstraint
-{
-protected:
-
-	//! relative_frames
-    //!@{
-	btTransform	m_frameInA;//!< the constraint space w.r.t body A
-    btTransform	m_frameInB;//!< the constraint space w.r.t body B
-    //!@}
-
-    //! Jacobians
-    //!@{
-    btJacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
-    btJacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
-    //!@}
-
-	//! Linear_Limit_parameters
-    //!@{
-    btTranslationalLimitMotor m_linearLimits;
-    //!@}
-
-
-    //! hinge_parameters
-    //!@{
-    btRotationalLimitMotor m_angularLimits[3];
-	//!@}
-
-
-protected:
-    //! temporal variables
-    //!@{
-    btScalar m_timeStep;
-    btTransform m_calculatedTransformA;
-    btTransform m_calculatedTransformB;
-    btVector3 m_calculatedAxisAngleDiff;
-    btVector3 m_calculatedAxis[3];
-    btVector3 m_calculatedLinearDiff;
-	btScalar	m_factA;
-	btScalar	m_factB;
-	bool		m_hasStaticBody;
-    
-	btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
-
-    bool	m_useLinearReferenceFrameA;
-	bool	m_useOffsetForConstraintFrame;
-    
-	int		m_flags;
-
-    //!@}
-
-    btGeneric6DofConstraint&	operator=(btGeneric6DofConstraint&	other)
-    {
-        btAssert(0);
-        (void) other;
-        return *this;
-    }
-
-
-	int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
-
-	int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
-
-    void buildLinearJacobian(
-        btJacobianEntry & jacLinear,const btVector3 & normalWorld,
-        const btVector3 & pivotAInW,const btVector3 & pivotBInW);
-
-    void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
-
-	// tests linear limits
-	void calculateLinearInfo();
-
-	//! calcs the euler angles between the two bodies.
-    void calculateAngleInfo();
-
-
-
-public:
-
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-
-    btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
-    
-	//! Calcs global transform of the offsets
-	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
-	\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
-	*/
-    void calculateTransforms(const btTransform& transA,const btTransform& transB);
-
-	void calculateTransforms();
-
-	//! Gets the global transform of the offset for body A
-    /*!
-    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
-    */
-    const btTransform & getCalculatedTransformA() const
-    {
-    	return m_calculatedTransformA;
-    }
-
-    //! Gets the global transform of the offset for body B
-    /*!
-    \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
-    */
-    const btTransform & getCalculatedTransformB() const
-    {
-    	return m_calculatedTransformB;
-    }
-
-    const btTransform & getFrameOffsetA() const
-    {
-    	return m_frameInA;
-    }
-
-    const btTransform & getFrameOffsetB() const
-    {
-    	return m_frameInB;
-    }
-
-
-    btTransform & getFrameOffsetA()
-    {
-    	return m_frameInA;
-    }
-
-    btTransform & getFrameOffsetB()
-    {
-    	return m_frameInB;
-    }
-
-
-	//! performs Jacobian calculation, and also calculates angle differences and axis
-    virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	void getInfo1NonVirtual (btConstraintInfo1* info);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
-
-
-    void	updateRHS(btScalar	timeStep);
-
-	//! Get the rotation axis in global coordinates
-	/*!
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
-	*/
-    btVector3 getAxis(int axis_index) const;
-
-    //! Get the relative Euler angle
-    /*!
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-    btScalar getAngle(int axis_index) const;
-
-	//! Get the relative position of the constraint pivot
-    /*!
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-	btScalar getRelativePivotPosition(int axis_index) const;
-
-
-	//! Test angular limit.
-	/*!
-	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
-	*/
-    bool testAngularLimitMotor(int axis_index);
-
-    void	setLinearLowerLimit(const btVector3& linearLower)
-    {
-    	m_linearLimits.m_lowerLimit = linearLower;
-    }
-
-    void	setLinearUpperLimit(const btVector3& linearUpper)
-    {
-    	m_linearLimits.m_upperLimit = linearUpper;
-    }
-
-    void	setAngularLowerLimit(const btVector3& angularLower)
-    {
-		for(int i = 0; i < 3; i++) 
-			m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
-    }
-
-    void	setAngularUpperLimit(const btVector3& angularUpper)
-    {
-		for(int i = 0; i < 3; i++)
-			m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
-    }
-
-	//! Retrieves the angular limit informacion
-    btRotationalLimitMotor * getRotationalLimitMotor(int index)
-    {
-    	return &m_angularLimits[index];
-    }
-
-    //! Retrieves the  limit informacion
-    btTranslationalLimitMotor * getTranslationalLimitMotor()
-    {
-    	return &m_linearLimits;
-    }
-
-    //first 3 are linear, next 3 are angular
-    void setLimit(int axis, btScalar lo, btScalar hi)
-    {
-    	if(axis<3)
-    	{
-    		m_linearLimits.m_lowerLimit[axis] = lo;
-    		m_linearLimits.m_upperLimit[axis] = hi;
-    	}
-    	else
-    	{
-			lo = btNormalizeAngle(lo);
-			hi = btNormalizeAngle(hi);
-    		m_angularLimits[axis-3].m_loLimit = lo;
-    		m_angularLimits[axis-3].m_hiLimit = hi;
-    	}
-    }
-
-	//! Test limit
-	/*!
-    - free means upper < lower,
-    - locked means upper == lower
-    - limited means upper > lower
-    - limitIndex: first 3 are linear, next 3 are angular
-    */
-    bool	isLimited(int limitIndex)
-    {
-    	if(limitIndex<3)
-    	{
-			return m_linearLimits.isLimited(limitIndex);
-
-    	}
-        return m_angularLimits[limitIndex-3].isLimited();
-    }
-
-	virtual void calcAnchorPos(void); // overridable
-
-	int get_limit_motor_info2(	btRotationalLimitMotor * limot,
-								const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
-								btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
-
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-	
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btGeneric6DofConstraintData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-	
-	btVector3FloatData	m_linearUpperLimit;
-	btVector3FloatData	m_linearLowerLimit;
-
-	btVector3FloatData	m_angularUpperLimit;
-	btVector3FloatData	m_angularLowerLimit;
-	
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-SIMD_FORCE_INLINE	int	btGeneric6DofConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btGeneric6DofConstraintData);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-
-	btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
-
-	m_frameInA.serializeFloat(dof->m_rbAFrame);
-	m_frameInB.serializeFloat(dof->m_rbBFrame);
-
-		
-	int i;
-	for (i=0;i<3;i++)
-	{
-		dof->m_angularLowerLimit.m_floats[i] =  float(m_angularLimits[i].m_loLimit);
-		dof->m_angularUpperLimit.m_floats[i] =  float(m_angularLimits[i].m_hiLimit);
-		dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]);
-		dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]);
-	}
-	
-	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
-	dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
-
-	return "btGeneric6DofConstraintData";
-}
-
-
-
-
-
-#endif //GENERIC_6DOF_CONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
deleted file mode 100644
index 3fa7de4ddb8..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btGeneric6DofSpringConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-
-btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
-	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
-{
-	for(int i = 0; i < 6; i++)
-	{
-		m_springEnabled[i] = false;
-		m_equilibriumPoint[i] = btScalar(0.f);
-		m_springStiffness[i] = btScalar(0.f);
-		m_springDamping[i] = btScalar(1.f);
-	}
-}
-
-
-void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springEnabled[index] = onOff;
-	if(index < 3)
-	{
-		m_linearLimits.m_enableMotor[index] = onOff;
-	}
-	else
-	{
-		m_angularLimits[index - 3].m_enableMotor = onOff;
-	}
-}
-
-
-
-void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springStiffness[index] = stiffness;
-}
-
-
-void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
-{
-	btAssert((index >= 0) && (index < 6));
-	m_springDamping[index] = damping;
-}
-
-
-void btGeneric6DofSpringConstraint::setEquilibriumPoint()
-{
-	calculateTransforms();
-	int i;
-
-	for( i = 0; i < 3; i++)
-	{
-		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
-	}
-	for(i = 0; i < 3; i++)
-	{
-		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
-	}
-}
-
-
-
-void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
-{
-	btAssert((index >= 0) && (index < 6));
-	calculateTransforms();
-	if(index < 3)
-	{
-		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
-	}
-	else
-	{
-		m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
-	}
-}
-
-
-
-void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
-{
-	// it is assumed that calculateTransforms() have been called before this call
-	int i;
-	btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
-	for(i = 0; i < 3; i++)
-	{
-		if(m_springEnabled[i])
-		{
-			// get current position of constraint
-			btScalar currPos = m_calculatedLinearDiff[i];
-			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i];
-			// spring force is (delta * m_stiffness) according to Hooke's Law
-			btScalar force = delta * m_springStiffness[i];
-			btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
-			m_linearLimits.m_targetVelocity[i] =  velFactor * force;
-			m_linearLimits.m_maxMotorForce[i] =  btFabs(force) / info->fps;
-		}
-	}
-	for(i = 0; i < 3; i++)
-	{
-		if(m_springEnabled[i + 3])
-		{
-			// get current position of constraint
-			btScalar currPos = m_calculatedAxisAngleDiff[i];
-			// calculate difference
-			btScalar delta = currPos - m_equilibriumPoint[i+3];
-			// spring force is (-delta * m_stiffness) according to Hooke's Law
-			btScalar force = -delta * m_springStiffness[i+3];
-			btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
-			m_angularLimits[i].m_targetVelocity = velFactor * force;
-			m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
-		}
-	}
-}
-
-
-void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
-{
-	// this will be called by constraint solver at the constraint setup stage
-	// set current motor parameters
-	internalUpdateSprings(info);
-	// do the rest of job for constraint setup
-	btGeneric6DofConstraint::getInfo2(info);
-}
-
-
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
deleted file mode 100644
index e0c1fc9ae39..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
-#define GENERIC_6DOF_SPRING_CONSTRAINT_H
-
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofConstraint.h"
-
-
-/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
-
-/// DOF index used in enableSpring() and setStiffness() means:
-/// 0 : translation X
-/// 1 : translation Y
-/// 2 : translation Z
-/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
-/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
-/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
-
-class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
-{
-protected:
-	bool		m_springEnabled[6];
-	btScalar	m_equilibriumPoint[6];
-	btScalar	m_springStiffness[6];
-	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
-	void internalUpdateSprings(btConstraintInfo2* info);
-public: 
-    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-	void enableSpring(int index, bool onOff);
-	void setStiffness(int index, btScalar stiffness);
-	void setDamping(int index, btScalar damping);
-	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
-	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
-	virtual void getInfo2 (btConstraintInfo2* info);
-};
-
-#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
deleted file mode 100644
index 29123d526b4..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "btHinge2Constraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
-: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = axis1.normalize();
-	btVector3 xAxis = axis2.normalize();
-	btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-									xAxis[1], yAxis[1], zAxis[1],
-									xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
-	setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
-	// like front wheels of a car
-	setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f)); 
-	setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
-	// enable suspension
-	enableSpring(2, true);
-	setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
-	setDamping(2, 0.01f);
-	setEquilibriumPoint();
-}
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
deleted file mode 100644
index 15fd4a014cc..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef HINGE2_CONSTRAINT_H
-#define HINGE2_CONSTRAINT_H
-
-
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofSpringConstraint.h"
-
-
-
-// Constraint similar to ODE Hinge2 Joint
-// has 3 degrees of frredom:
-// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
-// 1 translational (along axis Z) with suspension spring
-
-class btHinge2Constraint : public btGeneric6DofSpringConstraint
-{
-protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
-public:
-	// constructor
-	// anchor, axis1 and axis2 are in world coordinate system
-	// axis1 must be orthogonal to axis2
-    btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
-	// access
-	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
-	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
-	const btVector3& getAxis1() { return m_axis1; }
-	const btVector3& getAxis2() { return m_axis2; }
-	btScalar getAngle1() { return getAngle(2); }
-	btScalar getAngle2() { return getAngle(0); }
-	// limits
-	void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
-	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
-};
-
-
-
-#endif // HINGE2_CONSTRAINT_H
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
deleted file mode 100644
index 2bfa55a2933..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ /dev/null
@@ -1,992 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btHingeConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMinMax.h"
-#include <new>
-#include "btSolverBody.h"
-
-
-
-//#define HINGE_USE_OBSOLETE_SOLVER false
-#define HINGE_USE_OBSOLETE_SOLVER false
-
-#define HINGE_USE_FRAME_OFFSET true
-
-#ifndef __SPU__
-
-
-
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
-									 btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA)
-									 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
-									 m_angularOnly(false),
-									 m_enableAngularMotor(false),
-									 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-									 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-									 m_useReferenceFrameA(useReferenceFrameA),
-									 m_flags(0)
-{
-	m_rbAFrame.getOrigin() = pivotInA;
-	
-	// since no frame is given, assume this to be zero angle and just pick rb transform axis
-	btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
-
-	btVector3 rbAxisA2;
-	btScalar projection = axisInA.dot(rbAxisA1);
-	if (projection >= 1.0f - SIMD_EPSILON) {
-		rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
-		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
-	} else if (projection <= -1.0f + SIMD_EPSILON) {
-		rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
-		rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);      
-	} else {
-		rbAxisA2 = axisInA.cross(rbAxisA1);
-		rbAxisA1 = rbAxisA2.cross(axisInA);
-	}
-
-	m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-									rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-									rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
-
-	btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-	btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
-	btVector3 rbAxisB2 =  axisInB.cross(rbAxisB1);	
-	
-	m_rbBFrame.getOrigin() = pivotInB;
-	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-									rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-									rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
-	
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false), 
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0)
-{
-
-	// since no frame is given, assume this to be zero angle and just pick rb transform axis
-	// fixed axis in worldspace
-	btVector3 rbAxisA1, rbAxisA2;
-	btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
-
-	m_rbAFrame.getOrigin() = pivotInA;
-	m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-									rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-									rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
-
-	btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
-
-	btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-	btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
-	btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
-
-	m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
-	m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-									rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-									rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
-	
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, 
-								     const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
-m_angularOnly(false),
-m_enableAngularMotor(false),
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0)
-{
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}			
-
-
-
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
-m_angularOnly(false),
-m_enableAngularMotor(false),
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
-m_useReferenceFrameA(useReferenceFrameA),
-m_flags(0)
-{
-	///not providing rigidbody B means implicitly using worldspace for body B
-
-	m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
-
-	//start with free
-	m_lowerLimit = btScalar(1.0f);
-	m_upperLimit = btScalar(-1.0f);
-	m_biasFactor = 0.3f;
-	m_relaxationFactor = 1.0f;
-	m_limitSoftness = 0.9f;
-	m_solveLimit = false;
-	m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-
-
-
-void	btHingeConstraint::buildJacobian()
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		m_appliedImpulse = btScalar(0.);
-		m_accMotorImpulse = btScalar(0.);
-
-		if (!m_angularOnly)
-		{
-			btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
-			btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
-			btVector3 relPos = pivotBInW - pivotAInW;
-
-			btVector3 normal[3];
-			if (relPos.length2() > SIMD_EPSILON)
-			{
-				normal[0] = relPos.normalized();
-			}
-			else
-			{
-				normal[0].setValue(btScalar(1.0),0,0);
-			}
-
-			btPlaneSpace1(normal[0], normal[1], normal[2]);
-
-			for (int i=0;i<3;i++)
-			{
-				new (&m_jac[i]) btJacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				pivotAInW - m_rbA.getCenterOfMassPosition(),
-				pivotBInW - m_rbB.getCenterOfMassPosition(),
-				normal[i],
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-			}
-		}
-
-		//calculate two perpendicular jointAxis, orthogonal to hingeAxis
-		//these two jointAxis require equal angular velocities for both bodies
-
-		//this is unused for now, it's a todo
-		btVector3 jointAxis0local;
-		btVector3 jointAxis1local;
-		
-		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
-
-		btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
-		btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
-		btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
-			
-		new (&m_jacAng[0])	btJacobianEntry(jointAxis0,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[1])	btJacobianEntry(jointAxis1,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-		new (&m_jacAng[2])	btJacobianEntry(hingeAxisWorld,
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbB.getInvInertiaDiagLocal());
-
-			// clear accumulator
-			m_accLimitImpulse = btScalar(0.);
-
-			// test angular limit
-			testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-
-		//Compute K = J*W*J' for hinge axis
-		btVector3 axisA =  getRigidBodyA().getCenterOfMassTransform().getBasis() *  m_rbAFrame.getBasis().getColumn(2);
-		m_kHinge =   1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
-							 getRigidBodyB().computeAngularImpulseDenominator(axisA));
-
-	}
-}
-
-
-#endif //__SPU__
-
-
-void btHingeConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
-		info->nub = 1; 
-		//always add the row, to avoid computation (data is not available yet)
-		//prepare constraint
-		testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-		if(getSolveLimit() || getEnableAngularMotor())
-		{
-			info->m_numConstraintRows++; // limit 3rd anguar as well
-			info->nub--; 
-		}
-
-	}
-}
-
-void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		//always add the 'limit' row, to avoid computation (data is not available yet)
-		info->m_numConstraintRows = 6; // Fixed 3 linear + 2 angular
-		info->nub = 0; 
-	}
-}
-
-void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
-{
-	if(m_useOffsetForConstraintFrame)
-	{
-		getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
-	}
-	else
-	{
-		getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
-	}
-}
-
-
-void	btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
-{
-	///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
-	testLimit(transA,transB);
-
-	getInfo2Internal(info,transA,transB,angVelA,angVelB);
-}
-
-
-void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
-{
-
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, skip = info->rowskip;
-	// transforms in world space
-	btTransform trA = transA*m_rbAFrame;
-	btTransform trB = transB*m_rbBFrame;
-	// pivot point
-	btVector3 pivotAInW = trA.getOrigin();
-	btVector3 pivotBInW = trB.getOrigin();
-#if 0
-	if (0)
-	{
-		for (i=0;i<6;i++)
-		{
-			info->m_J1linearAxis[i*skip]=0;
-			info->m_J1linearAxis[i*skip+1]=0;
-			info->m_J1linearAxis[i*skip+2]=0;
-
-			info->m_J1angularAxis[i*skip]=0;
-			info->m_J1angularAxis[i*skip+1]=0;
-			info->m_J1angularAxis[i*skip+2]=0;
-
-			info->m_J2angularAxis[i*skip]=0;
-			info->m_J2angularAxis[i*skip+1]=0;
-			info->m_J2angularAxis[i*skip+2]=0;
-
-			info->m_constraintError[i*skip]=0.f;
-		}
-	}
-#endif //#if 0
-	// linear (all fixed)
-    info->m_J1linearAxis[0] = 1;
-    info->m_J1linearAxis[skip + 1] = 1;
-    info->m_J1linearAxis[2 * skip + 2] = 1;
-	
-
-
-
-
-	btVector3 a1 = pivotAInW - transA.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-	btVector3 a2 = pivotBInW - transB.getOrigin();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-	// linear RHS
-    btScalar k = info->fps * info->erp;
-	for(i = 0; i < 3; i++)
-    {
-        info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
-    }
-	// make rotations around X and Y equal
-	// the hinge axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the hinge axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the hinge axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	// get hinge axis (Z)
-	btVector3 ax1 = trA.getBasis().getColumn(2);
-	// get 2 orthos to hinge axis (X, Y)
-	btVector3 p = trA.getBasis().getColumn(0);
-	btVector3 q = trA.getBasis().getColumn(1);
-	// set the two hinge angular rows 
-    int s3 = 3 * info->rowskip;
-    int s4 = 4 * info->rowskip;
-
-	info->m_J1angularAxis[s3 + 0] = p[0];
-	info->m_J1angularAxis[s3 + 1] = p[1];
-	info->m_J1angularAxis[s3 + 2] = p[2];
-	info->m_J1angularAxis[s4 + 0] = q[0];
-	info->m_J1angularAxis[s4 + 1] = q[1];
-	info->m_J1angularAxis[s4 + 2] = q[2];
-
-	info->m_J2angularAxis[s3 + 0] = -p[0];
-	info->m_J2angularAxis[s3 + 1] = -p[1];
-	info->m_J2angularAxis[s3 + 2] = -p[2];
-	info->m_J2angularAxis[s4 + 0] = -q[0];
-	info->m_J2angularAxis[s4 + 1] = -q[1];
-	info->m_J2angularAxis[s4 + 2] = -q[2];
-    // compute the right hand side of the constraint equation. set relative
-    // body velocities along p and q to bring the hinge back into alignment.
-    // if ax1,ax2 are the unit length hinge axes as computed from body1 and
-    // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-    // if `theta' is the angle between ax1 and ax2, we need an angular velocity
-    // along u to cover angle erp*theta in one step :
-    //   |angular_velocity| = angle/time = erp*theta / stepsize
-    //                      = (erp*fps) * theta
-    //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-    //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-    // ...as ax1 and ax2 are unit length. if theta is smallish,
-    // theta ~= sin(theta), so
-    //    angular_velocity  = (erp*fps) * (ax1 x ax2)
-    // ax1 x ax2 is in the plane space of ax1, so we project the angular
-    // velocity to p and q to find the right hand side.
-    btVector3 ax2 = trB.getBasis().getColumn(2);
-	btVector3 u = ax1.cross(ax2);
-	info->m_constraintError[s3] = k * u.dot(p);
-	info->m_constraintError[s4] = k * u.dot(q);
-	// check angular limits
-	int nrow = 4; // last filled row
-	int srow;
-	btScalar limit_err = btScalar(0.0);
-	int limit = 0;
-	if(getSolveLimit())
-	{
-		limit_err = m_correction * m_referenceSign;
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the hinge has joint limits or motor, add in the extra row
-	int powered = 0;
-	if(getEnableAngularMotor())
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
-
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
-
-		btScalar lostop = getLowerLimit();
-		btScalar histop = getUpperLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		info->m_constraintError[srow] = btScalar(0.0f);
-		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
-		if(powered)
-		{
-			if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
-			{
-				info->cfm[srow] = m_normalCFM;
-			}
-			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
-			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = - m_maxMotorImpulse;
-			info->m_upperLimit[srow] =   m_maxMotorImpulse;
-		}
-		if(limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
-			{
-				info->cfm[srow] = m_stopCFM;
-			}
-			if(lostop == histop) 
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if(limit == 1) 
-			{ // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else 
-			{ // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-			btScalar bounce = m_relaxationFactor;
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = angVelA.dot(ax1);
-				vel -= angVelB.dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= m_biasFactor;
-		} // if(limit)
-	} // if angular limit or powered
-}
-
-
-
-
-
-
-void	btHingeConstraint::updateRHS(btScalar	timeStep)
-{
-	(void)timeStep;
-
-}
-
-
-btScalar btHingeConstraint::getHingeAngle()
-{
-	return getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-}
-
-btScalar btHingeConstraint::getHingeAngle(const btTransform& transA,const btTransform& transB)
-{
-	const btVector3 refAxis0  = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
-	const btVector3 refAxis1  = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
-	const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
-//	btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
-	return m_referenceSign * angle;
-}
-
-
-#if 0
-void btHingeConstraint::testLimit()
-{
-	// Compute limit information
-	m_hingeAngle = getHingeAngle();  
-	m_correction = btScalar(0.);
-	m_limitSign = btScalar(0.);
-	m_solveLimit = false;
-	if (m_lowerLimit <= m_upperLimit)
-	{
-		if (m_hingeAngle <= m_lowerLimit)
-		{
-			m_correction = (m_lowerLimit - m_hingeAngle);
-			m_limitSign = 1.0f;
-			m_solveLimit = true;
-		} 
-		else if (m_hingeAngle >= m_upperLimit)
-		{
-			m_correction = m_upperLimit - m_hingeAngle;
-			m_limitSign = -1.0f;
-			m_solveLimit = true;
-		}
-	}
-	return;
-}
-#else
-
-
-void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& transB)
-{
-	// Compute limit information
-	m_hingeAngle = getHingeAngle(transA,transB);
-	m_correction = btScalar(0.);
-	m_limitSign = btScalar(0.);
-	m_solveLimit = false;
-	if (m_lowerLimit <= m_upperLimit)
-	{
-		m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit);
-		if (m_hingeAngle <= m_lowerLimit)
-		{
-			m_correction = (m_lowerLimit - m_hingeAngle);
-			m_limitSign = 1.0f;
-			m_solveLimit = true;
-		} 
-		else if (m_hingeAngle >= m_upperLimit)
-		{
-			m_correction = m_upperLimit - m_hingeAngle;
-			m_limitSign = -1.0f;
-			m_solveLimit = true;
-		}
-	}
-	return;
-}
-#endif
-
-static btVector3 vHinge(0, 0, btScalar(1));
-
-void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
-{
-	// convert target from body to constraint space
-	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * qAinB * m_rbAFrame.getRotation();
-	qConstraint.normalize();
-
-	// extract "pure" hinge component
-	btVector3 vNoHinge = quatRotate(qConstraint, vHinge); vNoHinge.normalize();
-	btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge);
-	btQuaternion qHinge = qNoHinge.inverse() * qConstraint;
-	qHinge.normalize();
-
-	// compute angular target, clamped to limits
-	btScalar targetAngle = qHinge.getAngle();
-	if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
-	{
-		qHinge = operator-(qHinge);
-		targetAngle = qHinge.getAngle();
-	}
-	if (qHinge.getZ() < 0)
-		targetAngle = -targetAngle;
-
-	setMotorTarget(targetAngle, dt);
-}
-
-void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
-{
-	if (m_lowerLimit < m_upperLimit)
-	{
-		if (targetAngle < m_lowerLimit)
-			targetAngle = m_lowerLimit;
-		else if (targetAngle > m_upperLimit)
-			targetAngle = m_upperLimit;
-	}
-
-	// compute angular velocity
-	btScalar curAngle  = getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-	btScalar dAngle = targetAngle - curAngle;
-	m_motorTargetVelocity = dAngle / dt;
-}
-
-
-
-void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, s = info->rowskip;
-	// transforms in world space
-	btTransform trA = transA*m_rbAFrame;
-	btTransform trB = transB*m_rbBFrame;
-	// pivot point
-	btVector3 pivotAInW = trA.getOrigin();
-	btVector3 pivotBInW = trB.getOrigin();
-#if 1
-	// difference between frames in WCS
-	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
-	// now get weight factors depending on masses
-	btScalar miA = getRigidBodyA().getInvMass();
-	btScalar miB = getRigidBodyB().getInvMass();
-	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-	btScalar miS = miA + miB;
-	btScalar factA, factB;
-	if(miS > btScalar(0.f))
-	{
-		factA = miB / miS;
-	}
-	else 
-	{
-		factA = btScalar(0.5f);
-	}
-	factB = btScalar(1.0f) - factA;
-	// get the desired direction of hinge axis
-	// as weighted sum of Z-orthos of frameA and frameB in WCS
-	btVector3 ax1A = trA.getBasis().getColumn(2);
-	btVector3 ax1B = trB.getBasis().getColumn(2);
-	btVector3 ax1 = ax1A * factA + ax1B * factB;
-	ax1.normalize();
-	// fill first 3 rows 
-	// we want: velA + wA x relA == velB + wB x relB
-	btTransform bodyA_trans = transA;
-	btTransform bodyB_trans = transB;
-	int s0 = 0;
-	int s1 = s;
-	int s2 = s * 2;
-	int nrow = 2; // last filled row
-	btVector3 tmpA, tmpB, relA, relB, p, q;
-	// get vector from bodyB to frameB in WCS
-	relB = trB.getOrigin() - bodyB_trans.getOrigin();
-	// get its projection to hinge axis
-	btVector3 projB = ax1 * relB.dot(ax1);
-	// get vector directed from bodyB to hinge axis (and orthogonal to it)
-	btVector3 orthoB = relB - projB;
-	// same for bodyA
-	relA = trA.getOrigin() - bodyA_trans.getOrigin();
-	btVector3 projA = ax1 * relA.dot(ax1);
-	btVector3 orthoA = relA - projA;
-	btVector3 totalDist = projA - projB;
-	// get offset vectors relA and relB
-	relA = orthoA + totalDist * factA;
-	relB = orthoB - totalDist * factB;
-	// now choose average ortho to hinge axis
-	p = orthoB * factA + orthoA * factB;
-	btScalar len2 = p.length2();
-	if(len2 > SIMD_EPSILON)
-	{
-		p /= btSqrt(len2);
-	}
-	else
-	{
-		p = trA.getBasis().getColumn(1);
-	}
-	// make one more ortho
-	q = ax1.cross(p);
-	// fill three rows
-	tmpA = relA.cross(p);
-	tmpB = relB.cross(p);
-    for (i=0; i<3; i++) info->m_J1angularAxis[s0+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s0+i] = -tmpB[i];
-	tmpA = relA.cross(q);
-	tmpB = relB.cross(q);
-	if(hasStaticBody && getSolveLimit())
-	{ // to make constraint between static and dynamic objects more rigid
-		// remove wA (or wB) from equation if angular limit is hit
-		tmpB *= factB;
-		tmpA *= factA;
-	}
-	for (i=0; i<3; i++) info->m_J1angularAxis[s1+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s1+i] = -tmpB[i];
-	tmpA = relA.cross(ax1);
-	tmpB = relB.cross(ax1);
-	if(hasStaticBody)
-	{ // to make constraint between static and dynamic objects more rigid
-		// remove wA (or wB) from equation
-		tmpB *= factB;
-		tmpA *= factA;
-	}
-	for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
-    for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
-
-	for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
-	for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
-	for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
-	// compute three elements of right hand side
-	btScalar k = info->fps * info->erp;
-	btScalar rhs = k * p.dot(ofs);
-	info->m_constraintError[s0] = rhs;
-	rhs = k * q.dot(ofs);
-	info->m_constraintError[s1] = rhs;
-	rhs = k * ax1.dot(ofs);
-	info->m_constraintError[s2] = rhs;
-	// the hinge axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the hinge axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the hinge axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	int s3 = 3 * s;
-	int s4 = 4 * s;
-	info->m_J1angularAxis[s3 + 0] = p[0];
-	info->m_J1angularAxis[s3 + 1] = p[1];
-	info->m_J1angularAxis[s3 + 2] = p[2];
-	info->m_J1angularAxis[s4 + 0] = q[0];
-	info->m_J1angularAxis[s4 + 1] = q[1];
-	info->m_J1angularAxis[s4 + 2] = q[2];
-
-	info->m_J2angularAxis[s3 + 0] = -p[0];
-	info->m_J2angularAxis[s3 + 1] = -p[1];
-	info->m_J2angularAxis[s3 + 2] = -p[2];
-	info->m_J2angularAxis[s4 + 0] = -q[0];
-	info->m_J2angularAxis[s4 + 1] = -q[1];
-	info->m_J2angularAxis[s4 + 2] = -q[2];
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the hinge back into alignment.
-	// if ax1A,ax1B are the unit length hinge axes as computed from bodyA and
-	// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-	k = info->fps * info->erp;
-	btVector3 u = ax1A.cross(ax1B);
-	info->m_constraintError[s3] = k * u.dot(p);
-	info->m_constraintError[s4] = k * u.dot(q);
-#endif
-	// check angular limits
-	nrow = 4; // last filled row
-	int srow;
-	btScalar limit_err = btScalar(0.0);
-	int limit = 0;
-	if(getSolveLimit())
-	{
-		limit_err = m_correction * m_referenceSign;
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the hinge has joint limits or motor, add in the extra row
-	int powered = 0;
-	if(getEnableAngularMotor())
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
-
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
-
-		btScalar lostop = getLowerLimit();
-		btScalar histop = getUpperLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		info->m_constraintError[srow] = btScalar(0.0f);
-		btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
-		if(powered)
-		{
-			if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
-			{
-				info->cfm[srow] = m_normalCFM;
-			}
-			btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
-			info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
-			info->m_lowerLimit[srow] = - m_maxMotorImpulse;
-			info->m_upperLimit[srow] =   m_maxMotorImpulse;
-		}
-		if(limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
-			{
-				info->cfm[srow] = m_stopCFM;
-			}
-			if(lostop == histop) 
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if(limit == 1) 
-			{ // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else 
-			{ // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-			btScalar bounce = m_relaxationFactor;
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = angVelA.dot(ax1);
-				vel -= angVelB.dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= m_biasFactor;
-		} // if(limit)
-	} // if angular limit or powered
-}
-
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-///If no axis is provided, it uses the default axis for this constraint.
-void btHingeConstraint::setParam(int num, btScalar value, int axis)
-{
-	if((axis == -1) || (axis == 5))
-	{
-		switch(num)
-		{	
-			case BT_CONSTRAINT_STOP_ERP :
-				m_stopERP = value;
-				m_flags |= BT_HINGE_FLAGS_ERP_STOP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM :
-				m_stopCFM = value;
-				m_flags |= BT_HINGE_FLAGS_CFM_STOP;
-				break;
-			case BT_CONSTRAINT_CFM :
-				m_normalCFM = value;
-				m_flags |= BT_HINGE_FLAGS_CFM_NORM;
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-}
-
-///return the local value of parameter
-btScalar btHingeConstraint::getParam(int num, int axis) const 
-{
-	btScalar retVal = 0;
-	if((axis == -1) || (axis == 5))
-	{
-		switch(num)
-		{	
-			case BT_CONSTRAINT_STOP_ERP :
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
-				retVal = m_stopERP;
-				break;
-			case BT_CONSTRAINT_STOP_CFM :
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
-				retVal = m_stopCFM;
-				break;
-			case BT_CONSTRAINT_CFM :
-				btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
-				retVal = m_normalCFM;
-				break;
-			default : 
-				btAssertConstrParams(0);
-		}
-	}
-	else
-	{
-		btAssertConstrParams(0);
-	}
-	return retVal;
-}
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.h
deleted file mode 100644
index a65f3638ed5..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ /dev/null
@@ -1,332 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
-
-#ifndef HINGECONSTRAINT_H
-#define HINGECONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btHingeConstraintData	btHingeConstraintDoubleData
-#define btHingeConstraintDataName	"btHingeConstraintDoubleData"
-#else
-#define btHingeConstraintData	btHingeConstraintFloatData
-#define btHingeConstraintDataName	"btHingeConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
-enum btHingeFlags
-{
-	BT_HINGE_FLAGS_CFM_STOP = 1,
-	BT_HINGE_FLAGS_ERP_STOP = 2,
-	BT_HINGE_FLAGS_CFM_NORM = 4
-};
-
-
-/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/// axis defines the orientation of the hinge axis
-ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	btJacobianEntry	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
-
-	btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransform m_rbBFrame;
-
-	btScalar	m_motorTargetVelocity;
-	btScalar	m_maxMotorImpulse;
-
-	btScalar	m_limitSoftness; 
-	btScalar	m_biasFactor; 
-	btScalar    m_relaxationFactor; 
-
-	btScalar    m_lowerLimit;	
-	btScalar    m_upperLimit;	
-	
-	btScalar	m_kHinge;
-
-	btScalar	m_limitSign;
-	btScalar	m_correction;
-
-	btScalar	m_accLimitImpulse;
-	btScalar	m_hingeAngle;
-	btScalar    m_referenceSign;
-
-	bool		m_angularOnly;
-	bool		m_enableAngularMotor;
-	bool		m_solveLimit;
-	bool		m_useSolveConstraintObsolete;
-	bool		m_useOffsetForConstraintFrame;
-	bool		m_useReferenceFrameA;
-
-	btScalar	m_accMotorImpulse;
-
-	int			m_flags;
-	btScalar	m_normalCFM;
-	btScalar	m_stopCFM;
-	btScalar	m_stopERP;
-
-	
-public:
-
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
-
-	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
-	
-	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
-
-	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
-
-
-	virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	void getInfo1NonVirtual(btConstraintInfo1* info);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-
-	void	getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-	void	getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
-		
-
-	void	updateRHS(btScalar	timeStep);
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	btRigidBody& getRigidBodyA()	
-	{		
-		return m_rbA;	
-	}	
-
-	btRigidBody& getRigidBodyB()	
-	{		
-		return m_rbB;	
-	}	
-	
-	void	setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-	void	enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
-	{
-		m_enableAngularMotor  = enableMotor;
-		m_motorTargetVelocity = targetVelocity;
-		m_maxMotorImpulse = maxMotorImpulse;
-	}
-
-	// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
-	// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
-	//       maintain a given angular target.
-	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
-	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
-	void setMotorTarget(btScalar targetAngle, btScalar dt);
-
-
-	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-		m_lowerLimit = btNormalizeAngle(low);
-		m_upperLimit = btNormalizeAngle(high);
-
-		m_limitSoftness =  _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-
-	}
-
-	void	setAxis(btVector3& axisInA)
-	{
-		btVector3 rbAxisA1, rbAxisA2;
-		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
-		btVector3 pivotInA = m_rbAFrame.getOrigin();
-//		m_rbAFrame.getOrigin() = pivotInA;
-		m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
-										rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
-										rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
-
-		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
-
-		btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
-		btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
-		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
-
-
-		m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
-		m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
-										rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
-										rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
-	}
-
-	btScalar	getLowerLimit() const
-	{
-		return m_lowerLimit;
-	}
-
-	btScalar	getUpperLimit() const
-	{
-		return m_upperLimit;
-	}
-
-
-	btScalar getHingeAngle();
-
-	btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
-
-	void testLimit(const btTransform& transA,const btTransform& transB);
-
-
-	const btTransform& getAFrame() const { return m_rbAFrame; };	
-	const btTransform& getBFrame() const { return m_rbBFrame; };
-
-	btTransform& getAFrame() { return m_rbAFrame; };	
-	btTransform& getBFrame() { return m_rbBFrame; };
-
-	inline int getSolveLimit()
-	{
-		return m_solveLimit;
-	}
-
-	inline btScalar getLimitSign()
-	{
-		return m_limitSign;
-	}
-
-	inline bool getAngularOnly() 
-	{ 
-		return m_angularOnly; 
-	}
-	inline bool getEnableAngularMotor() 
-	{ 
-		return m_enableAngularMotor; 
-	}
-	inline btScalar getMotorTargetVelosity() 
-	{ 
-		return m_motorTargetVelocity; 
-	}
-	inline btScalar getMaxMotorImpulse() 
-	{ 
-		return m_maxMotorImpulse; 
-	}
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btHingeConstraintDoubleData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformDoubleData m_rbBFrame;
-	int			m_useReferenceFrameA;
-	int			m_angularOnly;
-	int			m_enableAngularMotor;
-	float	m_motorTargetVelocity;
-	float	m_maxMotorImpulse;
-
-	float	m_lowerLimit;
-	float	m_upperLimit;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
-};
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btHingeConstraintFloatData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-	int			m_useReferenceFrameA;
-	int			m_angularOnly;
-	
-	int			m_enableAngularMotor;
-	float	m_motorTargetVelocity;
-	float	m_maxMotorImpulse;
-
-	float	m_lowerLimit;
-	float	m_upperLimit;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
-};
-
-
-
-SIMD_FORCE_INLINE	int	btHingeConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btHingeConstraintData);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
-	btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
-
-	m_rbAFrame.serialize(hingeData->m_rbAFrame);
-	m_rbBFrame.serialize(hingeData->m_rbBFrame);
-
-	hingeData->m_angularOnly = m_angularOnly;
-	hingeData->m_enableAngularMotor = m_enableAngularMotor;
-	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
-	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
-	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
-	
-	hingeData->m_lowerLimit = float(m_lowerLimit);
-	hingeData->m_upperLimit = float(m_upperLimit);
-	hingeData->m_limitSoftness = float(m_limitSoftness);
-	hingeData->m_biasFactor = float(m_biasFactor);
-	hingeData->m_relaxationFactor = float(m_relaxationFactor);
-
-	return btHingeConstraintDataName;
-}
-
-#endif //HINGECONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btJacobianEntry.h
deleted file mode 100644
index 22a8af66b8e..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef JACOBIAN_ENTRY_H
-#define JACOBIAN_ENTRY_H
-
-#include "LinearMath/btVector3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-
-//notes:
-// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
-// which makes the btJacobianEntry memory layout 16 bytes
-// if you only are interested in angular part, just feed massInvA and massInvB zero
-
-/// Jacobian entry is an abstraction that allows to describe constraints
-/// it can be used in combination with a constraint solver
-/// Can be used to relate the effect of an impulse to the constraint error
-ATTRIBUTE_ALIGNED16(class) btJacobianEntry
-{
-public:
-	btJacobianEntry() {};
-	//constraint between two different rigidbodies
-	btJacobianEntry(
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
-		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
-		const btScalar massInvA,
-		const btVector3& inertiaInvB,
-		const btScalar massInvB)
-		:m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	btJacobianEntry(const btVector3& jointAxis,
-		const btMatrix3x3& world2A,
-		const btMatrix3x3& world2B,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
-	{
-		m_aJ= world2A*jointAxis;
-		m_bJ = world2B*-jointAxis;
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	btJacobianEntry(const btVector3& axisInA,
-		const btVector3& axisInB,
-		const btVector3& inertiaInvA,
-		const btVector3& inertiaInvB)
-		: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
-		, m_aJ(axisInA)
-		, m_bJ(-axisInB)
-	{
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	//constraint on one rigidbody
-	btJacobianEntry(
-		const btMatrix3x3& world2A,
-		const btVector3& rel_pos1,const btVector3& rel_pos2,
-		const btVector3& jointAxis,
-		const btVector3& inertiaInvA, 
-		const btScalar massInvA)
-		:m_linearJointAxis(jointAxis)
-	{
-		m_aJ= world2A*(rel_pos1.cross(jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
-		btAssert(m_Adiag > btScalar(0.0));
-	}
-
-	btScalar	getDiagonal() const { return m_Adiag; }
-
-	// for two constraints on the same rigidbody (for example vehicle friction)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
-	{
-		const btJacobianEntry& jacA = *this;
-		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
-		btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
-		return lin + ang;
-	}
-
-	
-
-	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	btScalar	getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
-	{
-		const btJacobianEntry& jacA = *this;
-		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
-		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
-		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		btVector3 lin0 = massInvA * lin ;
-		btVector3 lin1 = massInvB * lin;
-		btVector3 sum = ang0+ang1+lin0+lin1;
-		return sum[0]+sum[1]+sum[2];
-	}
-
-	btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
-	{
-		btVector3 linrel = linvelA - linvelB;
-		btVector3 angvela  = angvelA * m_aJ;
-		btVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_linearJointAxis;
-		angvela += angvelb;
-		angvela += linrel;
-		btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
-		return rel_vel2 + SIMD_EPSILON;
-	}
-//private:
-
-	btVector3	m_linearJointAxis;
-	btVector3	m_aJ;
-	btVector3	m_bJ;
-	btVector3	m_0MinvJt;
-	btVector3	m_1MinvJt;
-	//Optimization: can be stored in the w/last component of one of the vectors
-	btScalar	m_Adiag;
-
-};
-
-#endif //JACOBIAN_ENTRY_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
deleted file mode 100644
index 50ad71ab505..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ /dev/null
@@ -1,229 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btPoint2PointConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include <new>
-
-
-
-
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
-m_flags(0),
-m_useSolveConstraintObsolete(false)
-{
-
-}
-
-
-btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
-m_flags(0),
-m_useSolveConstraintObsolete(false)
-{
-	
-}
-
-void	btPoint2PointConstraint::buildJacobian()
-{
-
-	///we need it for both methods
-	{
-		m_appliedImpulse = btScalar(0.);
-
-		btVector3	normal(0,0,0);
-
-		for (int i=0;i<3;i++)
-		{
-			normal[i] = 1;
-			new (&m_jac[i]) btJacobianEntry(
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
-			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
-			normal,
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbA.getInvMass(),
-			m_rbB.getInvInertiaDiagLocal(),
-			m_rbB.getInvMass());
-		normal[i] = 0;
-		}
-	}
-
-
-}
-
-void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
-{
-	getInfo1NonVirtual(info);
-}
-
-void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	} else
-	{
-		info->m_numConstraintRows = 3;
-		info->nub = 3;
-	}
-}
-
-
-
-
-void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-}
-
-void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
-{
-	btAssert(!m_useSolveConstraintObsolete);
-
-	 //retrieve matrices
-
-	// anchor points in global coordinates with respect to body PORs.
-   
-    // set jacobian
-    info->m_J1linearAxis[0] = 1;
-	info->m_J1linearAxis[info->rowskip+1] = 1;
-	info->m_J1linearAxis[2*info->rowskip+2] = 1;
-
-	btVector3 a1 = body0_trans.getBasis()*getPivotInA();
-	{
-		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
-		btVector3 a1neg = -a1;
-		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-    
-	/*info->m_J2linearAxis[0] = -1;
-    info->m_J2linearAxis[s+1] = -1;
-    info->m_J2linearAxis[2*s+2] = -1;
-	*/
-	
-	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
-   
-	{
-		btVector3 a2n = -a2;
-		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
-		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
-		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
-		a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
-	}
-    
-
-
-    // set right hand side
-	btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
-    btScalar k = info->fps * currERP;
-    int j;
-	for (j=0; j<3; j++)
-    {
-        info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
-		//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
-    }
-	if(m_flags & BT_P2P_FLAGS_CFM)
-	{
-		for (j=0; j<3; j++)
-		{
-			info->cfm[j*info->rowskip] = m_cfm;
-		}
-	}
-
-	btScalar impulseClamp = m_setting.m_impulseClamp;//
-	for (j=0; j<3; j++)
-    {
-		if (m_setting.m_impulseClamp > 0)
-		{
-			info->m_lowerLimit[j*info->rowskip] = -impulseClamp;
-			info->m_upperLimit[j*info->rowskip] = impulseClamp;
-		}
-	}
-	
-}
-
-
-
-void	btPoint2PointConstraint::updateRHS(btScalar	timeStep)
-{
-	(void)timeStep;
-
-}
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-///If no axis is provided, it uses the default axis for this constraint.
-void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
-{
-	if(axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_ERP :
-			case BT_CONSTRAINT_STOP_ERP :
-				m_erp = value; 
-				m_flags |= BT_P2P_FLAGS_ERP;
-				break;
-			case BT_CONSTRAINT_CFM :
-			case BT_CONSTRAINT_STOP_CFM :
-				m_cfm = value; 
-				m_flags |= BT_P2P_FLAGS_CFM;
-				break;
-			default: 
-				btAssertConstrParams(0);
-		}
-	}
-}
-
-///return the local value of parameter
-btScalar btPoint2PointConstraint::getParam(int num, int axis) const 
-{
-	btScalar retVal(SIMD_INFINITY);
-	if(axis != -1)
-	{
-		btAssertConstrParams(0);
-	}
-	else
-	{
-		switch(num)
-		{
-			case BT_CONSTRAINT_ERP :
-			case BT_CONSTRAINT_STOP_ERP :
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
-				retVal = m_erp; 
-				break;
-			case BT_CONSTRAINT_CFM :
-			case BT_CONSTRAINT_STOP_CFM :
-				btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
-				retVal = m_cfm; 
-				break;
-			default: 
-				btAssertConstrParams(0);
-		}
-	}
-	return retVal;
-}
-	
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
deleted file mode 100644
index b589ee68254..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ /dev/null
@@ -1,161 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef POINT2POINTCONSTRAINT_H
-#define POINT2POINTCONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btPoint2PointConstraintData	btPoint2PointConstraintDoubleData
-#define btPoint2PointConstraintDataName	"btPoint2PointConstraintDoubleData"
-#else
-#define btPoint2PointConstraintData	btPoint2PointConstraintFloatData
-#define btPoint2PointConstraintDataName	"btPoint2PointConstraintFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-struct	btConstraintSetting
-{
-	btConstraintSetting()	:
-		m_tau(btScalar(0.3)),
-		m_damping(btScalar(1.)),
-		m_impulseClamp(btScalar(0.))
-	{
-	}
-	btScalar		m_tau;
-	btScalar		m_damping;
-	btScalar		m_impulseClamp;
-};
-
-enum btPoint2PointFlags
-{
-	BT_P2P_FLAGS_ERP = 1,
-	BT_P2P_FLAGS_CFM = 2
-};
-
-/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	
-	btVector3	m_pivotInA;
-	btVector3	m_pivotInB;
-	
-	int			m_flags;
-	btScalar	m_erp;
-	btScalar	m_cfm;
-	
-public:
-
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-
-	btConstraintSetting	m_setting;
-
-	btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
-
-	btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
-
-
-	virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	void getInfo1NonVirtual (btConstraintInfo1* info);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
-
-	void	updateRHS(btScalar	timeStep);
-
-	void	setPivotA(const btVector3& pivotA)
-	{
-		m_pivotInA = pivotA;
-	}
-
-	void	setPivotB(const btVector3& pivotB)
-	{
-		m_pivotInB = pivotB;
-	}
-
-	const btVector3& getPivotInA() const
-	{
-		return m_pivotInA;
-	}
-
-	const btVector3& getPivotInB() const
-	{
-		return m_pivotInB;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btPoint2PointConstraintFloatData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btVector3FloatData	m_pivotInA;
-	btVector3FloatData	m_pivotInB;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btPoint2PointConstraintDoubleData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btVector3DoubleData	m_pivotInA;
-	btVector3DoubleData	m_pivotInB;
-};
-
-
-SIMD_FORCE_INLINE	int	btPoint2PointConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btPoint2PointConstraintData);
-
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
-
-	btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
-	m_pivotInA.serialize(p2pData->m_pivotInA);
-	m_pivotInB.serialize(p2pData->m_pivotInB);
-
-	return btPoint2PointConstraintDataName;
-}
-
-#endif //POINT2POINTCONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
deleted file mode 100644
index 4e1048823c0..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ /dev/null
@@ -1,1174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//#define COMPUTE_IMPULSE_DENOM 1
-//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
-
-#include "btSequentialImpulseConstraintSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btContactConstraint.h"
-#include "btSolve2LinearConstraint.h"
-#include "btContactSolverInfo.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "btJacobianEntry.h"
-#include "LinearMath/btMinMax.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include <new>
-#include "LinearMath/btStackAlloc.h"
-#include "LinearMath/btQuickprof.h"
-#include "btSolverBody.h"
-#include "btSolverConstraint.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include <string.h> //for memset
-
-int		gNumSplitImpulseRecoveries = 0;
-
-btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-:m_btSeed2(0)
-{
-
-}
-
-btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
-{
-}
-
-#ifdef USE_SIMD
-#include <emmintrin.h>
-#define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e))
-static inline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 )
-{
-	__m128 result = _mm_mul_ps( vec0, vec1);
-	return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) );
-}
-#endif//USE_SIMD
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
-void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
-{
-#ifdef USE_SIMD
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	btSimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
-#else
-	resolveSingleConstraintRowGeneric(body1,body2,c);
-#endif
-}
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
-{
-	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
-
-//	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
-	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
-
-	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else if (sum > c.m_upperLimit) 
-	{
-		deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_upperLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-		body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-		body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
-}
-
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
-{
-#ifdef USE_SIMD
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	btSimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
-#else
-	resolveSingleConstraintRowLowerLimit(body1,body2,c);
-#endif
-}
-
-// Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
-{
-	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
-
-	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
-	const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-	if (sum < c.m_lowerLimit)
-	{
-		deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
-		c.m_appliedImpulse = c.m_lowerLimit;
-	}
-	else
-	{
-		c.m_appliedImpulse = sum;
-	}
-	body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
-}
-
-
-void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        const btSolverConstraint& c)
-{
-		if (c.m_rhsPenetration)
-        {
-			gNumSplitImpulseRecoveries++;
-			btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
-			const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetPushVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
-			const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
-
-			deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
-			deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
-			const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
-			if (sum < c.m_lowerLimit)
-			{
-				deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse;
-				c.m_appliedPushImpulse = c.m_lowerLimit;
-			}
-			else
-			{
-				c.m_appliedPushImpulse = sum;
-			}
-			body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-			body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
-        }
-}
-
- void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
-{
-#ifdef USE_SIMD
-	if (!c.m_rhsPenetration)
-		return;
-
-	gNumSplitImpulseRecoveries++;
-
-	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
-	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
-	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
-	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
-	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
-	btSimdScalar resultLowerLess,resultUpperLess;
-	resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
-	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
-	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
-	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
-	__m128 impulseMagnitude = deltaImpulse;
-	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
-	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
-	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
-#else
-	resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
-#endif
-}
-
-
-
-unsigned long btSequentialImpulseConstraintSolver::btRand2()
-{
-	m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
-	return m_btSeed2;
-}
-
-
-
-//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
-int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
-{
-	// seems good; xor-fold and modulus
-	const unsigned long un = static_cast<unsigned long>(n);
-	unsigned long r = btRand2();
-
-	// note: probably more aggressive than it needs to be -- might be
-	//       able to get away without one or two of the innermost branches.
-	if (un <= 0x00010000UL) {
-		r ^= (r >> 16);
-		if (un <= 0x00000100UL) {
-			r ^= (r >> 8);
-			if (un <= 0x00000010UL) {
-				r ^= (r >> 4);
-				if (un <= 0x00000004UL) {
-					r ^= (r >> 2);
-					if (un <= 0x00000002UL) {
-						r ^= (r >> 1);
-					}
-				}
-			}
-		}
-	}
-
-	return (int) (r % un);
-}
-
-
-#if 0
-void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
-{
-	btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
-
-	solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f);
-	solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
-
-	if (rb)
-	{
-		solverBody->internalGetInvMass() = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
-		solverBody->m_originalBody = rb;
-		solverBody->m_angularFactor = rb->getAngularFactor();
-	} else
-	{
-		solverBody->internalGetInvMass().setValue(0,0,0);
-		solverBody->m_originalBody = 0;
-		solverBody->m_angularFactor.setValue(1,1,1);
-	}
-}
-#endif
-
-
-
-
-
-btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution)
-{
-	btScalar rest = restitution * -rel_vel;
-	return rest;
-}
-
-
-
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
-{
-	if (colObj && colObj->hasAnisotropicFriction())
-	{
-		// transform to local coordinates
-		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
-		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
-		//apply anisotropic friction
-		loc_lateral *= friction_scaling;
-		// ... and transform it back to global coordinates
-		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
-	}
-}
-
-
-void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
-{
-
-
-	btRigidBody* body0=btRigidBody::upcast(colObj0);
-	btRigidBody* body1=btRigidBody::upcast(colObj1);
-
-	solverConstraint.m_contactNormal = normalAxis;
-
-	solverConstraint.m_solverBodyA = body0 ? body0 : &getFixedBody();
-	solverConstraint.m_solverBodyB = body1 ? body1 : &getFixedBody();
-
-	solverConstraint.m_friction = cp.m_combinedFriction;
-	solverConstraint.m_originalContactPoint = 0;
-
-	solverConstraint.m_appliedImpulse = 0.f;
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
-	{
-		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
-		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
-	}
-	{
-		btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
-		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
-		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
-	}
-
-#ifdef COMPUTE_IMPULSE_DENOM
-	btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
-	btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
-#else
-	btVector3 vec;
-	btScalar denom0 = 0.f;
-	btScalar denom1 = 0.f;
-	if (body0)
-	{
-		vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-		denom0 = body0->getInvMass() + normalAxis.dot(vec);
-	}
-	if (body1)
-	{
-		vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-		denom1 = body1->getInvMass() + normalAxis.dot(vec);
-	}
-
-
-#endif //COMPUTE_IMPULSE_DENOM
-	btScalar denom = relaxation/(denom0+denom1);
-	solverConstraint.m_jacDiagABInv = denom;
-
-#ifdef _USE_JACOBIAN
-	solverConstraint.m_jac =  btJacobianEntry (
-		rel_pos1,rel_pos2,solverConstraint.m_contactNormal,
-		body0->getInvInertiaDiagLocal(),
-		body0->getInvMass(),
-		body1->getInvInertiaDiagLocal(),
-		body1->getInvMass());
-#endif //_USE_JACOBIAN
-
-
-	{
-		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?body0->getLinearVelocity():btVector3(0,0,0)) 
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?body0->getAngularVelocity():btVector3(0,0,0));
-		btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?body1->getLinearVelocity():btVector3(0,0,0)) 
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?body1->getAngularVelocity():btVector3(0,0,0));
-
-		rel_vel = vel1Dotn+vel2Dotn;
-
-//		btScalar positionalError = 0.f;
-
-		btSimdScalar velocityError =  desiredVelocity - rel_vel;
-		btSimdScalar	velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
-		solverConstraint.m_rhs = velocityImpulse;
-		solverConstraint.m_cfm = cfmSlip;
-		solverConstraint.m_lowerLimit = 0;
-		solverConstraint.m_upperLimit = 1e10f;
-	}
-}
-
-
-
-btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
-{
-	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
-	solverConstraint.m_frictionIndex = frictionIndex;
-	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyA, solverBodyB, cp, rel_pos1, rel_pos2, 
-							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
-	return solverConstraint;
-}
-
-int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
-{
-#if 0
-	int solverBodyIdA = -1;
-
-	if (body.getCompanionId() >= 0)
-	{
-		//body has already been converted
-		solverBodyIdA = body.getCompanionId();
-	} else
-	{
-		btRigidBody* rb = btRigidBody::upcast(&body);
-		if (rb && rb->getInvMass())
-		{
-			solverBodyIdA = m_tmpSolverBodyPool.size();
-			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
-			initSolverBody(&solverBody,&body);
-			body.setCompanionId(solverBodyIdA);
-		} else
-		{
-			return 0;//assume first one is a fixed solver body
-		}
-	}
-	return solverBodyIdA;
-#endif
-	return 0;
-}
-#include <stdio.h>
-
-
-void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, 
-																 btCollisionObject* colObj0, btCollisionObject* colObj1,
-																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
-																 btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
-																 btVector3& rel_pos1, btVector3& rel_pos2)
-{
-			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-
-			const btVector3& pos1 = cp.getPositionWorldOnA();
-			const btVector3& pos2 = cp.getPositionWorldOnB();
-
-//			btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-//			btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-			rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-			rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-
-			relaxation = 1.f;
-
-			btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
-			solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
-			btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);		
-			solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
-
-				{
-#ifdef COMPUTE_IMPULSE_DENOM
-					btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
-					btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
-#else							
-					btVector3 vec;
-					btScalar denom0 = 0.f;
-					btScalar denom1 = 0.f;
-					if (rb0)
-					{
-						vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-						denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-					}
-					if (rb1)
-					{
-						vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-						denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
-					}
-#endif //COMPUTE_IMPULSE_DENOM		
-
-					btScalar denom = relaxation/(denom0+denom1);
-					solverConstraint.m_jacDiagABInv = denom;
-				}
-
-				solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
-				solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB);
-				solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB);
-
-
-
-
-			btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
-			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-			vel  = vel1 - vel2;
-			rel_vel = cp.m_normalWorldOnB.dot(vel);
-
-				btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
-
-
-				solverConstraint.m_friction = cp.m_combinedFriction;
-
-				btScalar restitution = 0.f;
-				
-				if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold)
-				{
-					restitution = 0.f;
-				} else
-				{
-					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
-					if (restitution <= btScalar(0.))
-					{
-						restitution = 0.f;
-					};
-				}
-
-
-				///warm starting (or zero if disabled)
-				if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-				{
-					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-					if (rb0)
-						rb0->internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-					if (rb1)
-						rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
-				} else
-				{
-					solverConstraint.m_appliedImpulse = 0.f;
-				}
-
-				solverConstraint.m_appliedPushImpulse = 0.f;
-
-				{
-					btScalar rel_vel;
-					btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?rb0->getLinearVelocity():btVector3(0,0,0)) 
-						+ solverConstraint.m_relpos1CrossNormal.dot(rb0?rb0->getAngularVelocity():btVector3(0,0,0));
-					btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?rb1->getLinearVelocity():btVector3(0,0,0)) 
-						+ solverConstraint.m_relpos2CrossNormal.dot(rb1?rb1->getAngularVelocity():btVector3(0,0,0));
-
-					rel_vel = vel1Dotn+vel2Dotn;
-
-					btScalar positionalError = 0.f;
-					positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep;
-					btScalar	velocityError = restitution - rel_vel;// * damping;
-					btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-					btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
-					{
-						//combine position and velocity into rhs
-						solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
-						solverConstraint.m_rhsPenetration = 0.f;
-					} else
-					{
-						//split position and velocity into rhs and m_rhsPenetration
-						solverConstraint.m_rhs = velocityImpulse;
-						solverConstraint.m_rhsPenetration = penetrationImpulse;
-					}
-					solverConstraint.m_cfm = 0.f;
-					solverConstraint.m_lowerLimit = 0;
-					solverConstraint.m_upperLimit = 1e10f;
-				}
-
-
-
-
-}
-
-
-
-void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, 
-																		btRigidBody* rb0, btRigidBody* rb1, 
-																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
-{
-					if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
-					{
-						{
-							btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-							{
-								frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
-								if (rb0)
-									rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
-								if (rb1)
-									rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
-							} else
-							{
-								frictionConstraint1.m_appliedImpulse = 0.f;
-							}
-						}
-
-						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-						{
-							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
-							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-							{
-								frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
-								if (rb0)
-									rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
-								if (rb1)
-									rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
-							} else
-							{
-								frictionConstraint2.m_appliedImpulse = 0.f;
-							}
-						}
-					} else
-					{
-						btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-						frictionConstraint1.m_appliedImpulse = 0.f;
-						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-						{
-							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
-							frictionConstraint2.m_appliedImpulse = 0.f;
-						}
-					}
-}
-
-
-
-
-void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
-{
-	btCollisionObject* colObj0=0,*colObj1=0;
-
-	colObj0 = (btCollisionObject*)manifold->getBody0();
-	colObj1 = (btCollisionObject*)manifold->getBody1();
-
-
-	btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
-	btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
-
-	///avoid collision response between two static objects
-	if ((!solverBodyA || !solverBodyA->getInvMass()) && (!solverBodyB || !solverBodyB->getInvMass()))
-		return;
-
-	for (int j=0;j<manifold->getNumContacts();j++)
-	{
-
-		btManifoldPoint& cp = manifold->getContactPoint(j);
-
-		if (cp.getDistance() <= manifold->getContactProcessingThreshold())
-		{
-			btVector3 rel_pos1;
-			btVector3 rel_pos2;
-			btScalar relaxation;
-			btScalar rel_vel;
-			btVector3 vel;
-
-			int frictionIndex = m_tmpSolverContactConstraintPool.size();
-			btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
-			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-			solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody();
-			solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody();
-			solverConstraint.m_originalContactPoint = &cp;
-
-			setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
-
-//			const btVector3& pos1 = cp.getPositionWorldOnA();
-//			const btVector3& pos2 = cp.getPositionWorldOnB();
-
-			/////setup the friction constraints
-
-			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
-
-			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
-			{
-				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
-				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
-				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
-				{
-					cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
-					if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-						cp.m_lateralFrictionDir2.normalize();//??
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					}
-
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					cp.m_lateralFrictionInitialized = true;
-				} else
-				{
-					//re-calculate friction direction every frame, todo: check if this is really needed
-					btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
-					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					{
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					}
-
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-
-					cp.m_lateralFrictionInitialized = true;
-				}
-
-			} else
-			{
-				addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1);
-				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
-			}
-			
-			setFrictionConstraintImpulse( solverConstraint, rb0, rb1, cp, infoGlobal);
-
-		}
-	}
-}
-
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
-{
-	BT_PROFILE("solveGroupCacheFriendlySetup");
-	(void)stackAlloc;
-	(void)debugDrawer;
-
-
-	if (!(numConstraints + numManifolds))
-	{
-		//		printf("empty\n");
-		return 0.f;
-	}
-
-	if (1)
-	{
-		int j;
-		for (j=0;j<numConstraints;j++)
-		{
-			btTypedConstraint* constraint = constraints[j];
-			constraint->buildJacobian();
-		}
-	}
-	//btRigidBody* rb0=0,*rb1=0;
-
-	//if (1)
-	{
-		{
-
-			int totalNumRows = 0;
-			int i;
-			
-			m_tmpConstraintSizesPool.resize(numConstraints);
-			//calculate the total number of contraint rows
-			for (i=0;i<numConstraints;i++)
-			{
-				btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				constraints[i]->getInfo1(&info1);
-				totalNumRows += info1.m_numConstraintRows;
-			}
-			m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
-
-			
-			///setup the btSolverConstraints
-			int currentRow = 0;
-
-			for (i=0;i<numConstraints;i++)
-			{
-				const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				
-				if (info1.m_numConstraintRows)
-				{
-					btAssert(currentRow<totalNumRows);
-
-					btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-					btTypedConstraint* constraint = constraints[i];
-
-
-
-					btRigidBody& rbA = constraint->getRigidBodyA();
-					btRigidBody& rbB = constraint->getRigidBodyB();
-
-					
-					int j;
-					for ( j=0;j<info1.m_numConstraintRows;j++)
-					{
-						memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
-						currentConstraintRow[j].m_lowerLimit = -FLT_MAX;
-						currentConstraintRow[j].m_upperLimit = FLT_MAX;
-						currentConstraintRow[j].m_appliedImpulse = 0.f;
-						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-						currentConstraintRow[j].m_solverBodyA = &rbA;
-						currentConstraintRow[j].m_solverBodyB = &rbB;
-					}
-
-					rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					rbA.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					rbB.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					rbB.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-
-
-
-					btTypedConstraint::btConstraintInfo2 info2;
-					info2.fps = 1.f/infoGlobal.m_timeStep;
-					info2.erp = infoGlobal.m_erp;
-					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
-					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-					info2.m_J2linearAxis = 0;
-					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
-					info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
-					///the size of btSolverConstraint needs be a multiple of btScalar
-					btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
-					info2.m_constraintError = &currentConstraintRow->m_rhs;
-					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
-					info2.cfm = &currentConstraintRow->m_cfm;
-					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
-					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
-					info2.m_numIterations = infoGlobal.m_numIterations;
-					constraints[i]->getInfo2(&info2);
-
-					///finalize the constraint setup
-					for ( j=0;j<info1.m_numConstraintRows;j++)
-					{
-						btSolverConstraint& solverConstraint = currentConstraintRow[j];
-						solverConstraint.m_originalContactPoint = constraint;
-
-						{
-							const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
-							solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
-						}
-						{
-							const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
-							solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
-						}
-
-						{
-							btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
-							btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
-							btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
-							btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
-
-							btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
-							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-							sum += iMJlB.dot(solverConstraint.m_contactNormal);
-							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-
-							solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
-						}
-
-
-						///fix rhs
-						///todo: add force/torque accelerators
-						{
-							btScalar rel_vel;
-							btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
-							btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
-
-							rel_vel = vel1Dotn+vel2Dotn;
-
-							btScalar restitution = 0.f;
-							btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
-							btScalar	velocityError = restitution - rel_vel;// * damping;
-							btScalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
-							btScalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
-							solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
-							solverConstraint.m_appliedImpulse = 0.f;
-
-						}
-					}
-				}
-				currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
-			}
-		}
-
-		{
-			int i;
-			btPersistentManifold* manifold = 0;
-//			btCollisionObject* colObj0=0,*colObj1=0;
-
-
-			for (i=0;i<numManifolds;i++)
-			{
-				manifold = manifoldPtr[i];
-				convertContact(manifold,infoGlobal);
-			}
-		}
-	}
-
-	btContactSolverInfo info = infoGlobal;
-
-
-
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
-	m_orderTmpConstraintPool.resize(numConstraintPool);
-	m_orderFrictionConstraintPool.resize(numFrictionPool);
-	{
-		int i;
-		for (i=0;i<numConstraintPool;i++)
-		{
-			m_orderTmpConstraintPool[i] = i;
-		}
-		for (i=0;i<numFrictionPool;i++)
-		{
-			m_orderFrictionConstraintPool[i] = i;
-		}
-	}
-
-	return 0.f;
-
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
-{
-
-	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
-	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	int j;
-
-	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
-	{
-		if ((iteration & 7) == 0) {
-			for (j=0; j<numConstraintPool; ++j) {
-				int tmp = m_orderTmpConstraintPool[j];
-				int swapi = btRandInt2(j+1);
-				m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
-				m_orderTmpConstraintPool[swapi] = tmp;
-			}
-
-			for (j=0; j<numFrictionPool; ++j) {
-				int tmp = m_orderFrictionConstraintPool[j];
-				int swapi = btRandInt2(j+1);
-				m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
-				m_orderFrictionConstraintPool[swapi] = tmp;
-			}
-		}
-	}
-
-	if (infoGlobal.m_solverMode & SOLVER_SIMD)
-	{
-		///solve all joint constraints, using SIMD, if available
-		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
-		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-			resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
-		}
-
-		for (j=0;j<numConstraints;j++)
-		{
-			constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-		}
-
-		///solve all contact constraints using SIMD, if available
-		int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-		for (j=0;j<numPoolConstraints;j++)
-		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-			resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-
-		}
-		///solve all friction constraints, using SIMD, if available
-		int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-		for (j=0;j<numFrictionPoolConstraints;j++)
-		{
-			btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-			if (totalImpulse>btScalar(0))
-			{
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-				resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA,	*solveManifold.m_solverBodyB,solveManifold);
-			}
-		}
-	} else
-	{
-
-		///solve all joint constraints
-		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
-		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-			resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
-		}
-
-		for (j=0;j<numConstraints;j++)
-		{
-			constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-		}
-		///solve all contact constraints
-		int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-		for (j=0;j<numPoolConstraints;j++)
-		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-			resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-		}
-		///solve all friction constraints
-		int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-		for (j=0;j<numFrictionPoolConstraints;j++)
-		{
-			btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-			if (totalImpulse>btScalar(0))
-			{
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-				resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-			}
-		}
-	}
-	return 0.f;
-}
-
-
-void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
-{
-	int iteration;
-	if (infoGlobal.m_splitImpulse)
-	{
-		if (infoGlobal.m_solverMode & SOLVER_SIMD)
-		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
-			{
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j=0;j<numPoolConstraints;j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						resolveSplitPenetrationSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-					}
-				}
-			}
-		}
-		else
-		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
-			{
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j=0;j<numPoolConstraints;j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						resolveSplitPenetrationImpulseCacheFriendly(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-					}
-				}
-			}
-		}
-	}
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
-{
-	BT_PROFILE("solveGroupCacheFriendlyIterations");
-
-	
-	//should traverse the contacts random order...
-	int iteration;
-	{
-		for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
-		{			
-			solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
-		}
-		
-		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
-	}
-	return 0.f;
-}
-
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** /*constraints*/,int /* numConstraints*/,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
-{
-	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-	int i,j;
-
-	for (j=0;j<numPoolConstraints;j++)
-	{
-
-		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-		btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
-		btAssert(pt);
-		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-		if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
-		{
-			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
-		}
-
-		//do a callback here?
-	}
-
-	numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
-	for (j=0;j<numPoolConstraints;j++)
-	{
-		const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
-		btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
-		btScalar sum = constr->internalGetAppliedImpulse();
-		sum += solverConstr.m_appliedImpulse;
-		constr->internalSetAppliedImpulse(sum);
-	}
-
-
-	if (infoGlobal.m_splitImpulse)
-	{		
-		for ( i=0;i<numBodies;i++)
-		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-				body->internalWritebackVelocity(infoGlobal.m_timeStep);
-		}
-	} else
-	{
-		for ( i=0;i<numBodies;i++)
-		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-				body->internalWritebackVelocity();
-		}
-	}
-
-
-	m_tmpSolverContactConstraintPool.resize(0);
-	m_tmpSolverNonContactConstraintPool.resize(0);
-	m_tmpSolverContactFrictionConstraintPool.resize(0);
-
-	return 0.f;
-}
-
-
-
-/// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
-{
-
-	BT_PROFILE("solveGroup");
-	//you need to provide at least some bodies
-	btAssert(bodies);
-	btAssert(numBodies);
-
-	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
-
-	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
-
-	solveGroupCacheFriendlyFinish(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
-	
-	return 0.f;
-}
-
-void	btSequentialImpulseConstraintSolver::reset()
-{
-	m_btSeed2 = 0;
-}
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
deleted file mode 100644
index a26fbad787b..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
-#include "btConstraintSolver.h"
-class btIDebugDraw;
-#include "btContactConstraint.h"
-#include "btSolverBody.h"
-#include "btSolverConstraint.h"
-#include "btTypedConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
-class btSequentialImpulseConstraintSolver : public btConstraintSolver
-{
-protected:
-
-	btConstraintArray			m_tmpSolverContactConstraintPool;
-	btConstraintArray			m_tmpSolverNonContactConstraintPool;
-	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
-	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
-	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
-	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
-
-	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
-									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
-									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
-									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
-
-	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
-	
-	void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, 
-								const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, 
-								btVector3& rel_pos1, btVector3& rel_pos2);
-
-	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, 
-										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
-
-	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
-	unsigned long	m_btSeed2;
-
-//	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
-	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
-
-	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
-
-
-	void	resolveSplitPenetrationSIMD(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        const btSolverConstraint& contactConstraint);
-
-	void	resolveSplitPenetrationImpulseCacheFriendly(
-        btRigidBody& body1,
-        btRigidBody& body2,
-        const btSolverConstraint& contactConstraint);
-
-	//internal method
-	int	getOrInitSolverBody(btCollisionObject& body);
-
-	void	resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
-
-	void	resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
-	
-	void	resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
-	
-	void	resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
-		
-protected:
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
-	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-
-	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-
-
-public:
-
-	
-	btSequentialImpulseConstraintSolver();
-	virtual ~btSequentialImpulseConstraintSolver();
-
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
-	
-
-	
-	///clear internal cached data and reset random seed
-	virtual	void	reset();
-	
-	unsigned long btRand2();
-
-	int btRandInt2 (int n);
-
-	void	setRandSeed(unsigned long seed)
-	{
-		m_btSeed2 = seed;
-	}
-	unsigned long	getRandSeed() const
-	{
-		return m_btSeed2;
-	}
-
-};
-
-#ifndef BT_PREFER_SIMD
-typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
-#endif
-
-
-#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
deleted file mode 100644
index b69f46da1b4..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ /dev/null
@@ -1,857 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-*/
-
-
-
-#include "btSliderConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-#include <new>
-
-#define USE_OFFSET_FOR_CONSTANT_FRAME true
-
-void btSliderConstraint::initParams()
-{
-    m_lowerLinLimit = btScalar(1.0);
-    m_upperLinLimit = btScalar(-1.0);
-    m_lowerAngLimit = btScalar(0.);
-    m_upperAngLimit = btScalar(0.);
-	m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirLin = btScalar(0.);
-	m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingDirAng = btScalar(0.);
-	m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
-	m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
-	m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
-	m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
-	m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
-
-	m_poweredLinMotor = false;
-    m_targetLinMotorVelocity = btScalar(0.);
-    m_maxLinMotorForce = btScalar(0.);
-	m_accumulatedLinMotorImpulse = btScalar(0.0);
-
-	m_poweredAngMotor = false;
-    m_targetAngMotorVelocity = btScalar(0.);
-    m_maxAngMotorForce = btScalar(0.);
-	m_accumulatedAngMotorImpulse = btScalar(0.0);
-
-	m_flags = 0;
-	m_flags = 0;
-
-	m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
-
-	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-}
-
-
-
-
-
-btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
-        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
-		m_useSolveConstraintObsolete(false),
-		m_frameInA(frameInA),
-        m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
-{
-	initParams();
-}
-
-
-
-btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
-        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
-		m_useSolveConstraintObsolete(false),
-		m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
-{
-	///not providing rigidbody A means implicitly using worldspace for body A
-	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
-//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
-
-	initParams();
-}
-
-
-
-
-
-
-void btSliderConstraint::getInfo1(btConstraintInfo1* info)
-{
-	if (m_useSolveConstraintObsolete)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-	else
-	{
-		info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
-		info->nub = 2; 
-		//prepare constraint
-		calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
-		testAngLimits();
-		testLinLimits();
-		if(getSolveLinLimit() || getPoweredLinMotor())
-		{
-			info->m_numConstraintRows++; // limit 3rd linear as well
-			info->nub--; 
-		}
-		if(getSolveAngLimit() || getPoweredAngMotor())
-		{
-			info->m_numConstraintRows++; // limit 3rd angular as well
-			info->nub--; 
-		}
-	}
-}
-
-void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
-{
-
-	info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
-	info->nub = 0; 
-}
-
-void btSliderConstraint::getInfo2(btConstraintInfo2* info)
-{
-	getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
-}
-
-
-
-
-
-
-
-void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
-{
-	if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
-	{
-		m_calculatedTransformA = transA * m_frameInA;
-		m_calculatedTransformB = transB * m_frameInB;
-	}
-	else
-	{
-		m_calculatedTransformA = transB * m_frameInB;
-		m_calculatedTransformB = transA * m_frameInA;
-	}
-	m_realPivotAInW = m_calculatedTransformA.getOrigin();
-	m_realPivotBInW = m_calculatedTransformB.getOrigin();
-	m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
-	if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
-	{
-		m_delta = m_realPivotBInW - m_realPivotAInW;
-	}
-	else
-	{
-		m_delta = m_realPivotAInW - m_realPivotBInW;
-	}
-	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
-    btVector3 normalWorld;
-    int i;
-    //linear part
-    for(i = 0; i < 3; i++)
-    {
-		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
-		m_depth[i] = m_delta.dot(normalWorld);
-    }
-}
- 
-
-
-void btSliderConstraint::testLinLimits(void)
-{
-	m_solveLinLim = false;
-	m_linPos = m_depth[0];
-	if(m_lowerLinLimit <= m_upperLinLimit)
-	{
-		if(m_depth[0] > m_upperLinLimit)
-		{
-			m_depth[0] -= m_upperLinLimit;
-			m_solveLinLim = true;
-		}
-		else if(m_depth[0] < m_lowerLinLimit)
-		{
-			m_depth[0] -= m_lowerLinLimit;
-			m_solveLinLim = true;
-		}
-		else
-		{
-			m_depth[0] = btScalar(0.);
-		}
-	}
-	else
-	{
-		m_depth[0] = btScalar(0.);
-	}
-}
-
-
-
-void btSliderConstraint::testAngLimits(void)
-{
-	m_angDepth = btScalar(0.);
-	m_solveAngLim = false;
-	if(m_lowerAngLimit <= m_upperAngLimit)
-	{
-		const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
-		const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
-		const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
-//		btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));  
-		btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));  
-		rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
-		m_angPos = rot;
-		if(rot < m_lowerAngLimit)
-		{
-			m_angDepth = rot - m_lowerAngLimit;
-			m_solveAngLim = true;
-		} 
-		else if(rot > m_upperAngLimit)
-		{
-			m_angDepth = rot - m_upperAngLimit;
-			m_solveAngLim = true;
-		}
-	}
-}
-
-btVector3 btSliderConstraint::getAncorInA(void)
-{
-	btVector3 ancorInA;
-	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
-	ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
-	return ancorInA;
-}
-
-
-
-btVector3 btSliderConstraint::getAncorInB(void)
-{
-	btVector3 ancorInB;
-	ancorInB = m_frameInB.getOrigin();
-	return ancorInB;
-}
-
-
-void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass  )
-{
-	const btTransform& trA = getCalculatedTransformA();
-	const btTransform& trB = getCalculatedTransformB();
-	
-	btAssert(!m_useSolveConstraintObsolete);
-	int i, s = info->rowskip;
-	
-	btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
-	
-	// difference between frames in WCS
-	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
-	// now get weight factors depending on masses
-	btScalar miA = rbAinvMass;
-	btScalar miB = rbBinvMass;
-	bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
-	btScalar miS = miA + miB;
-	btScalar factA, factB;
-	if(miS > btScalar(0.f))
-	{
-		factA = miB / miS;
-	}
-	else 
-	{
-		factA = btScalar(0.5f);
-	}
-	factB = btScalar(1.0f) - factA;
-	btVector3 ax1, p, q;
-	btVector3 ax1A = trA.getBasis().getColumn(0);
-	btVector3 ax1B = trB.getBasis().getColumn(0);
-	if(m_useOffsetForConstraintFrame)
-	{
-		// get the desired direction of slider axis
-		// as weighted sum of X-orthos of frameA and frameB in WCS
-		ax1 = ax1A * factA + ax1B * factB;
-		ax1.normalize();
-		// construct two orthos to slider axis
-		btPlaneSpace1 (ax1, p, q);
-	}
-	else
-	{ // old way - use frameA
-		ax1 = trA.getBasis().getColumn(0);
-		// get 2 orthos to slider axis (Y, Z)
-		p = trA.getBasis().getColumn(1);
-		q = trA.getBasis().getColumn(2);
-	}
-	// make rotations around these orthos equal
-	// the slider axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the slider axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the slider axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	info->m_J1angularAxis[0] = p[0];
-	info->m_J1angularAxis[1] = p[1];
-	info->m_J1angularAxis[2] = p[2];
-	info->m_J1angularAxis[s+0] = q[0];
-	info->m_J1angularAxis[s+1] = q[1];
-	info->m_J1angularAxis[s+2] = q[2];
-
-	info->m_J2angularAxis[0] = -p[0];
-	info->m_J2angularAxis[1] = -p[1];
-	info->m_J2angularAxis[2] = -p[2];
-	info->m_J2angularAxis[s+0] = -q[0];
-	info->m_J2angularAxis[s+1] = -q[1];
-	info->m_J2angularAxis[s+2] = -q[2];
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the slider back into alignment.
-	// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
-	// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-//	btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
-	btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
-	btScalar k = info->fps * currERP;
-
-	btVector3 u = ax1A.cross(ax1B);
-	info->m_constraintError[0] = k * u.dot(p);
-	info->m_constraintError[s] = k * u.dot(q);
-	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
-	{
-		info->cfm[0] = m_cfmOrthoAng;
-		info->cfm[s] = m_cfmOrthoAng;
-	}
-
-	int nrow = 1; // last filled row
-	int srow;
-	btScalar limit_err;
-	int limit;
-	int powered;
-
-	// next two rows. 
-	// we want: velA + wA x relA == velB + wB x relB ... but this would
-	// result in three equations, so we project along two orthos to the slider axis
-
-	btTransform bodyA_trans = transA;
-	btTransform bodyB_trans = transB;
-	nrow++;
-	int s2 = nrow * s;
-	nrow++;
-	int s3 = nrow * s;
-	btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
-	if(m_useOffsetForConstraintFrame)
-	{
-		// get vector from bodyB to frameB in WCS
-		relB = trB.getOrigin() - bodyB_trans.getOrigin();
-		// get its projection to slider axis
-		btVector3 projB = ax1 * relB.dot(ax1);
-		// get vector directed from bodyB to slider axis (and orthogonal to it)
-		btVector3 orthoB = relB - projB;
-		// same for bodyA
-		relA = trA.getOrigin() - bodyA_trans.getOrigin();
-		btVector3 projA = ax1 * relA.dot(ax1);
-		btVector3 orthoA = relA - projA;
-		// get desired offset between frames A and B along slider axis
-		btScalar sliderOffs = m_linPos - m_depth[0];
-		// desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
-		btVector3 totalDist = projA + ax1 * sliderOffs - projB;
-		// get offset vectors relA and relB
-		relA = orthoA + totalDist * factA;
-		relB = orthoB - totalDist * factB;
-		// now choose average ortho to slider axis
-		p = orthoB * factA + orthoA * factB;
-		btScalar len2 = p.length2();
-		if(len2 > SIMD_EPSILON)
-		{
-			p /= btSqrt(len2);
-		}
-		else
-		{
-			p = trA.getBasis().getColumn(1);
-		}
-		// make one more ortho
-		q = ax1.cross(p);
-		// fill two rows
-		tmpA = relA.cross(p);
-		tmpB = relB.cross(p);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
-		tmpA = relA.cross(q);
-		tmpB = relB.cross(q);
-		if(hasStaticBody && getSolveAngLimit())
-		{ // to make constraint between static and dynamic objects more rigid
-			// remove wA (or wB) from equation if angular limit is hit
-			tmpB *= factB;
-			tmpA *= factA;
-		}
-		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
-	}
-	else
-	{	// old way - maybe incorrect if bodies are not on the slider axis
-		// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
-		c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
-		btVector3 tmp = c.cross(p);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
-		tmp = c.cross(q);
-		for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
-		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
-
-		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
-		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
-	}
-	// compute two elements of right hand side
-
-	//	k = info->fps * info->erp * getSoftnessOrthoLin();
-	currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
-	k = info->fps * currERP;
-
-	btScalar rhs = k * p.dot(ofs);
-	info->m_constraintError[s2] = rhs;
-	rhs = k * q.dot(ofs);
-	info->m_constraintError[s3] = rhs;
-	if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
-	{
-		info->cfm[s2] = m_cfmOrthoLin;
-		info->cfm[s3] = m_cfmOrthoLin;
-	}
-
-
-	// check linear limits
-	limit_err = btScalar(0.0);
-	limit = 0;
-	if(getSolveLinLimit())
-	{
-		limit_err = getLinDepth() *  signFact;
-		limit = (limit_err > btScalar(0.0)) ? 2 : 1;
-	}
-	powered = 0;
-	if(getPoweredLinMotor())
-	{
-		powered = 1;
-	}
-	// if the slider has joint limits or motor, add in the extra row
-	if (limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1linearAxis[srow+0] = ax1[0];
-		info->m_J1linearAxis[srow+1] = ax1[1];
-		info->m_J1linearAxis[srow+2] = ax1[2];
-		// linear torque decoupling step:
-		//
-		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
-		// do not create a torque couple. in other words, the points that the
-		// constraint force is applied at must lie along the same ax1 axis.
-		// a torque couple will result in limited slider-jointed free
-		// bodies from gaining angular momentum.
-		if(m_useOffsetForConstraintFrame)
-		{
-			// this is needed only when bodyA and bodyB are both dynamic.
-			if(!hasStaticBody)
-			{
-				tmpA = relA.cross(ax1);
-				tmpB = relB.cross(ax1);
-				info->m_J1angularAxis[srow+0] = tmpA[0];
-				info->m_J1angularAxis[srow+1] = tmpA[1];
-				info->m_J1angularAxis[srow+2] = tmpA[2];
-				info->m_J2angularAxis[srow+0] = -tmpB[0];
-				info->m_J2angularAxis[srow+1] = -tmpB[1];
-				info->m_J2angularAxis[srow+2] = -tmpB[2];
-			}
-		}
-		else
-		{ // The old way. May be incorrect if bodies are not on the slider axis
-			btVector3 ltd;	// Linear Torque Decoupling vector (a torque)
-			ltd = c.cross(ax1);
-			info->m_J1angularAxis[srow+0] = factA*ltd[0];
-			info->m_J1angularAxis[srow+1] = factA*ltd[1];
-			info->m_J1angularAxis[srow+2] = factA*ltd[2];
-			info->m_J2angularAxis[srow+0] = factB*ltd[0];
-			info->m_J2angularAxis[srow+1] = factB*ltd[1];
-			info->m_J2angularAxis[srow+2] = factB*ltd[2];
-		}
-		// right-hand part
-		btScalar lostop = getLowerLinLimit();
-		btScalar histop = getUpperLinLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		info->m_constraintError[srow] = 0.;
-		info->m_lowerLimit[srow] = 0.;
-		info->m_upperLimit[srow] = 0.;
-		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
-		if(powered)
-		{
-			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
-			{
-				info->cfm[srow] = m_cfmDirLin;
-			}
-			btScalar tag_vel = getTargetLinMotorVelocity();
-			btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
-			info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
-			info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
-			info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
-		}
-		if(limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
-			{
-				info->cfm[srow] = m_cfmLimLin;
-			}
-			if(lostop == histop) 
-			{	// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if(limit == 1) 
-			{ // low limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			else 
-			{ // high limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = linVelA.dot(ax1);
-				vel -= linVelB.dot(ax1);
-				vel *= signFact;
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{ // high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow]) 
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= getSoftnessLimLin();
-		} // if(limit)
-	} // if linear limit
-	// check angular limits
-	limit_err = btScalar(0.0);
-	limit = 0;
-	if(getSolveAngLimit())
-	{
-		limit_err = getAngDepth();
-		limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-	}
-	// if the slider has joint limits, add in the extra row
-	powered = 0;
-	if(getPoweredAngMotor())
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->m_J1angularAxis[srow+0] = ax1[0];
-		info->m_J1angularAxis[srow+1] = ax1[1];
-		info->m_J1angularAxis[srow+2] = ax1[2];
-
-		info->m_J2angularAxis[srow+0] = -ax1[0];
-		info->m_J2angularAxis[srow+1] = -ax1[1];
-		info->m_J2angularAxis[srow+2] = -ax1[2];
-
-		btScalar lostop = getLowerAngLimit();
-		btScalar histop = getUpperAngLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
-		if(powered)
-		{
-			if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
-			{
-				info->cfm[srow] = m_cfmDirAng;
-			}
-			btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
-			info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
-			info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
-			info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
-		}
-		if(limit)
-		{
-			k = info->fps * currERP;
-			info->m_constraintError[srow] += k * limit_err;
-			if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
-			{
-				info->cfm[srow] = m_cfmLimAng;
-			}
-			if(lostop == histop) 
-			{
-				// limited low and high simultaneously
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else if(limit == 1) 
-			{ // low limit
-				info->m_lowerLimit[srow] = 0;
-				info->m_upperLimit[srow] = SIMD_INFINITY;
-			}
-			else 
-			{ // high limit
-				info->m_lowerLimit[srow] = -SIMD_INFINITY;
-				info->m_upperLimit[srow] = 0;
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
-				vel -= m_rbB.getAngularVelocity().dot(ax1);
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{	// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc > info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-				else
-				{	// high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->m_constraintError[srow])
-						{
-							info->m_constraintError[srow] = newc;
-						}
-					}
-				}
-			}
-			info->m_constraintError[srow] *= getSoftnessLimAng();
-		} // if(limit)
-	} // if angular limit or powered
-}
-
-
-///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-///If no axis is provided, it uses the default axis for this constraint.
-void btSliderConstraint::setParam(int num, btScalar value, int axis)
-{
-	switch(num)
-	{
-	case BT_CONSTRAINT_STOP_ERP :
-		if(axis < 1)
-		{
-			m_softnessLimLin = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
-		}
-		else if(axis < 3)
-		{
-			m_softnessOrthoLin = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
-		}
-		else if(axis == 3)
-		{
-			m_softnessLimAng = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
-		}
-		else if(axis < 6)
-		{
-			m_softnessOrthoAng = value;
-			m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_CFM :
-		if(axis < 1)
-		{
-			m_cfmDirLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
-		}
-		else if(axis == 3)
-		{
-			m_cfmDirAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_STOP_CFM :
-		if(axis < 1)
-		{
-			m_cfmLimLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
-		}
-		else if(axis < 3)
-		{
-			m_cfmOrthoLin = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
-		}
-		else if(axis == 3)
-		{
-			m_cfmLimAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
-		}
-		else if(axis < 6)
-		{
-			m_cfmOrthoAng = value;
-			m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	}
-}
-
-///return the local value of parameter
-btScalar btSliderConstraint::getParam(int num, int axis) const 
-{
-	btScalar retVal(SIMD_INFINITY);
-	switch(num)
-	{
-	case BT_CONSTRAINT_STOP_ERP :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
-			retVal = m_softnessLimLin;
-		}
-		else if(axis < 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
-			retVal = m_softnessOrthoLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
-			retVal = m_softnessLimAng;
-		}
-		else if(axis < 6)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
-			retVal = m_softnessOrthoAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_CFM :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
-			retVal = m_cfmDirLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
-			retVal = m_cfmDirAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	case BT_CONSTRAINT_STOP_CFM :
-		if(axis < 1)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
-			retVal = m_cfmLimLin;
-		}
-		else if(axis < 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
-			retVal = m_cfmOrthoLin;
-		}
-		else if(axis == 3)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
-			retVal = m_cfmLimAng;
-		}
-		else if(axis < 6)
-		{
-			btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
-			retVal = m_cfmOrthoAng;
-		}
-		else
-		{
-			btAssertConstrParams(0);
-		}
-		break;
-	}
-	return retVal;
-}
-
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.h
deleted file mode 100644
index 7d2a5022753..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ /dev/null
@@ -1,321 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-Added by Roman Ponomarev (rponom@gmail.com)
-April 04, 2008
-
-TODO:
- - add clamping od accumulated impulse to improve stability
- - add conversion for ODE constraint solver
-*/
-
-#ifndef SLIDER_CONSTRAINT_H
-#define SLIDER_CONSTRAINT_H
-
-
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-
-
-class btRigidBody;
-
-
-
-#define SLIDER_CONSTRAINT_DEF_SOFTNESS		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_DAMPING		(btScalar(1.0))
-#define SLIDER_CONSTRAINT_DEF_RESTITUTION	(btScalar(0.7))
-#define SLIDER_CONSTRAINT_DEF_CFM			(btScalar(0.f))
-
-
-enum btSliderFlags
-{
-	BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
-	BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
-	BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
-	BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
-	BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
-	BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
-	BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
-	BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
-	BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
-	BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
-	BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
-	BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
-};
-
-
-class btSliderConstraint : public btTypedConstraint
-{
-protected:
-	///for backwards compatibility during the transition to 'getInfo/getInfo2'
-	bool		m_useSolveConstraintObsolete;
-	bool		m_useOffsetForConstraintFrame;
-	btTransform	m_frameInA;
-    btTransform	m_frameInB;
-	// use frameA fo define limits, if true
-	bool m_useLinearReferenceFrameA;
-	// linear limits
-	btScalar m_lowerLinLimit;
-	btScalar m_upperLinLimit;
-	// angular limits
-	btScalar m_lowerAngLimit;
-	btScalar m_upperAngLimit;
-	// softness, restitution and damping for different cases
-	// DirLin - moving inside linear limits
-	// LimLin - hitting linear limit
-	// DirAng - moving inside angular limits
-	// LimAng - hitting angular limit
-	// OrthoLin, OrthoAng - against constraint axis
-	btScalar m_softnessDirLin;
-	btScalar m_restitutionDirLin;
-	btScalar m_dampingDirLin;
-	btScalar m_cfmDirLin;
-
-	btScalar m_softnessDirAng;
-	btScalar m_restitutionDirAng;
-	btScalar m_dampingDirAng;
-	btScalar m_cfmDirAng;
-
-	btScalar m_softnessLimLin;
-	btScalar m_restitutionLimLin;
-	btScalar m_dampingLimLin;
-	btScalar m_cfmLimLin;
-
-	btScalar m_softnessLimAng;
-	btScalar m_restitutionLimAng;
-	btScalar m_dampingLimAng;
-	btScalar m_cfmLimAng;
-
-	btScalar m_softnessOrthoLin;
-	btScalar m_restitutionOrthoLin;
-	btScalar m_dampingOrthoLin;
-	btScalar m_cfmOrthoLin;
-
-	btScalar m_softnessOrthoAng;
-	btScalar m_restitutionOrthoAng;
-	btScalar m_dampingOrthoAng;
-	btScalar m_cfmOrthoAng;
-	
-	// for interlal use
-	bool m_solveLinLim;
-	bool m_solveAngLim;
-
-	int m_flags;
-
-	btJacobianEntry	m_jacLin[3];
-	btScalar		m_jacLinDiagABInv[3];
-
-    btJacobianEntry	m_jacAng[3];
-
-	btScalar m_timeStep;
-    btTransform m_calculatedTransformA;
-    btTransform m_calculatedTransformB;
-
-	btVector3 m_sliderAxis;
-	btVector3 m_realPivotAInW;
-	btVector3 m_realPivotBInW;
-	btVector3 m_projPivotInW;
-	btVector3 m_delta;
-	btVector3 m_depth;
-	btVector3 m_relPosA;
-	btVector3 m_relPosB;
-
-	btScalar m_linPos;
-	btScalar m_angPos;
-
-	btScalar m_angDepth;
-	btScalar m_kAngle;
-
-	bool	 m_poweredLinMotor;
-    btScalar m_targetLinMotorVelocity;
-    btScalar m_maxLinMotorForce;
-    btScalar m_accumulatedLinMotorImpulse;
-	
-	bool	 m_poweredAngMotor;
-    btScalar m_targetAngMotorVelocity;
-    btScalar m_maxAngMotorForce;
-    btScalar m_accumulatedAngMotorImpulse;
-
-	//------------------------    
-	void initParams();
-public:
-	// constructors
-    btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
-
-	// overrides
-
-    virtual void getInfo1 (btConstraintInfo1* info);
-
-	void getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
-
-
-	// access
-    const btRigidBody& getRigidBodyA() const { return m_rbA; }
-    const btRigidBody& getRigidBodyB() const { return m_rbB; }
-    const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
-    const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
-    const btTransform & getFrameOffsetA() const { return m_frameInA; }
-    const btTransform & getFrameOffsetB() const { return m_frameInB; }
-    btTransform & getFrameOffsetA() { return m_frameInA; }
-    btTransform & getFrameOffsetB() { return m_frameInB; }
-    btScalar getLowerLinLimit() { return m_lowerLinLimit; }
-    void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
-    btScalar getUpperLinLimit() { return m_upperLinLimit; }
-    void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
-    btScalar getLowerAngLimit() { return m_lowerAngLimit; }
-    void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
-    btScalar getUpperAngLimit() { return m_upperAngLimit; }
-    void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
-	bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
-	btScalar getSoftnessDirLin() { return m_softnessDirLin; }
-	btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
-	btScalar getDampingDirLin() { return m_dampingDirLin ; }
-	btScalar getSoftnessDirAng() { return m_softnessDirAng; }
-	btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
-	btScalar getDampingDirAng() { return m_dampingDirAng; }
-	btScalar getSoftnessLimLin() { return m_softnessLimLin; }
-	btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
-	btScalar getDampingLimLin() { return m_dampingLimLin; }
-	btScalar getSoftnessLimAng() { return m_softnessLimAng; }
-	btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
-	btScalar getDampingLimAng() { return m_dampingLimAng; }
-	btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
-	btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
-	btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
-	btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
-	btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
-	btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
-	void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
-	void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
-	void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
-	void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
-	void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
-	void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
-	void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
-	void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
-	void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
-	void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
-	void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
-	void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
-	void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
-	void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
-	void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
-	void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
-	void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
-	void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
-	void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
-	bool getPoweredLinMotor() { return m_poweredLinMotor; }
-	void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
-	btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
-	void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
-	btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
-	void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
-	bool getPoweredAngMotor() { return m_poweredAngMotor; }
-	void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
-	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
-	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
-	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
-	btScalar getLinearPos() { return m_linPos; }
-	
-
-	// access for ODE solver
-	bool getSolveLinLimit() { return m_solveLinLim; }
-	btScalar getLinDepth() { return m_depth[0]; }
-	bool getSolveAngLimit() { return m_solveAngLim; }
-	btScalar getAngDepth() { return m_angDepth; }
-	// shared code used by ODE solver
-	void	calculateTransforms(const btTransform& transA,const btTransform& transB);
-	void	testLinLimits();
-	void	testAngLimits();
-	// access for PE Solver
-	btVector3 getAncorInA();
-	btVector3 getAncorInB();
-	// access for UseFrameOffset
-	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
-	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1);
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btSliderConstraintData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
-	btTransformFloatData m_rbBFrame;
-	
-	float	m_linearUpperLimit;
-	float	m_linearLowerLimit;
-
-	float	m_angularUpperLimit;
-	float	m_angularLowerLimit;
-
-	int	m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-
-};
-
-
-SIMD_FORCE_INLINE		int	btSliderConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btSliderConstraintData);
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-
-	btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
-	btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
-
-	m_frameInA.serializeFloat(sliderData->m_rbAFrame);
-	m_frameInB.serializeFloat(sliderData->m_rbBFrame);
-
-	sliderData->m_linearUpperLimit = float(m_upperLinLimit);
-	sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
-
-	sliderData->m_angularUpperLimit = float(m_upperAngLimit);
-	sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
-
-	sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
-	sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
-
-	return "btSliderConstraintData";
-}
-
-
-
-#endif //SLIDER_CONSTRAINT_H
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
deleted file mode 100644
index 0c7dbd668bb..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
+++ /dev/null
@@ -1,255 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "btSolve2LinearConstraint.h"
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-
-
-void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
-												   btRigidBody* body1,
-		btRigidBody* body2,
-
-						const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1)
-{
-	(void)linvelA;
-	(void)linvelB;
-	(void)angvelB;
-	(void)angvelA;
-
-
-
-	imp0 = btScalar(0.);
-	imp1 = btScalar(0.);
-
-	btScalar len = btFabs(normalA.length()) - btScalar(1.);
-	if (btFabs(len) >= SIMD_EPSILON)
-		return;
-
-	btAssert(len < SIMD_EPSILON);
-
-
-	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
-	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
-
-//	btScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
-	btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
-
-
-	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA  * m_tau * massTerm - vel0 * m_damping;
-	const btScalar dv1 = depthB  * m_tau * massTerm - vel1 * m_damping;
-
-
-	// dC/dv * dv = -C
-	
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
-
-
-	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-
-}
-
-
-
-void btSolve2LinearConstraint::resolveBilateralPairConstraint(
-						btRigidBody* body1,
-						btRigidBody* body2,
-						const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1)
-{
-
-	(void)linvelA;
-	(void)linvelB;
-	(void)angvelA;
-	(void)angvelB;
-
-
-
-	imp0 = btScalar(0.);
-	imp1 = btScalar(0.);
-
-	btScalar len = btFabs(normalA.length()) - btScalar(1.);
-	if (btFabs(len) >= SIMD_EPSILON)
-		return;
-
-	btAssert(len < SIMD_EPSILON);
-
-
-	//this jacobian entry could be re-used for all iterations
-	btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
-	//const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
-
-	// calculate rhs (or error) terms
-	const btScalar dv0 = depthA  * m_tau - vel0 * m_damping;
-	const btScalar dv1 = depthB  * m_tau - vel1 * m_damping;
-
-	// dC/dv * dv = -C
-	
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
-
-
-	btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	btScalar	invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-
-	if ( imp0 > btScalar(0.0))
-	{
-		if ( imp1 > btScalar(0.0) )
-		{
-			//both positive
-		}
-		else
-		{
-			imp1 = btScalar(0.);
-
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > btScalar(0.0) )
-			{
-			} else
-			{
-				imp0 = btScalar(0.);
-			}
-		}
-	}
-	else
-	{
-		imp0 = btScalar(0.);
-
-		imp1 = dv1 / jacB.getDiagonal();
-		if ( imp1 <= btScalar(0.0) )
-		{
-			imp1 = btScalar(0.);
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > btScalar(0.0) )
-			{
-			} else
-			{
-				imp0 = btScalar(0.);
-			}
-		} else
-		{
-		}
-	}
-}
-
-
-/*
-void btSolve2LinearConstraint::resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
-											const btScalar invMassA,
-											const btVector3& linvelA,const btVector3& angvelA,
-											const btVector3& rel_posA1,
-											const btMatrix3x3& invInertiaBWS,
-											const btScalar invMassB,
-											const btVector3& linvelB,const btVector3& angvelB,
-											const btVector3& rel_posA2,
-
-											btScalar depthA, const btVector3& normalA, 
-											const btVector3& rel_posB1,const btVector3& rel_posB2,
-											btScalar depthB, const btVector3& normalB, 
-											btScalar& imp0,btScalar& imp1)
-{
-
-}
-*/
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
deleted file mode 100644
index 057d3fac827..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SOLVE_2LINEAR_CONSTRAINT_H
-#define SOLVE_2LINEAR_CONSTRAINT_H
-
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btVector3.h"
-
-
-class btRigidBody;
-
-
-
-/// constraint class used for lateral tyre friction.
-class	btSolve2LinearConstraint
-{
-	btScalar	m_tau;
-	btScalar	m_damping;
-
-public:
-
-	btSolve2LinearConstraint(btScalar tau,btScalar damping)
-	{
-		m_tau = tau;
-		m_damping = damping;
-	}
-	//
-	// solve unilateral constraint (equality, direct method)
-	//
-	void resolveUnilateralPairConstraint(		
-														   btRigidBody* body0,
-		btRigidBody* body1,
-
-		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-
-	//
-	// solving 2x2 lcp problem (inequality, direct solution )
-	//
-	void resolveBilateralPairConstraint(
-			btRigidBody* body0,
-						btRigidBody* body1,
-		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-/*
-	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btMatrix3x3& invInertiaBWS,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-*/
-
-};
-
-#endif //SOLVE_2LINEAR_CONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverBody.h
deleted file mode 100644
index 8de515812ee..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOLVER_BODY_H
-#define BT_SOLVER_BODY_H
-
-class	btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btTransformUtil.h"
-
-///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
-#ifdef BT_USE_SSE
-#define USE_SIMD 1
-#endif //
-
-
-#ifdef USE_SIMD
-
-struct	btSimdScalar
-{
-	SIMD_FORCE_INLINE	btSimdScalar()
-	{
-
-	}
-
-	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
-	:m_vec128 (_mm_set1_ps(fl))
-	{
-	}
-
-	SIMD_FORCE_INLINE	btSimdScalar(__m128 v128)
-		:m_vec128(v128)
-	{
-	}
-	union
-	{
-		__m128		m_vec128;
-		float		m_floats[4];
-		int			m_ints[4];
-		btScalar	m_unusedPadding;
-	};
-	SIMD_FORCE_INLINE	__m128	get128()
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE	const __m128	get128() const
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE	void	set128(__m128 v128)
-	{
-		m_vec128 = v128;
-	}
-
-	SIMD_FORCE_INLINE	operator       __m128()       
-	{ 
-		return m_vec128; 
-	}
-	SIMD_FORCE_INLINE	operator const __m128() const 
-	{ 
-		return m_vec128; 
-	}
-	
-	SIMD_FORCE_INLINE	operator float() const 
-	{ 
-		return m_floats[0]; 
-	}
-
-};
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
-{
-	return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
-}
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
-{
-	return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
-}
-
-
-#else
-#define btSimdScalar btScalar
-#endif
-
-///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btVector3		m_deltaLinearVelocity;
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_invMass;
-	btRigidBody*	m_originalBody;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-
-	
-	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
-	{
-		if (m_originalBody)
-			velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
-		else
-			velocity.setValue(0,0,0);
-	}
-
-	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
-	{
-		if (m_originalBody)
-			angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
-		else
-			angVel.setValue(0,0,0);
-	}
-
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
-	{
-		//if (m_invMass)
-		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-	
-	void	writebackVelocity()
-	{
-		if (m_originalBody)
-		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
-			
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-
-	void	writebackVelocity(btScalar timeStep)
-	{
-        (void) timeStep;
-		if (m_originalBody)
-		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
-			
-			//correct the position/orientation based on push/turn recovery
-			btTransform newTransform;
-			btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-			m_originalBody->setWorldTransform(newTransform);
-			
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-	
-
-
-};
-
-#endif //BT_SOLVER_BODY_H
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h
deleted file mode 100644
index 929cf6d3ee3..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SOLVER_CONSTRAINT_H
-#define BT_SOLVER_CONSTRAINT_H
-
-class	btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btJacobianEntry.h"
-
-//#define NO_FRICTION_TANGENTIALS 1
-#include "btSolverBody.h"
-
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal;
-
-	btVector3		m_relpos2CrossNormal;
-	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
-
-	btVector3		m_angularComponentA;
-	btVector3		m_angularComponentB;
-	
-	mutable btSimdScalar	m_appliedPushImpulse;
-	mutable btSimdScalar	m_appliedImpulse;
-	
-	
-	btScalar	m_friction;
-	btScalar	m_jacDiagABInv;
-	union
-	{
-		int	m_numConsecutiveRowsPerKernel;
-		btScalar	m_unusedPadding0;
-	};
-
-	union
-	{
-		int			m_frictionIndex;
-		btScalar	m_unusedPadding1;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyA;
-		btScalar	m_unusedPadding2;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyB;
-		btScalar	m_unusedPadding3;
-	};
-	
-	union
-	{
-		void*		m_originalContactPoint;
-		btScalar	m_unusedPadding4;
-	};
-
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-
-	btScalar		m_rhsPenetration;
-
-	enum		btSolverConstraintType
-	{
-		BT_SOLVER_CONTACT_1D = 0,
-		BT_SOLVER_FRICTION_1D
-	};
-};
-
-typedef btAlignedObjectArray<btSolverConstraint>	btConstraintArray;
-
-
-#endif //BT_SOLVER_CONSTRAINT_H
-
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
deleted file mode 100644
index e7c94b19308..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btTypedConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btSerializer.h"
-
-
-#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_needsFeedback(false),
-m_rbA(rbA),
-m_rbB(getFixedBody()),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
-{
-}
-
-
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-:btTypedObject(type),
-m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_needsFeedback(false),
-m_rbA(rbA),
-m_rbB(rbB),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
-{
-}
-
-
-
-
-btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
-{
-	if(lowLim > uppLim)
-	{
-		return btScalar(1.0f);
-	}
-	else if(lowLim == uppLim)
-	{
-		return btScalar(0.0f);
-	}
-	btScalar lim_fact = btScalar(1.0f);
-	btScalar delta_max = vel / timeFact;
-	if(delta_max < btScalar(0.0f))
-	{
-		if((pos >= lowLim) && (pos < (lowLim - delta_max)))
-		{
-			lim_fact = (lowLim - pos) / delta_max;
-		}
-		else if(pos  < lowLim)
-		{
-			lim_fact = btScalar(0.0f);
-		}
-		else
-		{
-			lim_fact = btScalar(1.0f);
-		}
-	}
-	else if(delta_max > btScalar(0.0f))
-	{
-		if((pos <= uppLim) && (pos > (uppLim - delta_max)))
-		{
-			lim_fact = (uppLim - pos) / delta_max;
-		}
-		else if(pos  > uppLim)
-		{
-			lim_fact = btScalar(0.0f);
-		}
-		else
-		{
-			lim_fact = btScalar(1.0f);
-		}
-	}
-	else
-	{
-			lim_fact = btScalar(0.0f);
-	}
-	return lim_fact;
-}
-
-///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
-
-	tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
-	tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
-	char* name = (char*) serializer->findNameForPointer(this);
-	tcd->m_name = (char*)serializer->getUniquePointer(name);
-	if (tcd->m_name)
-	{
-		serializer->serializeName(name);
-	}
-
-	tcd->m_objectType = m_objectType;
-	tcd->m_needsFeedback = m_needsFeedback;
-	tcd->m_userConstraintId =m_userConstraintId;
-	tcd->m_userConstraintType =m_userConstraintType;
-
-	tcd->m_appliedImpulse = float(m_appliedImpulse);
-	tcd->m_dbgDrawSize = float(m_dbgDrawSize );
-
-	tcd->m_disableCollisionsBetweenLinkedBodies = false;
-
-	int i;
-	for (i=0;i<m_rbA.getNumConstraintRefs();i++)
-		if (m_rbA.getConstraintRef(i) == this)
-			tcd->m_disableCollisionsBetweenLinkedBodies = true;
-	for (i=0;i<m_rbB.getNumConstraintRefs();i++)
-		if (m_rbB.getConstraintRef(i) == this)
-			tcd->m_disableCollisionsBetweenLinkedBodies = true;
-
-	return "btTypedConstraintData";
-}
-
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.h
deleted file mode 100644
index b24dc4a40ed..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ /dev/null
@@ -1,302 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef TYPED_CONSTRAINT_H
-#define TYPED_CONSTRAINT_H
-
-class btRigidBody;
-#include "LinearMath/btScalar.h"
-#include "btSolverConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-class btSerializer;
-
-enum btTypedConstraintType
-{
-	POINT2POINT_CONSTRAINT_TYPE=MAX_CONTACT_MANIFOLD_TYPE+1,
-	HINGE_CONSTRAINT_TYPE,
-	CONETWIST_CONSTRAINT_TYPE,
-	D6_CONSTRAINT_TYPE,
-	SLIDER_CONSTRAINT_TYPE,
-	CONTACT_CONSTRAINT_TYPE
-};
-
-
-enum btConstraintParams
-{
-	BT_CONSTRAINT_ERP=1,
-	BT_CONSTRAINT_STOP_ERP,
-	BT_CONSTRAINT_CFM,
-	BT_CONSTRAINT_STOP_CFM
-};
-
-#if 1
-	#define btAssertConstrParams(_par) btAssert(_par) 
-#else
-	#define btAssertConstrParams(_par)
-#endif
-
-
-///TypedConstraint is the baseclass for Bullet constraints and vehicles
-class btTypedConstraint : public btTypedObject
-{
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	bool m_needsFeedback;
-
-	btTypedConstraint&	operator=(btTypedConstraint&	other)
-	{
-		btAssert(0);
-		(void) other;
-		return *this;
-	}
-
-protected:
-	btRigidBody&	m_rbA;
-	btRigidBody&	m_rbB;
-	btScalar	m_appliedImpulse;
-	btScalar	m_dbgDrawSize;
-
-	///internal method used by the constraint solver, don't use them directly
-	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
-	
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
-
-
-public:
-
-	virtual ~btTypedConstraint() {};
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
-
-	struct btConstraintInfo1 {
-		int m_numConstraintRows,nub;
-	};
-
-	struct btConstraintInfo2 {
-		// integrator parameters: frames per second (1/stepsize), default error
-		// reduction parameter (0..1).
-		btScalar fps,erp;
-
-		// for the first and second body, pointers to two (linear and angular)
-		// n*3 jacobian sub matrices, stored by rows. these matrices will have
-		// been initialized to 0 on entry. if the second body is zero then the
-		// J2xx pointers may be 0.
-		btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
-
-		// elements to jump from one row to the next in J's
-		int rowskip;
-
-		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-		// "constraint force mixing" vector. c is set to zero on entry, cfm is
-		// set to a constant value (typically very small or zero) value on entry.
-		btScalar *m_constraintError,*cfm;
-
-		// lo and hi limits for variables (set to -/+ infinity on entry).
-		btScalar *m_lowerLimit,*m_upperLimit;
-
-		// findex vector for variables. see the LCP solver interface for a
-		// description of what this does. this is set to -1 on entry.
-		// note that the returned indexes are relative to the first index of
-		// the constraint.
-		int *findex;
-		// number of solver iterations
-		int m_numIterations;
-	};
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void	buildJacobian() {};
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual	void	setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
-	{
-        (void)ca;
-        (void)solverBodyA;
-        (void)solverBodyB;
-        (void)timeStep;
-	}
-	
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1 (btConstraintInfo1* info)=0;
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info)=0;
-
-	///internal method used by the constraint solver, don't use them directly
-	void	internalSetAppliedImpulse(btScalar appliedImpulse)
-	{
-		m_appliedImpulse = appliedImpulse;
-	}
-	///internal method used by the constraint solver, don't use them directly
-	btScalar	internalGetAppliedImpulse()
-	{
-		return m_appliedImpulse;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep) {};
-
-	
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	btRigidBody& getRigidBodyA() 
-	{
-		return m_rbA;
-	}
-	btRigidBody& getRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType ;
-	}
-
-	void	setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void	setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-	int getUid() const
-	{
-		return m_userConstraintId;   
-	} 
-
-	bool	needsFeedback() const
-	{
-		return m_needsFeedback;
-	}
-
-	///enableFeedback will allow to read the applied linear and angular impulse
-	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void	enableFeedback(bool needsFeedback)
-	{
-		m_needsFeedback = needsFeedback;
-	}
-
-	///getAppliedImpulse is an estimated total applied impulse. 
-	///This feedback could be used to determine breaking constraints or playing sounds.
-	btScalar	getAppliedImpulse() const
-	{
-		btAssert(m_needsFeedback);
-		return m_appliedImpulse;
-	}
-
-	btTypedConstraintType getConstraintType () const
-	{
-		return btTypedConstraintType(m_objectType);
-	}
-	
-	void setDbgDrawSize(btScalar dbgDrawSize)
-	{
-		m_dbgDrawSize = dbgDrawSize;
-	}
-	btScalar getDbgDrawSize()
-	{
-		return m_dbgDrawSize;
-	}
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void	setParam(int num, btScalar value, int axis = -1) = 0;
-
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const = 0;
-	
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-};
-
-// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits 
-// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
-SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
-{
-	if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
-	{
-		return angleInRadians;
-	}
-	else if(angleInRadians < angleLowerLimitInRadians)
-	{
-		btScalar diffLo = btNormalizeAngle(angleLowerLimitInRadians - angleInRadians); // this is positive
-		btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
-		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
-	}
-	else if(angleInRadians > angleUpperLimitInRadians)
-	{
-		btScalar diffHi = btNormalizeAngle(angleInRadians - angleUpperLimitInRadians); // this is positive
-		btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
-		return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btTypedConstraintData
-{
-	btRigidBodyData		*m_rbA;
-	btRigidBodyData		*m_rbB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	float	m_appliedImpulse;
-	float	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	char	m_pad4[4];
-	
-};
-
-SIMD_FORCE_INLINE	int	btTypedConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btTypedConstraintData);
-}
-
-
-
-
-#endif //TYPED_CONSTRAINT_H
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
deleted file mode 100644
index 3a4c2afa642..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "btUniversalConstraint.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btTransformUtil.h"
-
-
-
-#define UNIV_EPS btScalar(0.01f)
-
-
-// constructor
-// anchor, axis1 and axis2 are in world coordinate system
-// axis1 must be orthogonal to axis2
-btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
-: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
- m_anchor(anchor),
- m_axis1(axis1),
- m_axis2(axis2)
-{
-	// build frame basis
-	// 6DOF constraint uses Euler angles and to define limits
-	// it is assumed that rotational order is :
-	// Z - first, allowed limits are (-PI,PI);
-	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number 
-	// used to prevent constraint from instability on poles;
-	// new position of X, allowed limits are (-PI,PI);
-	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
-	// Build the frame in world coordinate system first
-	btVector3 zAxis = axis1.normalize();
-	btVector3 yAxis = axis2.normalize();
-	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
-	btTransform frameInW;
-	frameInW.setIdentity();
-	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],	
-									xAxis[1], yAxis[1], zAxis[1],
-									xAxis[2], yAxis[2], zAxis[2]);
-	frameInW.setOrigin(anchor);
-	// now get constraint frame in local coordinate systems
-	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
-	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
-	// sei limits
-	setLinearLowerLimit(btVector3(0., 0., 0.));
-	setLinearUpperLimit(btVector3(0., 0., 0.));
-	setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
-	setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI - UNIV_EPS,  SIMD_PI - UNIV_EPS));
-}
-
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
deleted file mode 100644
index 4e64a7d7e0e..00000000000
--- a/extern/bullet2/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef UNIVERSAL_CONSTRAINT_H
-#define UNIVERSAL_CONSTRAINT_H
-
-
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofConstraint.h"
-
-
-
-/// Constraint similar to ODE Universal Joint
-/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
-/// and Y (axis 2)
-/// Description from ODE manual : 
-/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
-/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
-
-class btUniversalConstraint : public btGeneric6DofConstraint
-{
-protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
-public:
-	// constructor
-	// anchor, axis1 and axis2 are in world coordinate system
-	// axis1 must be orthogonal to axis2
-    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
-	// access
-	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
-	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
-	const btVector3& getAxis1() { return m_axis1; }
-	const btVector3& getAxis2() { return m_axis2; }
-	btScalar getAngle1() { return getAngle(2); }
-	btScalar getAngle2() { return getAngle(1); }
-	// limits
-	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
-	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
-};
-
-
-
-#endif // UNIVERSAL_CONSTRAINT_H
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/BulletDynamics/Dynamics/Bullet-C-API.cpp
deleted file mode 100644
index bd8e2748383..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/Bullet-C-API.cpp
+++ /dev/null
@@ -1,405 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
-	Work in progress, functionality will be added on demand.
-
-	If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
-*/
-
-#include "Bullet-C-Api.h"
-#include "btBulletDynamicsCommon.h"
-#include "LinearMath/btAlignedAllocator.h"
-
-
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"	
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btTransform.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
-#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-
-
-/*
-	Create and Delete a Physics SDK	
-*/
-
-struct	btPhysicsSdk
-{
-
-//	btDispatcher*				m_dispatcher;
-//	btOverlappingPairCache*		m_pairCache;
-//	btConstraintSolver*			m_constraintSolver
-
-	btVector3	m_worldAabbMin;
-	btVector3	m_worldAabbMax;
-
-
-	//todo: version, hardware/optimization settings etc?
-	btPhysicsSdk()
-		:m_worldAabbMin(-1000,-1000,-1000),
-		m_worldAabbMax(1000,1000,1000)
-	{
-
-	}
-
-	
-};
-
-plPhysicsSdkHandle	plNewBulletSdk()
-{
-	void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16);
-	return (plPhysicsSdkHandle)new (mem)btPhysicsSdk;
-}
-
-void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk)
-{
-	btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk);
-	btAlignedFree(phys);	
-}
-
-
-/* Dynamics World */
-plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
-{
-	btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
-	void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16);
-	btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration();
-	mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16);
-	btDispatcher*				dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration);
-	mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
-	btBroadphaseInterface*		pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
-	mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
-	btConstraintSolver*			constraintSolver = new(mem) btSequentialImpulseConstraintSolver();
-
-	mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16);
-	return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
-}
-void           plDeleteDynamicsWorld(plDynamicsWorldHandle world)
-{
-	//todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration
-	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	btAlignedFree(dynamicsWorld);
-}
-
-void	plStepSimulation(plDynamicsWorldHandle world,	plReal	timeStep)
-{
-	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	btAssert(dynamicsWorld);
-	dynamicsWorld->stepSimulation(timeStep);
-}
-
-void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
-{
-	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	btAssert(dynamicsWorld);
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-
-	dynamicsWorld->addRigidBody(body);
-}
-
-void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
-{
-	btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
-	btAssert(dynamicsWorld);
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-
-	dynamicsWorld->removeRigidBody(body);
-}
-
-/* Rigid Body  */
-
-plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionShapeHandle cshape )
-{
-	btTransform trans;
-	trans.setIdentity();
-	btVector3 localInertia(0,0,0);
-	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	btAssert(shape);
-	if (mass)
-	{
-		shape->calculateLocalInertia(mass,localInertia);
-	}
-	void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
-	btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
-	btRigidBody* body = new (mem)btRigidBody(rbci);
-	body->setWorldTransform(trans);
-	body->setUserPointer(user_data);
-	return (plRigidBodyHandle) body;
-}
-
-void plDeleteRigidBody(plRigidBodyHandle cbody)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
-	btAssert(body);
-	btAlignedFree( body);
-}
-
-
-/* Collision Shape definition */
-
-plCollisionShapeHandle plNewSphereShape(plReal radius)
-{
-	void* mem = btAlignedAlloc(sizeof(btSphereShape),16);
-	return (plCollisionShapeHandle) new (mem)btSphereShape(radius);
-	
-}
-	
-plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
-{
-	void* mem = btAlignedAlloc(sizeof(btBoxShape),16);
-	return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z));
-}
-
-plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
-{
-	//capsule is convex hull of 2 spheres, so use btMultiSphereShape
-	
-	const int numSpheres = 2;
-	btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
-	btScalar radi[numSpheres] = {radius,radius};
-	void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
-	return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres);
-}
-plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
-{
-	void* mem = btAlignedAlloc(sizeof(btConeShape),16);
-	return (plCollisionShapeHandle) new (mem)btConeShape(radius,height);
-}
-
-plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
-{
-	void* mem = btAlignedAlloc(sizeof(btCylinderShape),16);
-	return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius));
-}
-
-/* Convex Meshes */
-plCollisionShapeHandle plNewConvexHullShape()
-{
-	void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16);
-	return (plCollisionShapeHandle) new (mem)btConvexHullShape();
-}
-
-
-/* Concave static triangle meshes */
-plMeshInterfaceHandle		   plNewMeshInterface()
-{
-	return 0;
-}
-
-plCollisionShapeHandle plNewCompoundShape()
-{
-	void* mem = btAlignedAlloc(sizeof(btCompoundShape),16);
-	return (plCollisionShapeHandle) new (mem)btCompoundShape();
-}
-
-void	plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn)
-{
-	btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle);
-	btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE);
-	btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape);
-	btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle);
-	btTransform	localTrans;
-	localTrans.setIdentity();
-	localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
-	localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
-	compoundShape->addChildShape(localTrans,childShape);
-}
-
-void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
-{
-	btQuaternion orn;
-	orn.setEuler(yaw,pitch,roll);
-	orient[0] = orn.getX();
-	orient[1] = orn.getY();
-	orient[2] = orn.getZ();
-	orient[3] = orn.getW();
-
-}
-
-
-//	extern  void		plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
-//	extern  plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
-
-
-void		plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
-{
-	btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
-	(void)colShape;
-	btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
-	btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
-	convexHullShape->addPoint(btVector3(x,y,z));
-
-}
-
-void plDeleteShape(plCollisionShapeHandle cshape)
-{
-	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	btAssert(shape);
-	btAlignedFree(shape);
-}
-void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
-{
-	btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
-	btAssert(shape);
-	btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
-	shape->setLocalScaling(scaling);	
-}
-
-
-
-void plSetPosition(plRigidBodyHandle object, const plVector3 position)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	btVector3 pos(position[0],position[1],position[2]);
-	btTransform worldTrans = body->getWorldTransform();
-	worldTrans.setOrigin(pos);
-	body->setWorldTransform(worldTrans);
-}
-
-void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
-	btTransform worldTrans = body->getWorldTransform();
-	worldTrans.setRotation(orn);
-	body->setWorldTransform(worldTrans);
-}
-
-void	plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	btTransform& worldTrans = body->getWorldTransform();
-	worldTrans.setFromOpenGLMatrix(matrix);
-}
-
-void	plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	body->getWorldTransform().getOpenGLMatrix(matrix);
-
-}
-
-void	plGetPosition(plRigidBodyHandle object,plVector3 position)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	const btVector3& pos = body->getWorldTransform().getOrigin();
-	position[0] = pos.getX();
-	position[1] = pos.getY();
-	position[2] = pos.getZ();
-}
-
-void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
-{
-	btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
-	btAssert(body);
-	const btQuaternion& orn = body->getWorldTransform().getRotation();
-	orientation[0] = orn.getX();
-	orientation[1] = orn.getY();
-	orientation[2] = orn.getZ();
-	orientation[3] = orn.getW();
-}
-
-
-
-//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
-
-//	extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
-
-double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
-{
-	btVector3 vp(p1[0], p1[1], p1[2]);
-	btTriangleShape trishapeA(vp, 
-				  btVector3(p2[0], p2[1], p2[2]), 
-				  btVector3(p3[0], p3[1], p3[2]));
-	trishapeA.setMargin(0.000001f);
-	btVector3 vq(q1[0], q1[1], q1[2]);
-	btTriangleShape trishapeB(vq, 
-				  btVector3(q2[0], q2[1], q2[2]), 
-				  btVector3(q3[0], q3[1], q3[2]));
-	trishapeB.setMargin(0.000001f);
-	
-	// btVoronoiSimplexSolver sGjkSimplexSolver;
-	// btGjkEpaPenetrationDepthSolver penSolverPtr;	
-	
-	static btSimplexSolverInterface sGjkSimplexSolver;
-	sGjkSimplexSolver.reset();
-	
-	static btGjkEpaPenetrationDepthSolver Solver0;
-	static btMinkowskiPenetrationDepthSolver Solver1;
-		
-	btConvexPenetrationDepthSolver* Solver = NULL;
-	
-	Solver = &Solver1;	
-		
-	btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
-	
-	convexConvex.m_catchDegeneracies = 1;
-	
-	// btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
-	
-	btPointCollector gjkOutput;
-	btGjkPairDetector::ClosestPointInput input;
-	
-		
-	btTransform tr;
-	tr.setIdentity();
-	
-	input.m_transformA = tr;
-	input.m_transformB = tr;
-	
-	convexConvex.getClosestPoints(input, gjkOutput, 0);
-	
-	
-	if (gjkOutput.m_hasResult)
-	{
-		
-		pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
-		pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
-		pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
-
-		pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
-		pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
-		pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
-		
-		normal[0] = gjkOutput.m_normalOnBInWorld[0];
-		normal[1] = gjkOutput.m_normalOnBInWorld[1];
-		normal[2] = gjkOutput.m_normalOnBInWorld[2];
-
-		return gjkOutput.m_distance;
-	}
-	return -1.0f;	
-}
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btActionInterface.h b/extern/bullet2/BulletDynamics/Dynamics/btActionInterface.h
deleted file mode 100644
index 40a07c6eae3..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btActionInterface.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _BT_ACTION_INTERFACE_H
-#define _BT_ACTION_INTERFACE_H
-
-class btIDebugDraw;
-class btCollisionWorld;
-
-#include "LinearMath/btScalar.h"
-#include "btRigidBody.h"
-
-///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
-class btActionInterface
-{
-protected:
-
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
-	
-public:
-
-	virtual ~btActionInterface()
-	{
-	}
-
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
-
-	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
-
-};
-
-#endif //_BT_ACTION_INTERFACE_H
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
deleted file mode 100644
index 23501c4435e..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btContinuousDynamicsWorld.h"
-#include "LinearMath/btQuickprof.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-
-
-
-#include <stdio.h>
-
-btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
-{
-}
-
-btContinuousDynamicsWorld::~btContinuousDynamicsWorld()
-{
-}
-
-	
-void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
-{
-	
-	startProfiling(timeStep);
-	
-	if(0 != m_internalPreTickCallback) {
-		(*m_internalPreTickCallback)(this, timeStep);
-	}
-
-
-	///update aabbs information
-	updateAabbs();
-	//static int frame=0;
-//	printf("frame %d\n",frame++);
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	calculateSimulationIslands();
-
-	
-	getSolverInfo().m_timeStep = timeStep;
-	
-
-
-	///solve contact and other joint constraints
-	solveConstraints(getSolverInfo());
-	
-	///CallbackTriggers();
-	calculateTimeOfImpacts(timeStep);
-
-	btScalar toi = dispatchInfo.m_timeOfImpact;
-//	if (toi < 1.f)
-//		printf("toi = %f\n",toi);
-	if (toi < 0.f)
-		printf("toi = %f\n",toi);
-
-
-	///integrate transforms
-	integrateTransforms(timeStep * toi);
-
-	///update vehicle simulation
-	updateActions(timeStep);
-
-	updateActivationState( timeStep );
-	
-	if(0 != m_internalTickCallback) {
-		(*m_internalTickCallback)(this, timeStep);
-	}
-}
-
-void	btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep)
-{
-		///these should be 'temporal' aabbs!
-		updateTemporalAabbs(timeStep);
-		
-		///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually.
-		///so we handle the case moving versus static properly, and we cheat for moving versus moving
-		btScalar toi = 1.f;
-		
-	
-		btDispatcherInfo& dispatchInfo = getDispatchInfo();
-		dispatchInfo.m_timeStep = timeStep;
-		dispatchInfo.m_timeOfImpact = 1.f;
-		dispatchInfo.m_stepCount = 0;
-		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
-
-		///calculate time of impact for overlapping pairs
-
-
-		btDispatcher* dispatcher = getDispatcher();
-		if (dispatcher)
-			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
-
-		toi = dispatchInfo.m_timeOfImpact;
-
-		dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE;
-
-}
-
-void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
-{
-
-	btVector3 temporalAabbMin,temporalAabbMax;
-
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax);
-			const btVector3& linvel = body->getLinearVelocity();
-
-			//make the AABB temporal
-			btScalar temporalAabbMaxx = temporalAabbMax.getX();
-			btScalar temporalAabbMaxy = temporalAabbMax.getY();
-			btScalar temporalAabbMaxz = temporalAabbMax.getZ();
-			btScalar temporalAabbMinx = temporalAabbMin.getX();
-			btScalar temporalAabbMiny = temporalAabbMin.getY();
-			btScalar temporalAabbMinz = temporalAabbMin.getZ();
-
-			// add linear motion
-			btVector3 linMotion = linvel*timeStep;
-		
-			if (linMotion.x() > 0.f)
-				temporalAabbMaxx += linMotion.x(); 
-			else
-				temporalAabbMinx += linMotion.x();
-			if (linMotion.y() > 0.f)
-				temporalAabbMaxy += linMotion.y(); 
-			else
-				temporalAabbMiny += linMotion.y();
-			if (linMotion.z() > 0.f)
-				temporalAabbMaxz += linMotion.z(); 
-			else
-				temporalAabbMinz += linMotion.z();
-
-			//add conservative angular motion
-			btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep;
-			btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
-			temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
-			temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
-
-			temporalAabbMin -= angularMotion3d;
-			temporalAabbMax += angularMotion3d;
-
-			m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1);
-		}
-	}
-
-	//update aabb (of all moved objects)
-
-	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	
-
-
-}
-
-
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h b/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
deleted file mode 100644
index 61c8dea03eb..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTINUOUS_DYNAMICS_WORLD_H
-#define BT_CONTINUOUS_DYNAMICS_WORLD_H
-
-#include "btDiscreteDynamicsWorld.h"
-
-///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld.
-///This copes with fast moving objects that otherwise would tunnel/miss collisions.
-///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead.
-class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
-{
-
-	void	updateTemporalAabbs(btScalar timeStep);
-
-	public:
-
-		btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-		virtual ~btContinuousDynamicsWorld();
-		
-		///time stepping with calculation of time of impact for selected fast moving objects
-		virtual void	internalSingleStepSimulation( btScalar timeStep);
-
-		virtual void	calculateTimeOfImpacts(btScalar timeStep);
-
-		virtual btDynamicsWorldType	getWorldType() const
-		{
-			return BT_CONTINUOUS_DYNAMICS_WORLD;
-		}
-
-};
-
-#endif //BT_CONTINUOUS_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
deleted file mode 100644
index a88ed1cafa8..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ /dev/null
@@ -1,1161 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btDiscreteDynamicsWorld.h"
-
-//collision detection
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btQuickprof.h"
-
-//rigidbody & constraints
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-
-
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btMotionState.h"
-
-#include "LinearMath/btSerializer.h"
-
-
-
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
-m_constraintSolver(constraintSolver),
-m_gravity(0,-10,0),
-m_localTime(btScalar(1.)/btScalar(60.)),
-m_synchronizeAllMotionStates(false),
-m_profileTimings(0)
-{
-	if (!m_constraintSolver)
-	{
-		void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
-		m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver;
-		m_ownsConstraintSolver = true;
-	} else
-	{
-		m_ownsConstraintSolver = false;
-	}
-
-	{
-		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager),16);
-		m_islandManager = new (mem) btSimulationIslandManager();
-	}
-
-	m_ownsIslandManager = true;
-}
-
-
-btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
-{
-	//only delete it when we created it
-	if (m_ownsIslandManager)
-	{
-		m_islandManager->~btSimulationIslandManager();
-		btAlignedFree( m_islandManager);
-	}
-	if (m_ownsConstraintSolver)
-	{
-
-		m_constraintSolver->~btConstraintSolver();
-		btAlignedFree(m_constraintSolver);
-	}
-}
-
-void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
-{
-///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
-///to switch status _after_ adding kinematic objects to the world
-///fix it for Bullet 3.x release
-	for (int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getActivationState() != ISLAND_SLEEPING)
-		{
-			if (body->isKinematicObject())
-			{
-				//to calculate velocities next frame
-				body->saveKinematicState(timeStep);
-			}
-		}
-	}
-
-}
-
-void	btDiscreteDynamicsWorld::debugDrawWorld()
-{
-	BT_PROFILE("debugDrawWorld");
-
-	btCollisionWorld::debugDrawWorld();
-
-	bool drawConstraints = false;
-	if (getDebugDrawer())
-	{
-		int mode = getDebugDrawer()->getDebugMode();
-		if(mode  & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
-		{
-			drawConstraints = true;
-		}
-	}
-	if(drawConstraints)
-	{
-		for(int i = getNumConstraints()-1; i>=0 ;i--)
-		{
-			btTypedConstraint* constraint = getConstraint(i);
-			debugDrawConstraint(constraint);
-		}
-	}
-
-
-
-	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
-	{
-		int i;
-
-		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
-		{
-			for (i=0;i<m_actions.size();i++)
-			{
-				m_actions[i]->debugDraw(m_debugDrawer);
-			}
-		}
-	}
-}
-
-void	btDiscreteDynamicsWorld::clearForces()
-{
-	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		//need to check if next line is ok
-		//it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
-		body->clearForces();
-	}
-}	
-
-///apply gravity, call this once per timestep
-void	btDiscreteDynamicsWorld::applyGravity()
-{
-	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive())
-		{
-			body->applyGravity();
-		}
-	}
-}
-
-
-void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
-{
-	btAssert(body);
-
-	if (body->getMotionState() && !body->isStaticOrKinematicObject())
-	{
-		//we need to call the update at least once, even for sleeping objects
-		//otherwise the 'graphics' transform never updates properly
-		///@todo: add 'dirty' flag
-		//if (body->getActivationState() != ISLAND_SLEEPING)
-		{
-			btTransform interpolatedTransform;
-			btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-				body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
-			body->getMotionState()->setWorldTransform(interpolatedTransform);
-		}
-	}
-}
-
-
-void	btDiscreteDynamicsWorld::synchronizeMotionStates()
-{
-	BT_PROFILE("synchronizeMotionStates");
-	if (m_synchronizeAllMotionStates)
-	{
-		//iterate  over all collision objects
-		for ( int i=0;i<m_collisionObjects.size();i++)
-		{
-			btCollisionObject* colObj = m_collisionObjects[i];
-			btRigidBody* body = btRigidBody::upcast(colObj);
-			if (body)
-				synchronizeSingleMotionState(body);
-		}
-	} else
-	{
-		//iterate over all active rigid bodies
-		for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-		{
-			btRigidBody* body = m_nonStaticRigidBodies[i];
-			if (body->isActive())
-				synchronizeSingleMotionState(body);
-		}
-	}
-}
-
-
-int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
-{
-	startProfiling(timeStep);
-
-	BT_PROFILE("stepSimulation");
-
-	int numSimulationSubSteps = 0;
-
-	if (maxSubSteps)
-	{
-		//fixed timestep with interpolation
-		m_localTime += timeStep;
-		if (m_localTime >= fixedTimeStep)
-		{
-			numSimulationSubSteps = int( m_localTime / fixedTimeStep);
-			m_localTime -= numSimulationSubSteps * fixedTimeStep;
-		}
-	} else
-	{
-		//variable timestep
-		fixedTimeStep = timeStep;
-		m_localTime = timeStep;
-		if (btFuzzyZero(timeStep))
-		{
-			numSimulationSubSteps = 0;
-			maxSubSteps = 0;
-		} else
-		{
-			numSimulationSubSteps = 1;
-			maxSubSteps = 1;
-		}
-	}
-
-	//process some debugging flags
-	if (getDebugDrawer())
-	{
-		btIDebugDraw* debugDrawer = getDebugDrawer ();
-		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
-	}
-	if (numSimulationSubSteps)
-	{
-
-		//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
-		int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
-
-		saveKinematicState(fixedTimeStep*clampedSimulationSteps);
-
-		applyGravity();
-
-		
-
-		for (int i=0;i<clampedSimulationSteps;i++)
-		{
-			internalSingleStepSimulation(fixedTimeStep);
-			synchronizeMotionStates();
-		}
-
-	} else
-	{
-		synchronizeMotionStates();
-	}
-
-	clearForces();
-
-#ifndef BT_NO_PROFILE
-	CProfileManager::Increment_Frame_Counter();
-#endif //BT_NO_PROFILE
-	
-	return numSimulationSubSteps;
-}
-
-void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
-{
-	
-	BT_PROFILE("internalSingleStepSimulation");
-
-	if(0 != m_internalPreTickCallback) {
-		(*m_internalPreTickCallback)(this, timeStep);
-	}	
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo& dispatchInfo = getDispatchInfo();
-
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	calculateSimulationIslands();
-
-	
-	getSolverInfo().m_timeStep = timeStep;
-	
-
-
-	///solve contact and other joint constraints
-	solveConstraints(getSolverInfo());
-	
-	///CallbackTriggers();
-
-	///integrate transforms
-	integrateTransforms(timeStep);
-
-	///update vehicle simulation
-	updateActions(timeStep);
-	
-	updateActivationState( timeStep );
-
-	if(0 != m_internalTickCallback) {
-		(*m_internalTickCallback)(this, timeStep);
-	}	
-}
-
-void	btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
-{
-	m_gravity = gravity;
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body->isActive() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
-		{
-			body->setGravity(gravity);
-		}
-	}
-}
-
-btVector3 btDiscreteDynamicsWorld::getGravity () const
-{
-	return m_gravity;
-}
-
-void	btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
-{
-	btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask);
-}
-
-void	btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btRigidBody* body = btRigidBody::upcast(collisionObject);
-	if (body)
-		removeRigidBody(body);
-	else
-		btCollisionWorld::removeCollisionObject(collisionObject);
-}
-
-void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
-{
-	m_nonStaticRigidBodies.remove(body);
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-
-void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
-{
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
-	{
-		body->setGravity(m_gravity);
-	}
-
-	if (body->getCollisionShape())
-	{
-		if (!body->isStaticObject())
-		{
-			m_nonStaticRigidBodies.push_back(body);
-		} else
-		{
-			body->setActivationState(ISLAND_SLEEPING);
-		}
-
-		bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
-		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
-		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-
-		addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
-	}
-}
-
-void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
-{
-	if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
-	{
-		body->setGravity(m_gravity);
-	}
-
-	if (body->getCollisionShape())
-	{
-		if (!body->isStaticObject())
-		{
-			m_nonStaticRigidBodies.push_back(body);
-		}
-		 else
-		{
-			body->setActivationState(ISLAND_SLEEPING);
-		}
-		addCollisionObject(body,group,mask);
-	}
-}
-
-
-void	btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
-{
-	BT_PROFILE("updateActions");
-	
-	for ( int i=0;i<m_actions.size();i++)
-	{
-		m_actions[i]->updateAction( this, timeStep);
-	}
-}
-	
-	
-void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
-{
-	BT_PROFILE("updateActivationState");
-
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (body)
-		{
-			body->updateDeactivation(timeStep);
-
-			if (body->wantsSleeping())
-			{
-				if (body->isStaticOrKinematicObject())
-				{
-					body->setActivationState(ISLAND_SLEEPING);
-				} else
-				{
-					if (body->getActivationState() == ACTIVE_TAG)
-						body->setActivationState( WANTS_DEACTIVATION );
-					if (body->getActivationState() == ISLAND_SLEEPING) 
-					{
-						body->setAngularVelocity(btVector3(0,0,0));
-						body->setLinearVelocity(btVector3(0,0,0));
-					}
-
-				}
-			} else
-			{
-				if (body->getActivationState() != DISABLE_DEACTIVATION)
-					body->setActivationState( ACTIVE_TAG );
-			}
-		}
-	}
-}
-
-void	btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies)
-{
-	m_constraints.push_back(constraint);
-	if (disableCollisionsBetweenLinkedBodies)
-	{
-		constraint->getRigidBodyA().addConstraintRef(constraint);
-		constraint->getRigidBodyB().addConstraintRef(constraint);
-	}
-}
-
-void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
-{
-	m_constraints.remove(constraint);
-	constraint->getRigidBodyA().removeConstraintRef(constraint);
-	constraint->getRigidBodyB().removeConstraintRef(constraint);
-}
-
-void	btDiscreteDynamicsWorld::addAction(btActionInterface* action)
-{
-	m_actions.push_back(action);
-}
-
-void	btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
-{
-	m_actions.remove(action);
-}
-
-
-void	btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
-{
-	addAction(vehicle);
-}
-
-void	btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
-{
-	removeAction(vehicle);
-}
-
-void	btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
-{
-	addAction(character);
-}
-
-void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
-{
-	removeAction(character);
-}
-
-
-SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
-{
-	int islandId;
-	
-	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
-	return islandId;
-
-}
-
-
-class btSortConstraintOnIslandPredicate
-{
-	public:
-
-		bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs )
-		{
-			int rIslandId0,lIslandId0;
-			rIslandId0 = btGetConstraintIslandId(rhs);
-			lIslandId0 = btGetConstraintIslandId(lhs);
-			return lIslandId0 < rIslandId0;
-		}
-};
-
-
-
-void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
-{
-	BT_PROFILE("solveConstraints");
-	
-	struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
-	{
-
-		btContactSolverInfo&	m_solverInfo;
-		btConstraintSolver*		m_solver;
-		btTypedConstraint**		m_sortedConstraints;
-		int						m_numConstraints;
-		btIDebugDraw*			m_debugDrawer;
-		btStackAlloc*			m_stackAlloc;
-		btDispatcher*			m_dispatcher;
-		
-		btAlignedObjectArray<btCollisionObject*> m_bodies;
-		btAlignedObjectArray<btPersistentManifold*> m_manifolds;
-		btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
-
-		InplaceSolverIslandCallback(
-			btContactSolverInfo& solverInfo,
-			btConstraintSolver*	solver,
-			btTypedConstraint** sortedConstraints,
-			int	numConstraints,
-			btIDebugDraw*	debugDrawer,
-			btStackAlloc*			stackAlloc,
-			btDispatcher* dispatcher)
-			:m_solverInfo(solverInfo),
-			m_solver(solver),
-			m_sortedConstraints(sortedConstraints),
-			m_numConstraints(numConstraints),
-			m_debugDrawer(debugDrawer),
-			m_stackAlloc(stackAlloc),
-			m_dispatcher(dispatcher)
-		{
-
-		}
-
-
-		InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
-		{
-			btAssert(0);
-			(void)other;
-			return *this;
-		}
-		virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
-		{
-			if (islandId<0)
-			{
-				if (numManifolds + m_numConstraints)
-				{
-					///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-				}
-			} else
-			{
-					//also add all non-contact constraints/joints for this island
-				btTypedConstraint** startConstraint = 0;
-				int numCurConstraints = 0;
-				int i;
-				
-				//find the first constraint for this island
-				for (i=0;i<m_numConstraints;i++)
-				{
-					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-					{
-						startConstraint = &m_sortedConstraints[i];
-						break;
-					}
-				}
-				//count the number of constraints in this island
-				for (;i<m_numConstraints;i++)
-				{
-					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-					{
-						numCurConstraints++;
-					}
-				}
-
-				if (m_solverInfo.m_minimumSolverBatchSize<=1)
-				{
-					///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
-					if (numManifolds + numCurConstraints)
-					{
-						m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-					}
-				} else
-				{
-					
-					for (i=0;i<numBodies;i++)
-						m_bodies.push_back(bodies[i]);
-					for (i=0;i<numManifolds;i++)
-						m_manifolds.push_back(manifolds[i]);
-					for (i=0;i<numCurConstraints;i++)
-						m_constraints.push_back(startConstraint[i]);
-					if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize)
-					{
-						processConstraints();
-					} else
-					{
-						//printf("deferred\n");
-					}
-				}
-			}
-		}
-		void	processConstraints()
-		{
-			if (m_manifolds.size() + m_constraints.size()>0)
-			{
-				m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-			}
-			m_bodies.resize(0);
-			m_manifolds.resize(0);
-			m_constraints.resize(0);
-
-		}
-
-	};
-
-	
-
-	//sorted version of all btTypedConstraint, based on islandId
-	btAlignedObjectArray<btTypedConstraint*>	sortedConstraints;
-	sortedConstraints.resize( m_constraints.size());
-	int i; 
-	for (i=0;i<getNumConstraints();i++)
-	{
-		sortedConstraints[i] = m_constraints[i];
-	}
-
-//	btAssert(0);
-		
-	
-
-	sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
-	
-	btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
-	
-	InplaceSolverIslandCallback	solverCallback(	solverInfo,	m_constraintSolver, constraintsPtr,sortedConstraints.size(),	m_debugDrawer,m_stackAlloc,m_dispatcher1);
-	
-	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
-	
-	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
-
-	solverCallback.processConstraints();
-
-	m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
-}
-
-
-
-
-void	btDiscreteDynamicsWorld::calculateSimulationIslands()
-{
-	BT_PROFILE("calculateSimulationIslands");
-
-	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
-
-	{
-		int i;
-		int numConstraints = int(m_constraints.size());
-		for (i=0;i< numConstraints ; i++ )
-		{
-			btTypedConstraint* constraint = m_constraints[i];
-
-			const btRigidBody* colObj0 = &constraint->getRigidBodyA();
-			const btRigidBody* colObj1 = &constraint->getRigidBodyB();
-
-			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
-			{
-				if (colObj0->isActive() || colObj1->isActive())
-				{
-
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
-						(colObj1)->getIslandTag());
-				}
-			}
-		}
-	}
-
-	//Store the island id in each body
-	getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
-
-	
-}
-
-
-
-
-class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
-{
-	btCollisionObject* m_me;
-	btScalar m_allowedPenetration;
-	btOverlappingPairCache* m_pairCache;
-	btDispatcher* m_dispatcher;
-
-
-public:
-	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
-	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
-		m_me(me),
-		m_allowedPenetration(0.0f),
-		m_pairCache(pairCache),
-		m_dispatcher(dispatcher)
-	{
-	}
-
-	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
-	{
-		if (convexResult.m_hitCollisionObject == m_me)
-			return 1.0f;
-
-		//ignore result if there is no contact response
-		if(!convexResult.m_hitCollisionObject->hasContactResponse())
-			return 1.0f;
-
-		btVector3 linVelA,linVelB;
-		linVelA = m_convexToWorld-m_convexFromWorld;
-		linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin();
-
-		btVector3 relativeVelocity = (linVelA-linVelB);
-		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
-		if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration)
-			return 1.f;
-
-		return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
-	}
-
-	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
-	{
-		//don't collide with itself
-		if (proxy0->m_clientObject == m_me)
-			return false;
-
-		///don't do CCD when the collision filters are not matching
-		if (!ClosestConvexResultCallback::needsCollision(proxy0))
-			return false;
-
-		btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
-
-		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
-		if (m_dispatcher->needsResponse(m_me,otherObj))
-		{
-			///don't do CCD when there are already contact points (touching contact/penetration)
-			btAlignedObjectArray<btPersistentManifold*> manifoldArray;
-			btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
-			if (collisionPair)
-			{
-				if (collisionPair->m_algorithm)
-				{
-					manifoldArray.resize(0);
-					collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-					for (int j=0;j<manifoldArray.size();j++)
-					{
-						btPersistentManifold* manifold = manifoldArray[j];
-						if (manifold->getNumContacts()>0)
-							return false;
-					}
-				}
-			}
-		}
-		return true;
-	}
-
-
-};
-
-///internal debugging variable. this value shouldn't be too high
-int gNumClampedCcdMotions=0;
-
-//#include "stdio.h"
-void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	BT_PROFILE("integrateTransforms");
-	btTransform predictedTrans;
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		body->setHitFraction(1.f);
-
-		if (body->isActive() && (!body->isStaticOrKinematicObject()))
-		{
-			body->predictIntegratedTransform(timeStep, predictedTrans);
-			btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
-
-			if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
-			{
-				BT_PROFILE("CCD motion clamping");
-				if (body->getCollisionShape()->isConvex())
-				{
-					gNumClampedCcdMotions++;
-					
-					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
-					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-
-					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
-					sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
-
-					convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
-					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
-					{
-						body->setHitFraction(sweepResults.m_closestHitFraction);
-						body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
-						body->setHitFraction(0.f);
-//							printf("clamped integration to hit fraction = %f\n",fraction);
-					}
-				}
-			}
-			
-			body->proceedToTransform( predictedTrans);
-		}
-	}
-}
-
-
-
-
-
-void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	BT_PROFILE("predictUnconstraintMotion");
-	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
-	{
-		btRigidBody* body = m_nonStaticRigidBodies[i];
-		if (!body->isStaticOrKinematicObject())
-		{
-			body->integrateVelocities( timeStep);
-			//damping
-			body->applyDamping(timeStep);
-
-			body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
-		}
-	}
-}
-
-
-void	btDiscreteDynamicsWorld::startProfiling(btScalar timeStep)
-{
-	(void)timeStep;
-
-#ifndef BT_NO_PROFILE
-	CProfileManager::Reset();
-#endif //BT_NO_PROFILE
-
-}
-
-
-
-
-	
-
-void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
-{
-	bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
-	bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0;
-	btScalar dbgDrawSize = constraint->getDbgDrawSize();
-	if(dbgDrawSize <= btScalar(0.f))
-	{
-		return;
-	}
-
-	switch(constraint->getConstraintType())
-	{
-		case POINT2POINT_CONSTRAINT_TYPE:
-			{
-				btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint;
-				btTransform tr;
-				tr.setIdentity();
-				btVector3 pivot = p2pC->getPivotInA();
-				pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; 
-				tr.setOrigin(pivot);
-				getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				// that ideally should draw the same frame	
-				pivot = p2pC->getPivotInB();
-				pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; 
-				tr.setOrigin(pivot);
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-			}
-			break;
-		case HINGE_CONSTRAINT_TYPE:
-			{
-				btHingeConstraint* pHinge = (btHingeConstraint*)constraint;
-				btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				btScalar minAng = pHinge->getLowerLimit();
-				btScalar maxAng = pHinge->getUpperLimit();
-				if(minAng == maxAng)
-				{
-					break;
-				}
-				bool drawSect = true;
-				if(minAng > maxAng)
-				{
-					minAng = btScalar(0.f);
-					maxAng = SIMD_2_PI;
-					drawSect = false;
-				}
-				if(drawLimits) 
-				{
-					btVector3& center = tr.getOrigin();
-					btVector3 normal = tr.getBasis().getColumn(2);
-					btVector3 axis = tr.getBasis().getColumn(0);
-					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0,0,0), drawSect);
-				}
-			}
-			break;
-		case CONETWIST_CONSTRAINT_TYPE:
-			{
-				btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint;
-				btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits)
-				{
-					//const btScalar length = btScalar(5);
-					const btScalar length = dbgDrawSize;
-					static int nSegments = 8*4;
-					btScalar fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)(nSegments-1)/btScalar(nSegments);
-					btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length);
-					pPrev = tr * pPrev;
-					for (int i=0; i<nSegments; i++)
-					{
-						fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)i/btScalar(nSegments);
-						btVector3 pCur = pCT->GetPointForAngle(fAngleInRadians, length);
-						pCur = tr * pCur;
-						getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0,0,0));
-
-						if (i%(nSegments/8) == 0)
-							getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0));
-
-						pPrev = pCur;
-					}						
-					btScalar tws = pCT->getTwistSpan();
-					btScalar twa = pCT->getTwistAngle();
-					bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f));
-					if(useFrameB)
-					{
-						tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame();
-					}
-					else
-					{
-						tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame();
-					}
-					btVector3 pivot = tr.getOrigin();
-					btVector3 normal = tr.getBasis().getColumn(0);
-					btVector3 axis1 = tr.getBasis().getColumn(1);
-					getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa-tws, -twa+tws, btVector3(0,0,0), true);
-
-				}
-			}
-			break;
-		case D6_CONSTRAINT_TYPE:
-			{
-				btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint;
-				btTransform tr = p6DOF->getCalculatedTransformA();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = p6DOF->getCalculatedTransformB();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits) 
-				{
-					tr = p6DOF->getCalculatedTransformA();
-					const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
-					btVector3 up = tr.getBasis().getColumn(2);
-					btVector3 axis = tr.getBasis().getColumn(0);
-					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
-					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-					btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-					btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-					getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0,0,0));
-					axis = tr.getBasis().getColumn(1);
-					btScalar ay = p6DOF->getAngle(1);
-					btScalar az = p6DOF->getAngle(2);
-					btScalar cy = btCos(ay);
-					btScalar sy = btSin(ay);
-					btScalar cz = btCos(az);
-					btScalar sz = btSin(az);
-					btVector3 ref;
-					ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
-					ref[1] = -sz*axis[0] + cz*axis[1];
-					ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
-					tr = p6DOF->getCalculatedTransformB();
-					btVector3 normal = -tr.getBasis().getColumn(0);
-					btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
-					btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
-					if(minFi > maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0,0,0), false);
-					}
-					else if(minFi < maxFi)
-					{
-						getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0,0,0), true);
-					}
-					tr = p6DOF->getCalculatedTransformA();
-					btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
-					btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
-					getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0,0,0));
-				}
-			}
-			break;
-		case SLIDER_CONSTRAINT_TYPE:
-			{
-				btSliderConstraint* pSlider = (btSliderConstraint*)constraint;
-				btTransform tr = pSlider->getCalculatedTransformA();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				tr = pSlider->getCalculatedTransformB();
-				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
-				if(drawLimits)
-				{
-					btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
-					btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
-					btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
-					getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
-					btVector3 normal = tr.getBasis().getColumn(0);
-					btVector3 axis = tr.getBasis().getColumn(1);
-					btScalar a_min = pSlider->getLowerAngLimit();
-					btScalar a_max = pSlider->getUpperAngLimit();
-					const btVector3& center = pSlider->getCalculatedTransformB().getOrigin();
-					getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0,0,0), true);
-				}
-			}
-			break;
-		default : 
-			break;
-	}
-	return;
-}
-
-
-
-
-
-void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
-{
-	if (m_ownsConstraintSolver)
-	{
-		btAlignedFree( m_constraintSolver);
-	}
-	m_ownsConstraintSolver = false;
-	m_constraintSolver = solver;
-}
-
-btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
-{
-	return m_constraintSolver;
-}
-
-
-int		btDiscreteDynamicsWorld::getNumConstraints() const
-{
-	return int(m_constraints.size());
-}
-btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index)
-{
-	return m_constraints[index];
-}
-const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
-{
-	return m_constraints[index];
-}
-
-
-
-void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
-{
-	int i;
-	//serialize all collision objects
-	for (i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
-		{
-			int len = colObj->calculateSerializeBufferSize();
-			btChunk* chunk = serializer->allocate(len,1);
-			const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
-			serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj);
-		}
-	}
-
-	for (i=0;i<m_constraints.size();i++)
-	{
-		btTypedConstraint* constraint = m_constraints[i];
-		int size = constraint->calculateSerializeBufferSize();
-		btChunk* chunk = serializer->allocate(size,1);
-		const char* structType = constraint->serialize(chunk->m_oldPtr,serializer);
-		serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint);
-	}
-}
-
-
-void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
-{
-
-	serializer->startSerialization();
-
-	serializeRigidBodies(serializer);
-
-	serializeCollisionObjects(serializer);
-
-	serializer->finishSerialization();
-}
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
deleted file mode 100644
index df47c29044f..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
-#define BT_DISCRETE_DYNAMICS_WORLD_H
-
-#include "btDynamicsWorld.h"
-
-class btDispatcher;
-class btOverlappingPairCache;
-class btConstraintSolver;
-class btSimulationIslandManager;
-class btTypedConstraint;
-class btActionInterface;
-
-class btIDebugDraw;
-#include "LinearMath/btAlignedObjectArray.h"
-
-
-///btDiscreteDynamicsWorld provides discrete rigid body simulation
-///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-class btDiscreteDynamicsWorld : public btDynamicsWorld
-{
-protected:
-
-	btConstraintSolver*	m_constraintSolver;
-
-	btSimulationIslandManager*	m_islandManager;
-
-	btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
-	btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
-
-	btVector3	m_gravity;
-
-	//for variable timesteps
-	btScalar	m_localTime;
-	//for variable timesteps
-
-	bool	m_ownsIslandManager;
-	bool	m_ownsConstraintSolver;
-	bool	m_synchronizeAllMotionStates;
-
-	btAlignedObjectArray<btActionInterface*>	m_actions;
-	
-	int	m_profileTimings;
-
-	virtual void	predictUnconstraintMotion(btScalar timeStep);
-	
-	virtual void	integrateTransforms(btScalar timeStep);
-		
-	virtual void	calculateSimulationIslands();
-
-	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
-	
-	void	updateActivationState(btScalar timeStep);
-
-	void	updateActions(btScalar timeStep);
-
-	void	startProfiling(btScalar timeStep);
-
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
-
-
-	virtual void	saveKinematicState(btScalar timeStep);
-
-	void	serializeRigidBodies(btSerializer* serializer);
-
-public:
-
-
-	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btDiscreteDynamicsWorld();
-
-	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
-
-
-	virtual void	synchronizeMotionStates();
-
-	///this can be useful to synchronize a single rigid body -> graphics object
-	void	synchronizeSingleMotionState(btRigidBody* body);
-
-	virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
-
-	virtual void	removeConstraint(btTypedConstraint* constraint);
-
-	virtual void	addAction(btActionInterface*);
-
-	virtual void	removeAction(btActionInterface*);
-	
-	btSimulationIslandManager*	getSimulationIslandManager()
-	{
-		return m_islandManager;
-	}
-
-	const btSimulationIslandManager*	getSimulationIslandManager() const 
-	{
-		return m_islandManager;
-	}
-
-	btCollisionWorld*	getCollisionWorld()
-	{
-		return this;
-	}
-
-	virtual void	setGravity(const btVector3& gravity);
-
-	virtual btVector3 getGravity () const;
-
-	virtual void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-
-	virtual void	addRigidBody(btRigidBody* body);
-
-	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
-
-	virtual void	removeRigidBody(btRigidBody* body);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-
-
-	void	debugDrawConstraint(btTypedConstraint* constraint);
-
-	virtual void	debugDrawWorld();
-
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
-
-	virtual btConstraintSolver* getConstraintSolver();
-	
-	virtual	int		getNumConstraints() const;
-
-	virtual btTypedConstraint* getConstraint(int index)	;
-
-	virtual const btTypedConstraint* getConstraint(int index) const;
-
-	
-	virtual btDynamicsWorldType	getWorldType() const
-	{
-		return BT_DISCRETE_DYNAMICS_WORLD;
-	}
-	
-	///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep.
-	virtual void	clearForces();
-
-	///apply gravity, call this once per timestep
-	virtual void	applyGravity();
-
-	virtual void	setNumTasks(int numTasks)
-	{
-        (void) numTasks;
-	}
-
-	///obsolete, use updateActions instead
-	virtual void updateVehicles(btScalar timeStep)
-	{
-		updateActions(timeStep);
-	}
-
-	///obsolete, use addAction instead
-	virtual void	addVehicle(btActionInterface* vehicle);
-	///obsolete, use removeAction instead
-	virtual void	removeVehicle(btActionInterface* vehicle);
-	///obsolete, use addAction instead
-	virtual void	addCharacter(btActionInterface* character);
-	///obsolete, use removeAction instead
-	virtual void	removeCharacter(btActionInterface* character);
-
-	void	setSynchronizeAllMotionStates(bool synchronizeAll)
-	{
-		m_synchronizeAllMotionStates = synchronizeAll;
-	}
-	bool getSynchronizeAllMotionStates() const
-	{
-		return m_synchronizeAllMotionStates;
-	}
-
-	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
-	virtual	void	serialize(btSerializer* serializer);
-
-};
-
-#endif //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/BulletDynamics/Dynamics/btDynamicsWorld.h
deleted file mode 100644
index a7b85afbec9..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_DYNAMICS_WORLD_H
-#define BT_DYNAMICS_WORLD_H
-
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-class btTypedConstraint;
-class btActionInterface;
-class btConstraintSolver;
-class btDynamicsWorld;
-
-
-/// Type for the callback for each tick
-typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
-
-enum btDynamicsWorldType
-{
-	BT_SIMPLE_DYNAMICS_WORLD=1,
-	BT_DISCRETE_DYNAMICS_WORLD=2,
-	BT_CONTINUOUS_DYNAMICS_WORLD=3
-};
-
-///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
-class btDynamicsWorld : public btCollisionWorld
-{
-
-protected:
-		btInternalTickCallback m_internalTickCallback;
-		btInternalTickCallback m_internalPreTickCallback;
-		void*	m_worldUserInfo;
-
-		btContactSolverInfo	m_solverInfo;
-
-public:
-		
-
-		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
-		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
-		{
-		}
-
-		virtual ~btDynamicsWorld()
-		{
-		}
-		
-		///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
-		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
-		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
-		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
-			
-		virtual void	debugDrawWorld() = 0;
-				
-		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
-		{ 
-			(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
-		}
-
-		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
-
-		virtual void	addAction(btActionInterface* action) = 0;
-
-		virtual void	removeAction(btActionInterface* action) = 0;
-
-		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
-		//existing rigidbodies in the world get gravity assigned too, during this method
-		virtual void	setGravity(const btVector3& gravity) = 0;
-		virtual btVector3 getGravity () const = 0;
-
-		virtual void	synchronizeMotionStates() = 0;
-
-		virtual void	addRigidBody(btRigidBody* body) = 0;
-
-		virtual void	removeRigidBody(btRigidBody* body) = 0;
-
-		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
-
-		virtual btConstraintSolver* getConstraintSolver() = 0;
-		
-		virtual	int		getNumConstraints() const {	return 0;		}
-		
-		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
-		
-		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
-
-		virtual btDynamicsWorldType	getWorldType() const=0;
-
-		virtual void	clearForces() = 0;
-
-		/// Set the callback for when an internal tick (simulation substep) happens, optional user info
-		void setInternalTickCallback(btInternalTickCallback cb,	void* worldUserInfo=0,bool isPreTick=false) 
-		{ 
-			if (isPreTick)
-			{
-				m_internalPreTickCallback = cb;
-			} else
-			{
-				m_internalTickCallback = cb; 
-			}
-			m_worldUserInfo = worldUserInfo;
-		}
-
-		void	setWorldUserInfo(void* worldUserInfo)
-		{
-			m_worldUserInfo = worldUserInfo;
-		}
-
-		void*	getWorldUserInfo() const
-		{
-			return m_worldUserInfo;
-		}
-
-		btContactSolverInfo& getSolverInfo()
-		{
-			return m_solverInfo;
-		}
-
-
-		///obsolete, use addAction instead.
-		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
-		///obsolete, use removeAction instead
-		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
-		///obsolete, use addAction instead.
-		virtual void	addCharacter(btActionInterface* character) {(void)character;}
-		///obsolete, use removeAction instead
-		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
-
-
-};
-
-#endif //BT_DYNAMICS_WORLD_H
-
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.cpp
deleted file mode 100644
index 35de8e47570..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.cpp
+++ /dev/null
@@ -1,400 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btRigidBody.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btTransformUtil.h"
-#include "LinearMath/btMotionState.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "LinearMath/btSerializer.h"
-
-//'temporarily' global variables
-btScalar	gDeactivationTime = btScalar(2.);
-bool	gDisableDeactivation = false;
-static int uniqueId = 0;
-
-
-btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-{
-	setupRigidBody(constructionInfo);
-}
-
-btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia)
-{
-	btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia);
-	setupRigidBody(cinfo);
-}
-
-void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo)
-{
-
-	m_internalType=CO_RIGID_BODY;
-
-	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	m_angularFactor.setValue(1,1,1);
-	m_linearFactor.setValue(1,1,1);
-	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),
-	m_linearDamping = btScalar(0.);
-	m_angularDamping = btScalar(0.5);
-	m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
-	m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
-	m_optionalMotionState = constructionInfo.m_motionState;
-	m_contactSolverType = 0;
-	m_frictionSolverType = 0;
-	m_additionalDamping = constructionInfo.m_additionalDamping;
-	m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
-	m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
-	m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
-	m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
-
-	if (m_optionalMotionState)
-	{
-		m_optionalMotionState->getWorldTransform(m_worldTransform);
-	} else
-	{
-		m_worldTransform = constructionInfo.m_startWorldTransform;
-	}
-
-	m_interpolationWorldTransform = m_worldTransform;
-	m_interpolationLinearVelocity.setValue(0,0,0);
-	m_interpolationAngularVelocity.setValue(0,0,0);
-	
-	//moved to btCollisionObject
-	m_friction = constructionInfo.m_friction;
-	m_restitution = constructionInfo.m_restitution;
-
-	setCollisionShape( constructionInfo.m_collisionShape );
-	m_debugBodyId = uniqueId++;
-	
-	setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
-    setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
-	updateInertiaTensor();
-
-	m_rigidbodyFlags = 0;
-
-
-	m_deltaLinearVelocity.setZero();
-	m_deltaAngularVelocity.setZero();
-	m_invMass = m_inverseMass*m_linearFactor;
-	m_pushVelocity.setZero();
-	m_turnVelocity.setZero();
-
-	
-
-}
-
-
-void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) 
-{
-	btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
-}
-
-void			btRigidBody::saveKinematicState(btScalar timeStep)
-{
-	//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
-	if (timeStep != btScalar(0.))
-	{
-		//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
-		if (getMotionState())
-			getMotionState()->getWorldTransform(m_worldTransform);
-		btVector3 linVel,angVel;
-		
-		btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity);
-		m_interpolationLinearVelocity = m_linearVelocity;
-		m_interpolationAngularVelocity = m_angularVelocity;
-		m_interpolationWorldTransform = m_worldTransform;
-		//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
-	}
-}
-	
-void	btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const
-{
-	getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax);
-}
-
-
-
-
-void btRigidBody::setGravity(const btVector3& acceleration) 
-{
-	if (m_inverseMass != btScalar(0.0))
-	{
-		m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
-	}
-	m_gravity_acceleration = acceleration;
-}
-
-
-
-
-
-
-void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
-{
-	m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-	m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-}
-
-
-
-
-///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
-void			btRigidBody::applyDamping(btScalar timeStep)
-{
-	//On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74
-	//todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway
-
-//#define USE_OLD_DAMPING_METHOD 1
-#ifdef USE_OLD_DAMPING_METHOD
-	m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-	m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
-#else
-	m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep);
-	m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep);
-#endif
-
-	if (m_additionalDamping)
-	{
-		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
-		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) &&
-			(m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr))
-		{
-			m_angularVelocity *= m_additionalDampingFactor;
-			m_linearVelocity *= m_additionalDampingFactor;
-		}
-	
-
-		btScalar speed = m_linearVelocity.length();
-		if (speed < m_linearDamping)
-		{
-			btScalar dampVel = btScalar(0.005);
-			if (speed > dampVel)
-			{
-				btVector3 dir = m_linearVelocity.normalized();
-				m_linearVelocity -=  dir * dampVel;
-			} else
-			{
-				m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-			}
-		}
-
-		btScalar angSpeed = m_angularVelocity.length();
-		if (angSpeed < m_angularDamping)
-		{
-			btScalar angDampVel = btScalar(0.005);
-			if (angSpeed > angDampVel)
-			{
-				btVector3 dir = m_angularVelocity.normalized();
-				m_angularVelocity -=  dir * angDampVel;
-			} else
-			{
-				m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-			}
-		}
-	}
-}
-
-
-void btRigidBody::applyGravity()
-{
-	if (isStaticOrKinematicObject())
-		return;
-	
-	applyCentralForce(m_gravity);	
-
-}
-
-void btRigidBody::proceedToTransform(const btTransform& newTrans)
-{
-	setCenterOfMassTransform( newTrans );
-}
-	
-
-void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
-{
-	if (mass == btScalar(0.))
-	{
-		m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
-		m_inverseMass = btScalar(0.);
-	} else
-	{
-		m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
-		m_inverseMass = btScalar(1.0) / mass;
-	}
-	
-	m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
-				   inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
-				   inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
-
-	m_invMass = m_linearFactor*m_inverseMass;
-}
-
-	
-
-void btRigidBody::updateInertiaTensor() 
-{
-	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
-}
-
-
-void btRigidBody::integrateVelocities(btScalar step) 
-{
-	if (isStaticOrKinematicObject())
-		return;
-
-	m_linearVelocity += m_totalForce * (m_inverseMass * step);
-	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
-
-#define MAX_ANGVEL SIMD_HALF_PI
-	/// clamp angular velocity. collision calculations will fail on higher angular velocities	
-	btScalar angvel = m_angularVelocity.length();
-	if (angvel*step > MAX_ANGVEL)
-	{
-		m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
-	}
-
-}
-
-btQuaternion btRigidBody::getOrientation() const
-{
-		btQuaternion orn;
-		m_worldTransform.getBasis().getRotation(orn);
-		return orn;
-}
-	
-	
-void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
-{
-
-	if (isStaticOrKinematicObject())
-	{
-		m_interpolationWorldTransform = m_worldTransform;
-	} else
-	{
-		m_interpolationWorldTransform = xform;
-	}
-	m_interpolationLinearVelocity = getLinearVelocity();
-	m_interpolationAngularVelocity = getAngularVelocity();
-	m_worldTransform = xform;
-	updateInertiaTensor();
-}
-
-
-bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
-{
-	btRigidBody* otherRb = btRigidBody::upcast(co);
-	if (!otherRb)
-		return true;
-
-	for (int i = 0; i < m_constraintRefs.size(); ++i)
-	{
-		btTypedConstraint* c = m_constraintRefs[i];
-		if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
-			return false;
-	}
-
-	return true;
-}
-
-void	btRigidBody::internalWritebackVelocity(btScalar timeStep)
-{
-    (void) timeStep;
-	if (m_inverseMass)
-	{
-		setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
-		setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-		
-		//correct the position/orientation based on push/turn recovery
-		btTransform newTransform;
-		btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-		setWorldTransform(newTransform);
-		//m_originalBody->setCompanionId(-1);
-	}
-	m_deltaLinearVelocity.setZero();
-	m_deltaAngularVelocity .setZero();
-	m_pushVelocity.setZero();
-	m_turnVelocity.setZero();
-}
-
-
-
-void btRigidBody::addConstraintRef(btTypedConstraint* c)
-{
-	int index = m_constraintRefs.findLinearSearch(c);
-	if (index == m_constraintRefs.size())
-		m_constraintRefs.push_back(c); 
-
-	m_checkCollideWith = true;
-}
-
-void btRigidBody::removeConstraintRef(btTypedConstraint* c)
-{
-	m_constraintRefs.remove(c);
-	m_checkCollideWith = m_constraintRefs.size() > 0;
-}
-
-int	btRigidBody::calculateSerializeBufferSize()	const
-{
-	int sz = sizeof(btRigidBodyData);
-	return sz;
-}
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char*	btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
-{
-	btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
-
-	btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
-
-	m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
-	m_linearVelocity.serialize(rbd->m_linearVelocity);
-	m_angularVelocity.serialize(rbd->m_angularVelocity);
-	rbd->m_inverseMass = m_inverseMass;
-	m_angularFactor.serialize(rbd->m_angularFactor);
-	m_linearFactor.serialize(rbd->m_linearFactor);
-	m_gravity.serialize(rbd->m_gravity);
-	m_gravity_acceleration.serialize(rbd->m_gravity_acceleration);
-	m_invInertiaLocal.serialize(rbd->m_invInertiaLocal);
-	m_totalForce.serialize(rbd->m_totalForce);
-	m_totalTorque.serialize(rbd->m_totalTorque);
-	rbd->m_linearDamping = m_linearDamping;
-	rbd->m_angularDamping = m_angularDamping;
-	rbd->m_additionalDamping = m_additionalDamping;
-	rbd->m_additionalDampingFactor = m_additionalDampingFactor;
-	rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
-	rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
-	rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
-	rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
-	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
-
-	return btRigidBodyDataName;
-}
-
-
-
-void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
-{
-	btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
-	const char* structType = serialize(chunk->m_oldPtr, serializer);
-	serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
-}
-
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.h
deleted file mode 100644
index 571a30ce6b8..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btRigidBody.h
+++ /dev/null
@@ -1,670 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef RIGIDBODY_H
-#define RIGIDBODY_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btTransform.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-class btCollisionShape;
-class btMotionState;
-class btTypedConstraint;
-
-
-extern btScalar gDeactivationTime;
-extern bool gDisableDeactivation;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btRigidBodyData	btRigidBodyDoubleData
-#define btRigidBodyDataName	"btRigidBodyDoubleData"
-#else
-#define btRigidBodyData	btRigidBodyFloatData
-#define btRigidBodyDataName	"btRigidBodyFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
-enum	btRigidBodyFlags
-{
-	BT_DISABLE_WORLD_GRAVITY = 1
-};
-
-
-///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
-///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
-///There are 3 types of rigid bodies: 
-///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
-///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
-///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
-///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
-///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
-class btRigidBody  : public btCollisionObject
-{
-
-	btMatrix3x3	m_invInertiaTensorWorld;
-	btVector3		m_linearVelocity;
-	btVector3		m_angularVelocity;
-	btScalar		m_inverseMass;
-	btVector3		m_linearFactor;
-
-	btVector3		m_gravity;	
-	btVector3		m_gravity_acceleration;
-	btVector3		m_invInertiaLocal;
-	btVector3		m_totalForce;
-	btVector3		m_totalTorque;
-	
-	btScalar		m_linearDamping;
-	btScalar		m_angularDamping;
-
-	bool			m_additionalDamping;
-	btScalar		m_additionalDampingFactor;
-	btScalar		m_additionalLinearDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingFactor;
-
-
-	btScalar		m_linearSleepingThreshold;
-	btScalar		m_angularSleepingThreshold;
-
-	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	m_optionalMotionState;
-
-	//keep track of typed constraints referencing this rigid body
-	btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
-
-	int				m_rigidbodyFlags;
-	
-	int				m_debugBodyId;
-
-
-protected:
-
-	ATTRIBUTE_ALIGNED64(btVector3		m_deltaLinearVelocity);
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_invMass;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-
-
-public:
-
-
-	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
-	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
-	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
-	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
-	///m_startWorldTransform is only used when you don't provide a motion state.
-	struct	btRigidBodyConstructionInfo
-	{
-		btScalar			m_mass;
-
-		///When a motionState is provided, the rigid body will initialize its world transform from the motion state
-		///In this case, m_startWorldTransform is ignored.
-		btMotionState*		m_motionState;
-		btTransform	m_startWorldTransform;
-
-		btCollisionShape*	m_collisionShape;
-		btVector3			m_localInertia;
-		btScalar			m_linearDamping;
-		btScalar			m_angularDamping;
-
-		///best simulation results when friction is non-zero
-		btScalar			m_friction;
-		///best simulation results using zero restitution.
-		btScalar			m_restitution;
-
-		btScalar			m_linearSleepingThreshold;
-		btScalar			m_angularSleepingThreshold;
-
-		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
-		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		bool				m_additionalDamping;
-		btScalar			m_additionalDampingFactor;
-		btScalar			m_additionalLinearDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingFactor;
-
-		btRigidBodyConstructionInfo(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
-		m_mass(mass),
-			m_motionState(motionState),
-			m_collisionShape(collisionShape),
-			m_localInertia(localInertia),
-			m_linearDamping(btScalar(0.)),
-			m_angularDamping(btScalar(0.)),
-			m_friction(btScalar(0.5)),
-			m_restitution(btScalar(0.)),
-			m_linearSleepingThreshold(btScalar(0.8)),
-			m_angularSleepingThreshold(btScalar(1.f)),
-			m_additionalDamping(false),
-			m_additionalDampingFactor(btScalar(0.005)),
-			m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingFactor(btScalar(0.01))
-		{
-			m_startWorldTransform.setIdentity();
-		}
-	};
-
-	///btRigidBody constructor using construction info
-	btRigidBody(	const btRigidBodyConstructionInfo& constructionInfo);
-
-	///btRigidBody constructor for backwards compatibility. 
-	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
-	btRigidBody(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
-
-
-	virtual ~btRigidBody()
-        { 
-                //No constraints should point to this rigidbody
-		//Remove constraints from the dynamics world before you delete the related rigidbodies. 
-                btAssert(m_constraintRefs.size()==0); 
-        }
-
-protected:
-
-	///setupRigidBody is only used internally by the constructor
-	void	setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
-
-public:
-
-	void			proceedToTransform(const btTransform& newTrans); 
-	
-	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
-	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
-	static const btRigidBody*	upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
-			return (const btRigidBody*)colObj;
-		return 0;
-	}
-	static btRigidBody*	upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
-			return (btRigidBody*)colObj;
-		return 0;
-	}
-	
-	/// continuous collision detection needs prediction
-	void			predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
-	
-	void			saveKinematicState(btScalar step);
-	
-	void			applyGravity();
-	
-	void			setGravity(const btVector3& acceleration);  
-
-	const btVector3&	getGravity() const
-	{
-		return m_gravity_acceleration;
-	}
-
-	void			setDamping(btScalar lin_damping, btScalar ang_damping);
-
-	btScalar getLinearDamping() const
-	{
-		return m_linearDamping;
-	}
-
-	btScalar getAngularDamping() const
-	{
-		return m_angularDamping;
-	}
-
-	btScalar getLinearSleepingThreshold() const
-	{
-		return m_linearSleepingThreshold;
-	}
-
-	btScalar getAngularSleepingThreshold() const
-	{
-		return m_angularSleepingThreshold;
-	}
-
-	void			applyDamping(btScalar timeStep);
-
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const {
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape() {
-			return m_collisionShape;
-	}
-	
-	void			setMassProps(btScalar mass, const btVector3& inertia);
-	
-	const btVector3& getLinearFactor() const
-	{
-		return m_linearFactor;
-	}
-	void setLinearFactor(const btVector3& linearFactor)
-	{
-		m_linearFactor = linearFactor;
-		m_invMass = m_linearFactor*m_inverseMass;
-	}
-	btScalar		getInvMass() const { return m_inverseMass; }
-	const btMatrix3x3& getInvInertiaTensorWorld() const { 
-		return m_invInertiaTensorWorld; 
-	}
-		
-	void			integrateVelocities(btScalar step);
-
-	void			setCenterOfMassTransform(const btTransform& xform);
-
-	void			applyCentralForce(const btVector3& force)
-	{
-		m_totalForce += force*m_linearFactor;
-	}
-
-	const btVector3& getTotalForce()
-	{
-		return m_totalForce;
-	};
-
-	const btVector3& getTotalTorque()
-	{
-		return m_totalTorque;
-	};
-    
-	const btVector3& getInvInertiaDiagLocal() const
-	{
-		return m_invInertiaLocal;
-	};
-
-	void	setInvInertiaDiagLocal(const btVector3& diagInvInertia)
-	{
-		m_invInertiaLocal = diagInvInertia;
-	}
-
-	void	setSleepingThresholds(btScalar linear,btScalar angular)
-	{
-		m_linearSleepingThreshold = linear;
-		m_angularSleepingThreshold = angular;
-	}
-
-	void	applyTorque(const btVector3& torque)
-	{
-		m_totalTorque += torque*m_angularFactor;
-	}
-	
-	void	applyForce(const btVector3& force, const btVector3& rel_pos) 
-	{
-		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force*m_linearFactor));
-	}
-	
-	void applyCentralImpulse(const btVector3& impulse)
-	{
-		m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
-	}
-	
-  	void applyTorqueImpulse(const btVector3& torque)
-	{
-			m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
-	}
-	
-	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
-	{
-		if (m_inverseMass != btScalar(0.))
-		{
-			applyCentralImpulse(impulse);
-			if (m_angularFactor)
-			{
-				applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
-			}
-		}
-	}
-
-	void clearForces() 
-	{
-		m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-		m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-	
-	void updateInertiaTensor();    
-	
-	const btVector3&     getCenterOfMassPosition() const { 
-		return m_worldTransform.getOrigin(); 
-	}
-	btQuaternion getOrientation() const;
-	
-	const btTransform&  getCenterOfMassTransform() const { 
-		return m_worldTransform; 
-	}
-	const btVector3&   getLinearVelocity() const { 
-		return m_linearVelocity; 
-	}
-	const btVector3&    getAngularVelocity() const { 
-		return m_angularVelocity; 
-	}
-	
-
-	inline void setLinearVelocity(const btVector3& lin_vel)
-	{ 
-		m_linearVelocity = lin_vel; 
-	}
-
-	inline void setAngularVelocity(const btVector3& ang_vel) 
-	{ 
-		m_angularVelocity = ang_vel; 
-	}
-
-	btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
-	{
-		//we also calculate lin/ang velocity for kinematic objects
-		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
-
-		//for kinematic objects, we could also use use:
-		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
-	}
-
-	void translate(const btVector3& v) 
-	{
-		m_worldTransform.getOrigin() += v; 
-	}
-
-	
-	void	getAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-
-
-
-
-	
-	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
-	{
-		btVector3 r0 = pos - getCenterOfMassPosition();
-
-		btVector3 c0 = (r0).cross(normal);
-
-		btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
-
-		return m_inverseMass + normal.dot(vec);
-
-	}
-
-	SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
-	{
-		btVector3 vec = axis * getInvInertiaTensorWorld();
-		return axis.dot(vec);
-	}
-
-	SIMD_FORCE_INLINE void	updateDeactivation(btScalar timeStep)
-	{
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
-			return;
-
-		if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
-			(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
-		{
-			m_deactivationTime += timeStep;
-		} else
-		{
-			m_deactivationTime=btScalar(0.);
-			setActivationState(0);
-		}
-
-	}
-
-	SIMD_FORCE_INLINE bool	wantsSleeping()
-	{
-
-		if (getActivationState() == DISABLE_DEACTIVATION)
-			return false;
-
-		//disable deactivation
-		if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
-			return false;
-
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
-			return true;
-
-		if (m_deactivationTime> gDeactivationTime)
-		{
-			return true;
-		}
-		return false;
-	}
-
-
-	
-	const btBroadphaseProxy*	getBroadphaseProxy() const
-	{
-		return m_broadphaseHandle;
-	}
-	btBroadphaseProxy*	getBroadphaseProxy() 
-	{
-		return m_broadphaseHandle;
-	}
-	void	setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
-	{
-		m_broadphaseHandle = broadphaseProxy;
-	}
-
-	//btMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	getMotionState()
-	{
-		return m_optionalMotionState;
-	}
-	const btMotionState*	getMotionState() const
-	{
-		return m_optionalMotionState;
-	}
-	void	setMotionState(btMotionState* motionState)
-	{
-		m_optionalMotionState = motionState;
-		if (m_optionalMotionState)
-			motionState->getWorldTransform(m_worldTransform);
-	}
-
-	//for experimental overriding of friction/contact solver func
-	int	m_contactSolverType;
-	int	m_frictionSolverType;
-
-	void	setAngularFactor(const btVector3& angFac)
-	{
-		m_angularFactor = angFac;
-	}
-
-	void	setAngularFactor(btScalar angFac)
-	{
-		m_angularFactor.setValue(angFac,angFac,angFac);
-	}
-	const btVector3&	getAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
-	bool	isInWorld() const
-	{
-		return (getBroadphaseProxy() != 0);
-	}
-
-	virtual bool checkCollideWithOverride(btCollisionObject* co);
-
-	void addConstraintRef(btTypedConstraint* c);
-	void removeConstraintRef(btTypedConstraint* c);
-
-	btTypedConstraint* getConstraintRef(int index)
-	{
-		return m_constraintRefs[index];
-	}
-
-	int getNumConstraintRefs()
-	{
-		return m_constraintRefs.size();
-	}
-
-	void	setFlags(int flags)
-	{
-		m_rigidbodyFlags = flags;
-	}
-
-	int getFlags() const
-	{
-		return m_rigidbodyFlags;
-	}
-
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-		
-	btVector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	btVector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const btVector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-	
-	btVector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	btVector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
-	{
-		velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	SIMD_FORCE_INLINE void	internalGetAngularVelocity(btVector3& angVel) const
-	{
-		angVel = getAngularVelocity()+m_deltaAngularVelocity;
-	}
-
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
-	{
-		if (m_inverseMass)
-		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
-	{
-		if (m_inverseMass)
-		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-	
-	void	internalWritebackVelocity()
-	{
-		if (m_inverseMass)
-		{
-			setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
-			setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-			m_deltaLinearVelocity.setZero();
-			m_deltaAngularVelocity .setZero();
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-
-	void	internalWritebackVelocity(btScalar timeStep);
-	
-
-	///////////////////////////////////////////////
-
-	virtual	int	calculateSerializeBufferSize()	const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer,  class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer* serializer) const;
-
-};
-
-//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyFloatData
-{
-	btCollisionObjectFloatData	m_collisionObjectData;
-	btMatrix3x3FloatData		m_invInertiaTensorWorld;
-	btVector3FloatData		m_linearVelocity;
-	btVector3FloatData		m_angularVelocity;
-	btVector3FloatData		m_angularFactor;
-	btVector3FloatData		m_linearFactor;
-	btVector3FloatData		m_gravity;	
-	btVector3FloatData		m_gravity_acceleration;
-	btVector3FloatData		m_invInertiaLocal;
-	btVector3FloatData		m_totalForce;
-	btVector3FloatData		m_totalTorque;
-	float					m_inverseMass;
-	float					m_linearDamping;
-	float					m_angularDamping;
-	float					m_additionalDampingFactor;
-	float					m_additionalLinearDampingThresholdSqr;
-	float					m_additionalAngularDampingThresholdSqr;
-	float					m_additionalAngularDampingFactor;
-	float					m_linearSleepingThreshold;
-	float					m_angularSleepingThreshold;
-	int						m_additionalDamping;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyDoubleData
-{
-	btCollisionObjectDoubleData	m_collisionObjectData;
-	btMatrix3x3DoubleData		m_invInertiaTensorWorld;
-	btVector3DoubleData		m_linearVelocity;
-	btVector3DoubleData		m_angularVelocity;
-	btVector3DoubleData		m_angularFactor;
-	btVector3DoubleData		m_linearFactor;
-	btVector3DoubleData		m_gravity;	
-	btVector3DoubleData		m_gravity_acceleration;
-	btVector3DoubleData		m_invInertiaLocal;
-	btVector3DoubleData		m_totalForce;
-	btVector3DoubleData		m_totalTorque;
-	double					m_inverseMass;
-	double					m_linearDamping;
-	double					m_angularDamping;
-	double					m_additionalDampingFactor;
-	double					m_additionalLinearDampingThresholdSqr;
-	double					m_additionalAngularDampingThresholdSqr;
-	double					m_additionalAngularDampingFactor;
-	double					m_linearSleepingThreshold;
-	double					m_angularSleepingThreshold;
-	int						m_additionalDamping;
-	char	m_padding[4];
-};
-
-
-
-#endif
-
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
deleted file mode 100644
index ae449f292f6..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ /dev/null
@@ -1,253 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSimpleDynamicsWorld.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-
-
-/*
-  Make sure this dummy function never changes so that it
-  can be used by probes that are checking whether the
-  library is actually installed.
-*/
-extern "C" 
-{
-	void btBulletDynamicsProbe ();
-	void btBulletDynamicsProbe () {}
-}
-
-
-
-
-btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
-:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
-m_constraintSolver(constraintSolver),
-m_ownsConstraintSolver(false),
-m_gravity(0,0,-10)
-{
-
-}
-
-
-btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
-{
-	if (m_ownsConstraintSolver)
-		btAlignedFree( m_constraintSolver);
-}
-
-int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
-{
-	(void)fixedTimeStep;
-	(void)maxSubSteps;
-
-
-	///apply gravity, predict motion
-	predictUnconstraintMotion(timeStep);
-
-	btDispatcherInfo&	dispatchInfo = getDispatchInfo();
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_debugDraw = getDebugDrawer();
-
-	///perform collision detection
-	performDiscreteCollisionDetection();
-
-	///solve contact constraints
-	int numManifolds = m_dispatcher1->getNumManifolds();
-	if (numManifolds)
-	{
-		btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
-		
-		btContactSolverInfo infoGlobal;
-		infoGlobal.m_timeStep = timeStep;
-		m_constraintSolver->prepareSolve(0,numManifolds);
-		m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
-		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
-	}
-
-	///integrate transforms
-	integrateTransforms(timeStep);
-		
-	updateAabbs();
-
-	synchronizeMotionStates();
-
-	clearForces();
-
-	return 1;
-
-}
-
-void	btSimpleDynamicsWorld::clearForces()
-{
-	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->clearForces();
-		}
-	}
-}	
-
-
-void	btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
-{
-	m_gravity = gravity;
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			body->setGravity(gravity);
-		}
-	}
-}
-
-btVector3 btSimpleDynamicsWorld::getGravity () const
-{
-	return m_gravity;
-}
-
-void	btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
-{
-	btCollisionWorld::removeCollisionObject(body);
-}
-
-void	btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
-{
-	btRigidBody* body = btRigidBody::upcast(collisionObject);
-	if (body)
-		removeRigidBody(body);
-	else
-		btCollisionWorld::removeCollisionObject(collisionObject);
-}
-
-
-void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
-{
-	body->setGravity(m_gravity);
-
-	if (body->getCollisionShape())
-	{
-		addCollisionObject(body);
-	}
-}
-
-void	btSimpleDynamicsWorld::updateAabbs()
-{
-	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (body->isActive() && (!body->isStaticObject()))
-			{
-				btVector3 minAabb,maxAabb;
-				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-				btBroadphaseInterface* bp = getBroadphase();
-				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-			}
-		}
-	}
-}
-
-void	btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
-{
-	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (body->isActive() && (!body->isStaticObject()))
-			{
-				body->predictIntegratedTransform(timeStep, predictedTrans);
-				body->proceedToTransform( predictedTrans);
-			}
-		}
-	}
-}
-
-
-
-void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
-{
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body)
-		{
-			if (!body->isStaticObject())
-			{
-				if (body->isActive())
-				{
-					body->applyGravity();
-					body->integrateVelocities( timeStep);
-					body->applyDamping(timeStep);
-					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
-				}
-			}
-		}
-	}
-}
-
-
-void	btSimpleDynamicsWorld::synchronizeMotionStates()
-{
-	///@todo: iterate over awake simulation islands!
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getMotionState())
-		{
-			if (body->getActivationState() != ISLAND_SLEEPING)
-			{
-				body->getMotionState()->setWorldTransform(body->getWorldTransform());
-			}
-		}
-	}
-
-}
-
-
-void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
-{
-	if (m_ownsConstraintSolver)
-	{
-		btAlignedFree(m_constraintSolver);
-	}
-	m_ownsConstraintSolver = false;
-	m_constraintSolver = solver;
-}
-
-btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
-{
-	return m_constraintSolver;
-}
diff --git a/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
deleted file mode 100644
index ad1f541340f..00000000000
--- a/extern/bullet2/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_SIMPLE_DYNAMICS_WORLD_H
-#define BT_SIMPLE_DYNAMICS_WORLD_H
-
-#include "btDynamicsWorld.h"
-
-class btDispatcher;
-class btOverlappingPairCache;
-class btConstraintSolver;
-
-///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
-///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
-class btSimpleDynamicsWorld : public btDynamicsWorld
-{
-protected:
-
-	btConstraintSolver*	m_constraintSolver;
-
-	bool	m_ownsConstraintSolver;
-
-	void	predictUnconstraintMotion(btScalar timeStep);
-	
-	void	integrateTransforms(btScalar timeStep);
-		
-	btVector3	m_gravity;
-	
-public:
-
-
-
-	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btSimpleDynamicsWorld();
-		
-	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
-
-	virtual void	setGravity(const btVector3& gravity);
-
-	virtual btVector3 getGravity () const;
-
-	virtual void	addRigidBody(btRigidBody* body);
-
-	virtual void	removeRigidBody(btRigidBody* body);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-	
-	virtual void	updateAabbs();
-
-	virtual void	synchronizeMotionStates();
-
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
-
-	virtual btConstraintSolver* getConstraintSolver();
-
-	virtual btDynamicsWorldType	getWorldType() const
-	{
-		return BT_SIMPLE_DYNAMICS_WORLD;
-	}
-
-	virtual void	clearForces();
-
-};
-
-#endif //BT_SIMPLE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.cpp
deleted file mode 100644
index b42c024f178..00000000000
--- a/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ /dev/null
@@ -1,758 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-
-#include "LinearMath/btVector3.h"
-#include "btRaycastVehicle.h"
-
-#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
-#include "LinearMath/btQuaternion.h"
-#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
-#include "btVehicleRaycaster.h"
-#include "btWheelInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-
-
-btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-:m_vehicleRaycaster(raycaster),
-m_pitchControl(btScalar(0.))
-{
-	m_chassisBody = chassis;
-	m_indexRightAxis = 0;
-	m_indexUpAxis = 2;
-	m_indexForwardAxis = 1;
-	defaultInit(tuning);
-}
-
-
-void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
-{
-	(void)tuning;
-	m_currentVehicleSpeedKmHour = btScalar(0.);
-	m_steeringValue = btScalar(0.);
-	
-}
-
-	
-
-btRaycastVehicle::~btRaycastVehicle()
-{
-}
-
-
-//
-// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
-//
-btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
-{
-
-	btWheelInfoConstructionInfo ci;
-
-	ci.m_chassisConnectionCS = connectionPointCS;
-	ci.m_wheelDirectionCS = wheelDirectionCS0;
-	ci.m_wheelAxleCS = wheelAxleCS;
-	ci.m_suspensionRestLength = suspensionRestLength;
-	ci.m_wheelRadius = wheelRadius;
-	ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
-	ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
-	ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
-	ci.m_frictionSlip = tuning.m_frictionSlip;
-	ci.m_bIsFrontWheel = isFrontWheel;
-	ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
-	ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
-
-	m_wheelInfo.push_back( btWheelInfo(ci));
-	
-	btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
-	
-	updateWheelTransformsWS( wheel , false );
-	updateWheelTransform(getNumWheels()-1,false);
-	return wheel;
-}
-
-
-
-
-const btTransform&	btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
-{
-	btAssert(wheelIndex < getNumWheels());
-	const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
-	return wheel.m_worldTransform;
-
-}
-
-void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
-{
-	
-	btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
-	updateWheelTransformsWS(wheel,interpolatedTransform);
-	btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
-	const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
-	btVector3 fwd = up.cross(right);
-	fwd = fwd.normalize();
-//	up = right.cross(fwd);
-//	up.normalize();
-
-	//rotate around steering over de wheelAxleWS
-	btScalar steering = wheel.m_steering;
-	
-	btQuaternion steeringOrn(up,steering);//wheel.m_steering);
-	btMatrix3x3 steeringMat(steeringOrn);
-
-	btQuaternion rotatingOrn(right,-wheel.m_rotation);
-	btMatrix3x3 rotatingMat(rotatingOrn);
-
-	btMatrix3x3 basis2(
-		right[0],fwd[0],up[0],
-		right[1],fwd[1],up[1],
-		right[2],fwd[2],up[2]
-	);
-	
-	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
-	wheel.m_worldTransform.setOrigin(
-		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
-	);
-}
-
-void btRaycastVehicle::resetSuspension()
-{
-
-	int i;
-	for (i=0;i<m_wheelInfo.size();	i++)
-	{
-			btWheelInfo& wheel = m_wheelInfo[i];
-			wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			
-			wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-			//wheel_info.setContactFriction(btScalar(0.0));
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
-
-void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
-{
-	wheel.m_raycastInfo.m_isInContact = false;
-
-	btTransform chassisTrans = getChassisWorldTransform();
-	if (interpolatedTransform && (getRigidBody()->getMotionState()))
-	{
-		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
-	}
-
-	wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
-	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *  wheel.m_wheelDirectionCS ;
-	wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
-}
-
-btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
-{
-	updateWheelTransformsWS( wheel,false);
-
-	
-	btScalar depth = -1;
-	
-	btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
-
-	btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
-	const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
-	wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
-	const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
-
-	btScalar param = btScalar(0.);
-	
-	btVehicleRaycaster::btVehicleRaycasterResult	rayResults;
-
-	btAssert(m_vehicleRaycaster);
-
-	void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
-
-	wheel.m_raycastInfo.m_groundObject = 0;
-
-	if (object)
-	{
-		param = rayResults.m_distFraction;
-		depth = raylen * rayResults.m_distFraction;
-		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
-		wheel.m_raycastInfo.m_isInContact = true;
-		
-		wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
-		//wheel.m_raycastInfo.m_groundObject = object;
-
-
-		btScalar hitDistance = param*raylen;
-		wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
-		//clamp on max suspension travel
-
-		btScalar  minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
-		btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
-		if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
-		}
-		if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
-		}
-
-		wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
-
-		btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
-
-		btVector3 chassis_velocity_at_contactPoint;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
-
-		chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
-
-		btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-
-		if ( denominator >= btScalar(-0.1))
-		{
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / denominator;
-			wheel.m_suspensionRelativeVelocity = projVel * inv;
-			wheel.m_clippedInvContactDotSuspension = inv;
-		}
-			
-	} else
-	{
-		//put wheel info as in rest position
-		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-		wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-
-	return depth;
-}
-
-
-const btTransform& btRaycastVehicle::getChassisWorldTransform() const
-{
-	/*if (getRigidBody()->getMotionState())
-	{
-		btTransform chassisWorldTrans;
-		getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
-		return chassisWorldTrans;
-	}
-	*/
-
-	
-	return getRigidBody()->getCenterOfMassTransform();
-}
-
-
-void btRaycastVehicle::updateVehicle( btScalar step )
-{
-	{
-		for (int i=0;i<getNumWheels();i++)
-		{
-			updateWheelTransform(i,false);
-		}
-	}
-
-
-	m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
-	
-	const btTransform& chassisTrans = getChassisWorldTransform();
-
-	btVector3 forwardW (
-		chassisTrans.getBasis()[0][m_indexForwardAxis],
-		chassisTrans.getBasis()[1][m_indexForwardAxis],
-		chassisTrans.getBasis()[2][m_indexForwardAxis]);
-
-	if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
-	{
-		m_currentVehicleSpeedKmHour *= btScalar(-1.);
-	}
-
-	//
-	// simulate suspension
-	//
-	
-	int i=0;
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		btScalar depth; 
-		depth = rayCast( m_wheelInfo[i]);
-	}
-
-	updateSuspension(step);
-
-	
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		//apply suspension force
-		btWheelInfo& wheel = m_wheelInfo[i];
-		
-		btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
-		
-		if (suspensionForce > wheel.m_maxSuspensionForce)
-		{
-			suspensionForce = wheel.m_maxSuspensionForce;
-		}
-		btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
-		
-		getRigidBody()->applyImpulse(impulse, relpos);
-	
-	}
-	
-
-	
-	updateFriction( step);
-
-	
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		btWheelInfo& wheel = m_wheelInfo[i];
-		btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
-		btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
-
-		if (wheel.m_raycastInfo.m_isInContact)
-		{
-			const btTransform&	chassisWorldTransform = getChassisWorldTransform();
-
-			btVector3 fwd (
-				chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
-
-			btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
-			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
-
-			btScalar proj2 = fwd.dot(vel);
-			
-			wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
-			wheel.m_rotation += wheel.m_deltaRotation;
-
-		} else
-		{
-			wheel.m_rotation += wheel.m_deltaRotation;
-		}
-		
-		wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
-
-	}
-
-
-
-}
-
-
-void	btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
-{
-	btAssert(wheel>=0 && wheel < getNumWheels());
-
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_steering = steering;
-}
-
-
-
-btScalar	btRaycastVehicle::getSteeringValue(int wheel) const
-{
-	return getWheelInfo(wheel).m_steering;
-}
-
-
-void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
-{
-	btAssert(wheel>=0 && wheel < getNumWheels());
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_engineForce = force;
-}
-
-
-const btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) const
-{
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) 
-{
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
-{
-	btAssert((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
-	getWheelInfo(wheelIndex).m_brake = brake;
-}
-
-
-void	btRaycastVehicle::updateSuspension(btScalar deltaTime)
-{
-	(void)deltaTime;
-
-	btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
-	
-	for (int w_it=0; w_it<getNumWheels(); w_it++)
-	{
-		btWheelInfo &wheel_info = m_wheelInfo[w_it];
-		
-		if ( wheel_info.m_raycastInfo.m_isInContact )
-		{
-			btScalar force;
-			//	Spring
-			{
-				btScalar	susp_length			= wheel_info.getSuspensionRestLength();
-				btScalar	current_length = wheel_info.m_raycastInfo.m_suspensionLength;
-
-				btScalar length_diff = (susp_length - current_length);
-
-				force = wheel_info.m_suspensionStiffness
-					* length_diff * wheel_info.m_clippedInvContactDotSuspension;
-			}
-		
-			// Damper
-			{
-				btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
-				{
-					btScalar	susp_damping;
-					if ( projected_rel_vel < btScalar(0.0) )
-					{
-						susp_damping = wheel_info.m_wheelsDampingCompression;
-					}
-					else
-					{
-						susp_damping = wheel_info.m_wheelsDampingRelaxation;
-					}
-					force -= susp_damping * projected_rel_vel;
-				}
-			}
-
-			// RESULT
-			wheel_info.m_wheelsSuspensionForce = force * chassisMass;
-			if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
-			{
-				wheel_info.m_wheelsSuspensionForce = btScalar(0.);
-			}
-		}
-		else
-		{
-			wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
-		}
-	}
-
-}
-
-
-struct btWheelContactPoint
-{
-	btRigidBody* m_body0;
-	btRigidBody* m_body1;
-	btVector3	m_frictionPositionWorld;
-	btVector3	m_frictionDirectionWorld;
-	btScalar	m_jacDiagABInv;
-	btScalar	m_maxImpulse;
-
-
-	btWheelContactPoint(btRigidBody* body0,btRigidBody* body1,const btVector3& frictionPosWorld,const btVector3& frictionDirectionWorld, btScalar maxImpulse)
-		:m_body0(body0),
-		m_body1(body1),
-		m_frictionPositionWorld(frictionPosWorld),
-		m_frictionDirectionWorld(frictionDirectionWorld),
-		m_maxImpulse(maxImpulse)
-	{
-		btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar	relaxation = 1.f;
-		m_jacDiagABInv = relaxation/(denom0+denom1);
-	}
-
-
-
-};
-
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
-{
-
-	btScalar j1=0.f;
-
-	const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
-
-	btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition(); 
-	btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition();
-	
-	btScalar maxImpulse  = contactPoint.m_maxImpulse;
-	
-	btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-
-	btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
-
-	// calculate j that moves us to zero relative velocity
-	j1 = -vrel * contactPoint.m_jacDiagABInv;
-	btSetMin(j1, maxImpulse);
-	btSetMax(j1, -maxImpulse);
-
-	return j1;
-}
-
-
-
-
-btScalar sideFrictionStiffness2 = btScalar(1.0);
-void	btRaycastVehicle::updateFriction(btScalar	timeStep)
-{
-
-		//calculate the impulse, so that the wheels don't move sidewards
-		int numWheel = getNumWheels();
-		if (!numWheel)
-			return;
-
-		m_forwardWS.resize(numWheel);
-		m_axle.resize(numWheel);
-		m_forwardImpulse.resize(numWheel);
-		m_sideImpulse.resize(numWheel);
-		
-		int numWheelsOnGround = 0;
-	
-
-		//collapse all those loops into one!
-		for (int i=0;i<getNumWheels();i++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[i];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-			if (groundObject)
-				numWheelsOnGround++;
-			m_sideImpulse[i] = btScalar(0.);
-			m_forwardImpulse[i] = btScalar(0.);
-
-		}
-	
-		{
-	
-			for (int i=0;i<getNumWheels();i++)
-			{
-
-				btWheelInfo& wheelInfo = m_wheelInfo[i];
-					
-				class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-				if (groundObject)
-				{
-
-					const btTransform& wheelTrans = getWheelTransformWS( i );
-
-					btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					m_axle[i] = btVector3(	
-						wheelBasis0[0][m_indexRightAxis],
-						wheelBasis0[1][m_indexRightAxis],
-						wheelBasis0[2][m_indexRightAxis]);
-					
-					const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-					btScalar proj = m_axle[i].dot(surfNormalWS);
-					m_axle[i] -= surfNormalWS * proj;
-					m_axle[i] = m_axle[i].normalize();
-					
-					m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
-					m_forwardWS[i].normalize();
-
-				
-					resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
-
-					m_sideImpulse[i] *= sideFrictionStiffness2;
-						
-				}
-				
-
-			}
-		}
-
-	btScalar sideFactor = btScalar(1.);
-	btScalar fwdFactor = 0.5;
-
-	bool sliding = false;
-	{
-		for (int wheel =0;wheel <getNumWheels();wheel++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-			btScalar	rollingFriction = 0.f;
-
-			if (groundObject)
-			{
-				if (wheelInfo.m_engineForce != 0.f)
-				{
-					rollingFriction = wheelInfo.m_engineForce* timeStep;
-				} else
-				{
-					btScalar defaultRollingFrictionImpulse = 0.f;
-					btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
-					btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
-					rollingFriction = calcRollingFriction(contactPt);
-				}
-			}
-
-			//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
-			
-
-
-
-			m_forwardImpulse[wheel] = btScalar(0.);
-			m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
-
-			if (groundObject)
-			{
-				m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
-				
-				btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
-				btScalar maximpSide = maximp;
-
-				btScalar maximpSquared = maximp * maximpSide;
-			
-
-				m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
-
-				btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
-				btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
-				
-				btScalar impulseSquared = (x*x + y*y);
-
-				if (impulseSquared > maximpSquared)
-				{
-					sliding = true;
-					
-					btScalar factor = maximp / btSqrt(impulseSquared);
-					
-					m_wheelInfo[wheel].m_skidInfo *= factor;
-				}
-			} 
-
-		}
-	}
-
-	
-
-
-		if (sliding)
-		{
-			for (int wheel = 0;wheel < getNumWheels(); wheel++)
-			{
-				if (m_sideImpulse[wheel] != btScalar(0.))
-				{
-					if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
-					{
-						m_forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
-						m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					}
-				}
-			}
-		}
-
-		// apply the impulses
-		{
-			for (int wheel = 0;wheel<getNumWheels() ; wheel++)
-			{
-				btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-
-				btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						m_chassisBody->getCenterOfMassPosition();
-
-				if (m_forwardImpulse[wheel] != btScalar(0.))
-				{
-					m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
-				}
-				if (m_sideImpulse[wheel] != btScalar(0.))
-				{
-					class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
-
-					btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						groundObject->getCenterOfMassPosition();
-
-					
-					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
-
-					rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
-					m_chassisBody->applyImpulse(sideImp,rel_pos);
-
-					//apply friction impulse on the ground
-					groundObject->applyImpulse(-sideImp,rel_pos2);
-				}
-			}
-		}
-
-	
-}
-
-
-
-void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
-{
-
-	for (int v=0;v<this->getNumWheels();v++)
-	{
-		btVector3 wheelColor(0,1,1);
-		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
-		{
-			wheelColor.setValue(0,0,1);
-		} else
-		{
-			wheelColor.setValue(1,0,1);
-		}
-
-		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
-
-		btVector3 axle = btVector3(	
-			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
-
-		//debug wheels (cylinders)
-		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
-	}
-}
-
-
-void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
-{
-//	RayResultCallback& resultCallback;
-
-	btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
-
-	m_dynamicsWorld->rayTest(from, to, rayCallback);
-
-	if (rayCallback.hasHit())
-	{
-		
-		btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
-        if (body && body->hasContactResponse())
-		{
-			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
-			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
-			result.m_hitNormalInWorld.normalize();
-			result.m_distFraction = rayCallback.m_closestHitFraction;
-			return body;
-		}
-	}
-	return 0;
-}
-
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.h
deleted file mode 100644
index 5ce80f4d275..00000000000
--- a/extern/bullet2/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ /dev/null
@@ -1,236 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef RAYCASTVEHICLE_H
-#define RAYCASTVEHICLE_H
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "btVehicleRaycaster.h"
-class btDynamicsWorld;
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-class btVehicleTuning;
-
-///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btActionInterface
-{
-
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-	
-		///backwards compatibility
-		int	m_userConstraintType;
-		int	m_userConstraintId;
-
-public:
-	class btVehicleTuning
-		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5)),
-				m_maxSuspensionForce(btScalar(6000.))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-			btScalar	m_maxSuspensionForce;
-
-		};
-private:
-
-	btScalar	m_tau;
-	btScalar	m_damping;
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
-	btScalar m_currentVehicleSpeedKmHour;
-
-	btRigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int	m_indexForwardAxis;
-
-	void defaultInit(const btVehicleTuning& tuning);
-
-public:
-
-	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
-
-
-	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
-	{
-        (void) collisionWorld;
-		updateVehicle(step);
-	}
-	
-
-	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-			
-	const btTransform& getChassisWorldTransform() const;
-	
-	btScalar rayCast(btWheelInfo& wheel);
-
-	virtual void updateVehicle(btScalar step);
-	
-	
-	void resetSuspension();
-
-	btScalar	getSteeringValue(int wheel) const;
-
-	void	setSteeringValue(btScalar steering,int wheel);
-
-
-	void	applyEngineForce(btScalar force, int wheel);
-
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
-
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
-
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
-
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
-	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
-
-
-	const btWheelInfo&	getWheelInfo(int index) const;
-
-	btWheelInfo&	getWheelInfo(int index);
-
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
-
-	
-	void setBrake(btScalar brake,int wheelIndex);
-
-	void	setPitchControl(btScalar pitch)
-	{
-		m_pitchControl = pitch;
-	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
-
-
-
-	inline btRigidBody* getRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const btRigidBody* getRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int	getRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int getUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int getForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	
-	///Worldspace forward vector
-	btVector3 getForwardVector() const
-	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
-
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
-
-		return forwardW;
-	}
-
-	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
-	{
-		return m_currentVehicleSpeedKmHour;
-	}
-
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
-	{
-		m_indexRightAxis = rightIndex;
-		m_indexUpAxis = upIndex;
-		m_indexForwardAxis = forwardIndex;
-	}
-
-
-	///backwards compatibility
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType ;
-	}
-
-	void	setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void	setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-};
-
-class btDefaultVehicleRaycaster : public btVehicleRaycaster
-{
-	btDynamicsWorld*	m_dynamicsWorld;
-public:
-	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
-	{
-	}
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
-};
-
-
-#endif //RAYCASTVEHICLE_H
-
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btVehicleRaycaster.h b/extern/bullet2/BulletDynamics/Vehicle/btVehicleRaycaster.h
deleted file mode 100644
index 5112ce6d420..00000000000
--- a/extern/bullet2/BulletDynamics/Vehicle/btVehicleRaycaster.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef VEHICLE_RAYCASTER_H
-#define VEHICLE_RAYCASTER_H
-
-#include "LinearMath/btVector3.h"
-
-/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
-struct btVehicleRaycaster
-{
-virtual ~btVehicleRaycaster()
-{
-}
-	struct btVehicleRaycasterResult
-	{
-		btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
-		btVector3	m_hitPointInWorld;
-		btVector3	m_hitNormalInWorld;
-		btScalar	m_distFraction;
-	};
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
-
-};
-
-#endif //VEHICLE_RAYCASTER_H
-
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp b/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp
deleted file mode 100644
index ef93c16fffc..00000000000
--- a/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
-
-
-btScalar btWheelInfo::getSuspensionRestLength() const
-{
-
-	return m_suspensionRestLength1;
-
-}
-
-void	btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
-{
-	(void)raycastInfo;
-
-	
-	if (m_raycastInfo.m_isInContact)
-
-	{
-		btScalar	project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
-		btVector3	 chassis_velocity_at_contactPoint;
-		btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
-		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
-		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-		if ( project >= btScalar(-0.1))
-		{
-			m_suspensionRelativeVelocity = btScalar(0.0);
-			m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / project;
-			m_suspensionRelativeVelocity = projVel * inv;
-			m_clippedInvContactDotSuspension = inv;
-		}
-		
-	}
-
-	else	// Not in contact : position wheel in a nice (rest length) position
-	{
-		m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
-		m_suspensionRelativeVelocity = btScalar(0.0);
-		m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
-		m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.h b/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.h
deleted file mode 100644
index b74f8c80acb..00000000000
--- a/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef WHEEL_INFO_H
-#define WHEEL_INFO_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-
-class btRigidBody;
-
-struct btWheelInfoConstructionInfo
-{
-	btVector3	m_chassisConnectionCS;
-	btVector3	m_wheelDirectionCS;
-	btVector3	m_wheelAxleCS;
-	btScalar	m_suspensionRestLength;
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar	m_wheelRadius;
-	
-	btScalar		m_suspensionStiffness;
-	btScalar		m_wheelsDampingCompression;
-	btScalar		m_wheelsDampingRelaxation;
-	btScalar		m_frictionSlip;
-	btScalar		m_maxSuspensionForce;
-	bool m_bIsFrontWheel;
-	
-};
-
-/// btWheelInfo contains information per wheel about friction and suspension.
-struct btWheelInfo
-{
-	struct RaycastInfo
-	{
-		//set by raycaster
-		btVector3	m_contactNormalWS;//contactnormal
-		btVector3	m_contactPointWS;//raycast hitpoint
-		btScalar	m_suspensionLength;
-		btVector3	m_hardPointWS;//raycast starting point
-		btVector3	m_wheelDirectionWS; //direction in worldspace
-		btVector3	m_wheelAxleWS; // axle in worldspace
-		bool		m_isInContact;
-		void*		m_groundObject; //could be general void* ptr
-	};
-
-	RaycastInfo	m_raycastInfo;
-
-	btTransform	m_worldTransform;
-	
-	btVector3	m_chassisConnectionPointCS; //const
-	btVector3	m_wheelDirectionCS;//const
-	btVector3	m_wheelAxleCS; // const or modified by steering
-	btScalar	m_suspensionRestLength1;//const
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar getSuspensionRestLength() const;
-	btScalar	m_wheelsRadius;//const
-	btScalar	m_suspensionStiffness;//const
-	btScalar	m_wheelsDampingCompression;//const
-	btScalar	m_wheelsDampingRelaxation;//const
-	btScalar	m_frictionSlip;
-	btScalar	m_steering;
-	btScalar	m_rotation;
-	btScalar	m_deltaRotation;
-	btScalar	m_rollInfluence;
-	btScalar	m_maxSuspensionForce;
-
-	btScalar	m_engineForce;
-
-	btScalar	m_brake;
-	
-	bool m_bIsFrontWheel;
-	
-	void*		m_clientInfo;//can be used to store pointer to sync transforms...
-
-	btWheelInfo(btWheelInfoConstructionInfo& ci)
-
-	{
-
-		m_suspensionRestLength1 = ci.m_suspensionRestLength;
-		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
-
-		m_wheelsRadius = ci.m_wheelRadius;
-		m_suspensionStiffness = ci.m_suspensionStiffness;
-		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
-		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
-		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
-		m_wheelDirectionCS = ci.m_wheelDirectionCS;
-		m_wheelAxleCS = ci.m_wheelAxleCS;
-		m_frictionSlip = ci.m_frictionSlip;
-		m_steering = btScalar(0.);
-		m_engineForce = btScalar(0.);
-		m_rotation = btScalar(0.);
-		m_deltaRotation = btScalar(0.);
-		m_brake = btScalar(0.);
-		m_rollInfluence = btScalar(0.1);
-		m_bIsFrontWheel = ci.m_bIsFrontWheel;
-		m_maxSuspensionForce = ci.m_maxSuspensionForce;
-
-	}
-
-	void	updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
-
-	btScalar	m_clippedInvContactDotSuspension;
-	btScalar	m_suspensionRelativeVelocity;
-	//calculated by suspension
-	btScalar	m_wheelsSuspensionForce;
-	btScalar	m_skidInfo;
-
-};
-
-#endif //WHEEL_INFO_H
-