upgrade to latest Bullet 2.53. cross the fingers it doesn't break one of the exotic or less exotic platforms

10 files changed, 384 insertions, 156 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
index b05285ca727..be4a11506df 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -21,9 +21,34 @@
 
 #include <assert.h>
 
+#ifdef DEBUG_BROADPHASE
+#include <stdio.h>
+void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
+{
+	int numEdges = m_pHandles[0].m_maxEdges[axis];
+	printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
+
+	int i;
+	for (i=0;i<numEdges+1;i++)
+	{
+		Edge* pEdge = m_pEdges[axis] + i;
+		Handle* pHandlePrev = getHandle(pEdge->m_handle);
+		int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
+		char beginOrEnd;
+		beginOrEnd=pEdge->IsMax()?'E':'B';
+		printf("	[%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
+	}
+
+	if (checkCardinality)
+		assert(numEdges == m_numHandles*2+1);
+}
+#endif //DEBUG_BROADPHASE
+
+
 btBroadphaseProxy*	btAxisSweep3::createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
 {
-		unsigned short handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
+		(void)shapeType;
+		BP_FP_INT_TYPE handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
 		
 		Handle* handle = getHandle(handleId);
 				
@@ -40,6 +65,7 @@ void	btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,con
 {
 	Handle* handle = static_cast<Handle*>(proxy);
 	updateHandle(handle->m_handleId,aabbMin,aabbMax);
+
 }
 
 
@@ -50,10 +76,11 @@ void	btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,con
 btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles)
 :btOverlappingPairCache()
 {
+	m_invalidPair = 0;
 	//assert(bounds.HasVolume());
 
 	// 1 handle is reserved as sentinel
-	assert(maxHandles > 1 && maxHandles < 32767);
+	btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
 
 	// init bounds
 	m_worldAabbMin = worldAabbMin;
@@ -61,7 +88,9 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
 
 	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
 
-	m_quantize = btVector3(65535.0f,65535.0f,65535.0f) / aabbSize;
+	BP_FP_INT_TYPE	maxInt = BP_HANDLE_SENTINEL;
+
+	m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
 
 	// allocate handles buffer and put all handles on free list
 	m_pHandles = new Handle[maxHandles];
@@ -71,7 +100,7 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
 	// handle 0 is reserved as the null index, and is also used as the sentinel
 	m_firstFreeHandle = 1;
 	{
-		for (int i = m_firstFreeHandle; i < maxHandles; i++)
+		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
 			m_pHandles[i].SetNextFree(i + 1);
 		m_pHandles[maxHandles - 1].SetNextFree(0);
 	}
@@ -94,9 +123,14 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
 
 		m_pEdges[axis][0].m_pos = 0;
 		m_pEdges[axis][0].m_handle = 0;
-		m_pEdges[axis][1].m_pos = 0xffff;
+		m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL;
 		m_pEdges[axis][1].m_handle = 0;
+#ifdef DEBUG_BROADPHASE
+		debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
 	}
+
 }
 
 btAxisSweep3::~btAxisSweep3()
@@ -107,43 +141,36 @@ btAxisSweep3::~btAxisSweep3()
 	delete[] m_pHandles;
 }
 
-void btAxisSweep3::quantize(unsigned short* out, const btPoint3& point, int isMax) const
+void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
 {
 	btPoint3 clampedPoint(point);
-	/*
-	if (isMax)
-		clampedPoint += btVector3(10,10,10);
-	else
-	{
-		clampedPoint -= btVector3(10,10,10);
-	}
-	*/
+	
 
 
 	clampedPoint.setMax(m_worldAabbMin);
 	clampedPoint.setMin(m_worldAabbMax);
 
 	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax);
-	out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax);
-	out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax);
+	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & BP_HANDLE_MASK) | isMax);
+	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & BP_HANDLE_MASK) | isMax);
+	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & BP_HANDLE_MASK) | isMax);
 	
 }
 
 
 
-unsigned short btAxisSweep3::allocHandle()
+BP_FP_INT_TYPE btAxisSweep3::allocHandle()
 {
 	assert(m_firstFreeHandle);
 
-	unsigned short handle = m_firstFreeHandle;
+	BP_FP_INT_TYPE handle = m_firstFreeHandle;
 	m_firstFreeHandle = getHandle(handle)->GetNextFree();
 	m_numHandles++;
 
 	return handle;
 }
 
-void btAxisSweep3::freeHandle(unsigned short handle)
+void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle)
 {
 	assert(handle > 0 && handle < m_maxHandles);
 
@@ -155,15 +182,15 @@ void btAxisSweep3::freeHandle(unsigned short handle)
 
 
 
-unsigned short btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
+BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
 {
 	// quantize the bounds
-	unsigned short min[3], max[3];
+	BP_FP_INT_TYPE min[3], max[3];
 	quantize(min, aabbMin, 0);
 	quantize(max, aabbMax, 1);
 
 	// allocate a handle
-	unsigned short handle = allocHandle();
+	BP_FP_INT_TYPE handle = allocHandle();
 	assert(handle!= 0xcdcd);
 
 	Handle* pHandle = getHandle(handle);
@@ -175,11 +202,13 @@ unsigned short btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a
 	pHandle->m_collisionFilterMask = collisionFilterMask;
 
 	// compute current limit of edge arrays
-	int limit = m_numHandles * 2;
+	BP_FP_INT_TYPE limit = m_numHandles * 2;
 
+	
 	// insert new edges just inside the max boundary edge
-	for (int axis = 0; axis < 3; axis++)
+	for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
 	{
+
 		m_pHandles[0].m_maxEdges[axis] += 2;
 
 		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
@@ -202,14 +231,14 @@ unsigned short btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a
 	sortMinDown(2, pHandle->m_minEdges[2], true);
 	sortMaxDown(2, pHandle->m_maxEdges[2], true);
 
-	//PrintAxis(1);
 
 	return handle;
 }
 
 
-void btAxisSweep3::removeHandle(unsigned short handle)
+void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
 {
+	
 	Handle* pHandle = getHandle(handle);
 
 	//explicitly remove the pairs containing the proxy
@@ -220,42 +249,145 @@ void btAxisSweep3::removeHandle(unsigned short handle)
 
 	// compute current limit of edge arrays
 	int limit = m_numHandles * 2;
+	
 	int axis;
 
 	for (axis = 0;axis<3;axis++)
 	{
-		Edge* pEdges = m_pEdges[axis];
-		int maxEdge= pHandle->m_maxEdges[axis];
-		pEdges[maxEdge].m_pos = 0xffff;
-		int minEdge = pHandle->m_minEdges[axis];
-		pEdges[minEdge].m_pos = 0xffff;
+		m_pHandles[0].m_maxEdges[axis] -= 2;
 	}
 
 	// remove the edges by sorting them up to the end of the list
 	for ( axis = 0; axis < 3; axis++)
 	{
 		Edge* pEdges = m_pEdges[axis];
-		int max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = 0xffff;
+		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
+		pEdges[max].m_pos = BP_HANDLE_SENTINEL;
 
 		sortMaxUp(axis,max,false);
-		
-		int i = pHandle->m_minEdges[axis];
-		pEdges[i].m_pos = 0xffff;
+
+
+		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
+		pEdges[i].m_pos = BP_HANDLE_SENTINEL;
+
 
 		sortMinUp(axis,i,false);
 
 		pEdges[limit-1].m_handle = 0;
-		pEdges[limit-1].m_pos = 0xffff;
+		pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL;
+		
+#ifdef DEBUG_BROADPHASE
+			debugPrintAxis(axis,false);
+#endif //DEBUG_BROADPHASE
+
 
 	}
 
+
 	// free the handle
 	freeHandle(handle);
 
 	
 }
 
+extern int gOverlappingPairs;
+
+
+void	btAxisSweep3::refreshOverlappingPairs()
+{
+
+}
+void	btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
+{
+
+	//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+	m_overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
+
+	//remove the 'invalid' ones
+#ifdef USE_POPBACK_REMOVAL
+	while (m_invalidPair>0)
+	{
+		m_invalidPair--;
+		m_overlappingPairArray.pop_back();
+	}
+#else	
+	m_overlappingPairArray.resize(m_overlappingPairArray.size() - m_invalidPair);
+	m_invalidPair = 0;
+#endif
+
+	
+	int i;
+
+	btBroadphasePair previousPair;
+	previousPair.m_pProxy0 = 0;
+	previousPair.m_pProxy1 = 0;
+	previousPair.m_algorithm = 0;
+	
+	
+	for (i=0;i<m_overlappingPairArray.size();i++)
+	{
+	
+		btBroadphasePair& pair = m_overlappingPairArray[i];
+
+		bool isDuplicate = (pair == previousPair);
+
+		previousPair = pair;
+
+		bool needsRemoval = false;
+
+		if (!isDuplicate)
+		{
+			bool hasOverlap = testOverlap(pair.m_pProxy0,pair.m_pProxy1);
+
+			if (hasOverlap)
+			{
+				needsRemoval = callback->processOverlap(pair);
+			} else
+			{
+				needsRemoval = true;
+			}
+		} else
+		{
+			//remove duplicate
+			needsRemoval = true;
+			//should have no algorithm
+			btAssert(!pair.m_algorithm);
+		}
+		
+		if (needsRemoval)
+		{
+			cleanOverlappingPair(pair);
+
+	//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+	//		m_overlappingPairArray.pop_back();
+			pair.m_pProxy0 = 0;
+			pair.m_pProxy1 = 0;
+			m_invalidPair++;
+			gOverlappingPairs--;
+		} 
+		
+	}
+}
+
+
+bool btAxisSweep3::testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+{
+	const Handle* pHandleA = static_cast<Handle*>(proxy0);
+	const Handle* pHandleB = static_cast<Handle*>(proxy1);
+	
+	//optimization 1: check the array index (memory address), instead of the m_pos
+
+	for (int axis = 0; axis < 3; axis++)
+	{ 
+		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
+			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
+		{ 
+			return false; 
+		} 
+	} 
+	return true;
+}
+
 bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
 {
 	//optimization 1: check the array index (memory address), instead of the m_pos
@@ -272,7 +404,7 @@ bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Hand
 		}
 	} 
 
-	//optimization 2: only 2 axis need to be tested
+	//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
 
 	/*for (int axis = 0; axis < 3; axis++)
 	{
@@ -287,7 +419,7 @@ bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Hand
 	return true;
 }
 
-void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
+void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
 {
 //	assert(bounds.IsFinite());
 	//assert(bounds.HasVolume());
@@ -295,15 +427,15 @@ void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,c
 	Handle* pHandle = getHandle(handle);
 
 	// quantize the new bounds
-	unsigned short min[3], max[3];
+	BP_FP_INT_TYPE min[3], max[3];
 	quantize(min, aabbMin, 0);
 	quantize(max, aabbMax, 1);
 
 	// update changed edges
 	for (int axis = 0; axis < 3; axis++)
 	{
-		unsigned short emin = pHandle->m_minEdges[axis];
-		unsigned short emax = pHandle->m_maxEdges[axis];
+		BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
+		BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
 
 		int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
 		int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
@@ -324,14 +456,22 @@ void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,c
 
 		if (dmax < 0)
 			sortMaxDown(axis, emax);
+
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
 	}
 
-	//PrintAxis(1);
+	
 }
 
+
+
+
 // sorting a min edge downwards can only ever *add* overlaps
-void btAxisSweep3::sortMinDown(int axis, unsigned short edge, bool updateOverlaps)
+void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
 {
+
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pPrev = pEdge - 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -368,16 +508,21 @@ void btAxisSweep3::sortMinDown(int axis, unsigned short edge, bool updateOverlap
 		pEdge--;
 		pPrev--;
 	}
+
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
 }
 
 // sorting a min edge upwards can only ever *remove* overlaps
-void btAxisSweep3::sortMinUp(int axis, unsigned short edge, bool updateOverlaps)
+void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
 {
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pNext = pEdge + 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
-	while (pEdge->m_pos > pNext->m_pos)
+	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
 	{
 		Handle* pHandleNext = getHandle(pNext->m_handle);
 
@@ -386,10 +531,12 @@ void btAxisSweep3::sortMinUp(int axis, unsigned short edge, bool updateOverlaps)
 			// if next edge is maximum remove any overlap between the two handles
 			if (updateOverlaps)
 			{
+				/*
 				Handle* handle0 = getHandle(pEdge->m_handle);
 				Handle* handle1 = getHandle(pNext->m_handle);
 				btBroadphasePair tmpPair(*handle0,*handle1);
 				removeOverlappingPair(tmpPair);
+				*/
 
 			}
 
@@ -410,11 +557,14 @@ void btAxisSweep3::sortMinUp(int axis, unsigned short edge, bool updateOverlaps)
 		pEdge++;
 		pNext++;
 	}
+
+
 }
 
 // sorting a max edge downwards can only ever *remove* overlaps
-void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlaps)
+void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
 {
+
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pPrev = pEdge - 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -428,6 +578,8 @@ void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlap
 			// if previous edge was a minimum remove any overlap between the two handles
 			if (updateOverlaps)
 			{
+				//this is done during the overlappingpairarray iteration/narrowphase collision
+				/*
 				Handle* handle0 = getHandle(pEdge->m_handle);
 				Handle* handle1 = getHandle(pPrev->m_handle);
 				btBroadphasePair* pair = findPair(handle0,handle1);
@@ -437,6 +589,8 @@ void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlap
 				{
 					removeOverlappingPair(*pair);
 				}
+				*/
+
 			}
 
 			// update edge reference in other handle
@@ -456,16 +610,22 @@ void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlap
 		pEdge--;
 		pPrev--;
 	}
+
+	
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
 }
 
 // sorting a max edge upwards can only ever *add* overlaps
-void btAxisSweep3::sortMaxUp(int axis, unsigned short edge, bool updateOverlaps)
+void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
 {
 	Edge* pEdge = m_pEdges[axis] + edge;
 	Edge* pNext = pEdge + 1;
 	Handle* pHandleEdge = getHandle(pEdge->m_handle);
 
-	while (pEdge->m_pos > pNext->m_pos)
+	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
 	{
 		Handle* pHandleNext = getHandle(pNext->m_handle);
 
@@ -496,4 +656,5 @@ void btAxisSweep3::sortMaxUp(int axis, unsigned short edge, bool updateOverlaps)
 		pEdge++;
 		pNext++;
 	}
+	
 }
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index ebbbe01bbe6..57bbb368672 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -19,11 +19,29 @@
 #ifndef AXIS_SWEEP_3_H
 #define AXIS_SWEEP_3_H
 
-#include "LinearMath/btPoint3.h"
-#include "LinearMath/btVector3.h"
+#include "../../LinearMath/btPoint3.h"
+#include "../../LinearMath/btVector3.h"
 #include "btOverlappingPairCache.h"
 #include "btBroadphaseProxy.h"
 
+
+//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects
+//#define BP_USE_FIXEDPOINT_INT_32 1
+
+#ifdef BP_USE_FIXEDPOINT_INT_32
+	#define BP_FP_INT_TYPE unsigned int
+	#define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles
+	#define BP_HANDLE_SENTINEL 0x7fffffff
+	#define BP_HANDLE_MASK	0xfffffffe
+#else
+	#define BP_FP_INT_TYPE unsigned short int
+	#define BP_MAX_HANDLES 32767
+	#define BP_HANDLE_SENTINEL 0xffff
+	#define BP_HANDLE_MASK	0xfffe
+#endif //BP_USE_FIXEDPOINT_INT_32
+
+//#define DEBUG_BROADPHASE 1
+
 /// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
 /// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
 /// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
@@ -36,10 +54,10 @@ public:
 	class Edge
 	{
 	public:
-		unsigned short m_pos;			// low bit is min/max
-		unsigned short m_handle;
+		BP_FP_INT_TYPE m_pos;			// low bit is min/max
+		BP_FP_INT_TYPE m_handle;
 
-		unsigned short IsMax() const {return m_pos & 1;}
+		BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
 	};
 
 public:
@@ -48,14 +66,14 @@ public:
 	public:
 		
 		// indexes into the edge arrays
-		unsigned short m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
-		unsigned short m_handleId;
-		unsigned short m_pad;
+		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
+		BP_FP_INT_TYPE m_handleId;
+		BP_FP_INT_TYPE m_pad;
 		
 		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
 	
-		inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
-		inline unsigned short GetNextFree() const {return m_minEdges[0];}
+		inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
+		inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
 	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
 
 	
@@ -65,51 +83,56 @@ private:
 
 	btVector3 m_quantize;						// scaling factor for quantization
 
-	int m_numHandles;						// number of active handles
+	BP_FP_INT_TYPE m_numHandles;						// number of active handles
 	int m_maxHandles;						// max number of handles
 	Handle* m_pHandles;						// handles pool
-	unsigned short m_firstFreeHandle;		// free handles list
+	BP_FP_INT_TYPE m_firstFreeHandle;		// free handles list
 
 	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
 
+	int m_invalidPair;
 
 	// allocation/deallocation
-	unsigned short allocHandle();
-	void freeHandle(unsigned short handle);
+	BP_FP_INT_TYPE allocHandle();
+	void freeHandle(BP_FP_INT_TYPE handle);
 	
 
 	bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
 
-	//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
-	//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
+#ifdef DEBUG_BROADPHASE
+	void debugPrintAxis(int axis,bool checkCardinality=true);
+#endif //DEBUG_BROADPHASE
 
-	void quantize(unsigned short* out, const btPoint3& point, int isMax) const;
+	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
+	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
-	void sortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
-	void sortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
-	void sortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
-	void sortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
+	void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
+
+	void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
+	void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
+	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
+	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
 
 public:
 	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
 	virtual	~btAxisSweep3();
 
-	virtual void	refreshOverlappingPairs()
-	{
-		//this is replace by sweep and prune
-	}
+	virtual void	refreshOverlappingPairs();
 	
-	unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
-	void removeHandle(unsigned short handle);
-	void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
-	inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;}
+	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
+	void removeHandle(BP_FP_INT_TYPE handle);
+	void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
+	inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
 
+	void	processAllOverlappingPairs(btOverlapCallback* callback);
 
 	//Broadphase Interface
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
+	bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
 };
 
-#endif //AXIS_SWEEP_3_H
+#endif
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
index 0c0bfe4f7b9..b6ace03c07a 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 struct btDispatcherInfo;
 class btDispatcher;
 struct btBroadphaseProxy;
-#include "LinearMath/btVector3.h"
+#include "../../LinearMath/btVector3.h"
 
 ///BroadphaseInterface for aabb-overlapping object pairs
 class btBroadphaseInterface
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index b279022c802..40d9748ffa9 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -16,6 +16,7 @@ subject to the following restrictions:
 #ifndef BROADPHASE_PROXY_H
 #define BROADPHASE_PROXY_H
 
+#include "../../LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
 
 
 /// btDispatcher uses these types
@@ -33,6 +34,7 @@ enum BroadphaseNativeTypes
 IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
 	MULTI_SPHERE_SHAPE_PROXYTYPE,
+	CAPSULE_SHAPE_PROXYTYPE,
 	CONE_SHAPE_PROXYTYPE,
 	CONVEX_SHAPE_PROXYTYPE,
 	CYLINDER_SHAPE_PROXYTYPE,
@@ -71,7 +73,7 @@ struct btBroadphaseProxy
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
 			SensorTrigger = 16,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger,
+	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
@@ -113,7 +115,8 @@ struct btBroadphaseProxy
 		return (proxyType == STATIC_PLANE_PROXYTYPE);
 	}
 	
-};
+}
+;
 
 class btCollisionAlgorithm;
 
@@ -128,14 +131,16 @@ struct btBroadphasePair
 		:
 	m_pProxy0(0),
 		m_pProxy1(0),
-		m_algorithm(0)
+		m_algorithm(0),
+		m_userInfo(0)
 	{
 	}
 
 	btBroadphasePair(const btBroadphasePair& other)
 		:		m_pProxy0(other.m_pProxy0),
 				m_pProxy1(other.m_pProxy1),
-				m_algorithm(other.m_algorithm)
+				m_algorithm(other.m_algorithm),
+				m_userInfo(other.m_userInfo)
 	{
 	}
 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
@@ -154,6 +159,7 @@ struct btBroadphasePair
         }
 
 		m_algorithm = 0;
+		m_userInfo = 0;
 
 	}
 	
@@ -161,15 +167,37 @@ struct btBroadphasePair
 	btBroadphaseProxy* m_pProxy1;
 	
 	mutable btCollisionAlgorithm* m_algorithm;
-};
+	mutable void* m_userInfo;
 
+};
 
+/*
 //comparison for set operation, see Solid DT_Encounter
-inline bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
+SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
 { 
     return a.m_pProxy0 < b.m_pProxy0 || 
         (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
 }
+*/
+
+
+class btBroadphasePairSortPredicate
+{
+	public:
+
+		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
+		{
+			 return a.m_pProxy0 > b.m_pProxy0 || 
+				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
+				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
+		}
+};
+
+
+SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
+{
+	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
+}
 
 
 #endif //BROADPHASE_PROXY_H
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index f9e22057058..55cec386a7b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -16,6 +16,8 @@ subject to the following restrictions:
 #ifndef COLLISION_ALGORITHM_H
 #define COLLISION_ALGORITHM_H
 
+#include "../../LinearMath/btScalar.h"
+
 struct btBroadphaseProxy;
 class btDispatcher;
 class btManifoldResult;
@@ -34,6 +36,7 @@ struct btCollisionAlgorithmConstructionInfo
 	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
 		:m_dispatcher(dispatcher)
 	{
+		(void)temp;
 	}
 
 	btDispatcher*	m_dispatcher;
@@ -66,7 +69,7 @@ public:
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
-	virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index c7714f592c4..3d958cc8fef 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -16,6 +16,8 @@ subject to the following restrictions:
 #ifndef _DISPATCHER_H
 #define _DISPATCHER_H
 
+#include "../../LinearMath/btScalar.h"
+
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;
 class btRigidBody;
@@ -34,10 +36,10 @@ struct btDispatcherInfo
 		DISPATCH_CONTINUOUS
 	};
 	btDispatcherInfo()
-		:m_timeStep(0.f),
+		:m_timeStep(btScalar(0.)),
 		m_stepCount(0),
 		m_dispatchFunc(DISPATCH_DISCRETE),
-		m_timeOfImpact(1.f),
+		m_timeOfImpact(btScalar(1.)),
 		m_useContinuous(false),
 		m_debugDraw(0),
 		m_enableSatConvex(false),
@@ -46,10 +48,10 @@ struct btDispatcherInfo
 	{
 
 	}
-	float	m_timeStep;
+	btScalar	m_timeStep;
 	int		m_stepCount;
 	int		m_dispatchFunc;
-	float	m_timeOfImpact;
+	btScalar	m_timeOfImpact;
 	bool	m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
 	bool	m_enableSatConvex;
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index 5e3fa633589..4187a8f2970 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -39,15 +39,15 @@ btOverlappingPairCache::~btOverlappingPairCache()
 void	btOverlappingPairCache::removeOverlappingPair(btBroadphasePair& findPair)
 {
 	
-	std::set<btBroadphasePair>::iterator it = m_overlappingPairSet.find(findPair);
-//	assert(it != m_overlappingPairSet.end());
-
-	if (it != m_overlappingPairSet.end())
+	int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
+	if (findIndex < m_overlappingPairArray.size())
 	{
 		gOverlappingPairs--;
-		btBroadphasePair* pair = (btBroadphasePair*)(&(*it));
-		cleanOverlappingPair(*pair);	
-		m_overlappingPairSet.erase(it);
+		btBroadphasePair& pair = m_overlappingPairArray[findIndex];
+		cleanOverlappingPair(pair);
+		
+		m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.size()-1);
+		m_overlappingPairArray.pop_back();
 	}
 }
 
@@ -78,7 +78,7 @@ void	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
 
 	btBroadphasePair pair(*proxy0,*proxy1);
 	
-	m_overlappingPairSet.insert(pair);
+	m_overlappingPairArray.push_back(pair);
 	gOverlappingPairs++;
 	
 }
@@ -93,13 +93,15 @@ void	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
 		return 0;
 
 	btBroadphasePair tmpPair(*proxy0,*proxy1);
-	std::set<btBroadphasePair>::iterator it = m_overlappingPairSet.find(tmpPair);
-	if ((it == m_overlappingPairSet.end()))
-		return 0;
+	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
 
-	//assert(it != m_overlappingPairSet.end());
-	 btBroadphasePair* pair = (btBroadphasePair*)(&(*it));
-	return pair;
+	if (findIndex < m_overlappingPairArray.size())
+	{
+		//assert(it != m_overlappingPairSet.end());
+		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
+		return pair;
+	}
+	return 0;
 }
 
 
@@ -170,30 +172,23 @@ void	btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseP
 
 void	btOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback)
 {
-	std::set<btBroadphasePair>::iterator it = m_overlappingPairSet.begin();
-	for (; !(it==m_overlappingPairSet.end());)
+
+	int i;
+
+	for (i=0;i<m_overlappingPairArray.size();)
 	{
 	
-		btBroadphasePair* pair = (btBroadphasePair*)(&(*it));
+		btBroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
 			cleanOverlappingPair(*pair);
 
-			std::set<btBroadphasePair>::iterator it2 = it;
-			//why does next line not compile under OS X??
-#ifdef MAC_OSX_FIXED_STL_SET
-			it2++;
-			it = m_overlappingPairSet.erase(it);
-			assert(it == it2);
-#else
-			it++;
-			m_overlappingPairSet.erase(it2);
-#endif //MAC_OSX_FIXED_STL_SET
-
+			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+			m_overlappingPairArray.pop_back();
 			gOverlappingPairs--;
 		} else
 		{
-			it++;
+			i++;
 		}
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index bc62961bf3c..e3442212171 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -20,8 +20,8 @@ subject to the following restrictions:
 
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
-#include "LinearMath/btPoint3.h"
-#include <set>
+#include "../../LinearMath/btPoint3.h"
+#include "../../LinearMath/btAlignedObjectArray.h"
 
 
 struct	btOverlapCallback
@@ -37,47 +37,61 @@ virtual ~btOverlapCallback()
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
 class	btOverlappingPairCache : public btBroadphaseInterface
 {
-	//avoid brute-force finding all the time
-	std::set<btBroadphasePair>	m_overlappingPairSet;
-	
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool		m_blockedForChanges;
-	
-	public:
+	protected:
+		//avoid brute-force finding all the time
+		btAlignedObjectArray<btBroadphasePair>	m_overlappingPairArray;
+		
+		//during the dispatch, check that user doesn't destroy/create proxy
+		bool		m_blockedForChanges;
 		
-	btOverlappingPairCache();	
-	virtual ~btOverlappingPairCache();
+	public:
+			
+		btOverlappingPairCache();	
+		virtual ~btOverlappingPairCache();
 
-	void	processAllOverlappingPairs(btOverlapCallback*);
+		virtual void	processAllOverlappingPairs(btOverlapCallback*);
 
-	void	removeOverlappingPair(btBroadphasePair& pair);
+		void	removeOverlappingPair(btBroadphasePair& pair);
 
-	void	cleanOverlappingPair(btBroadphasePair& pair);
-	
-	void	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+		void	cleanOverlappingPair(btBroadphasePair& pair);
+		
+		void	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
-	btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+			
 		
-	
-	void	cleanProxyFromPairs(btBroadphaseProxy* proxy);
+		void	cleanProxyFromPairs(btBroadphaseProxy* proxy);
 
-	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
+		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
 
 
-	inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-	{
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-		
-		return collides;
-	}
+		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+		{
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			
+			return collides;
+		}
+			
 		
-	
 
-	virtual void	refreshOverlappingPairs() =0;
+		virtual void	refreshOverlappingPairs() =0;
 
+		btBroadphasePair*	getOverlappingPairArrayPtr()
+		{
+			return &m_overlappingPairArray[0];
+		}
 
+		const btBroadphasePair*	getOverlappingPairArrayPtr() const
+		{
+			return &m_overlappingPairArray[0];
+		}
 
+		int	getNumOverlappingPairs() const
+		{
+			return m_overlappingPairArray.size();
+		}
+		
 
 };
 #endif //OVERLAPPING_PAIR_CACHE_H
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index 6281e93eeb4..30bcbe0c5f1 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btMatrix3x3.h"
-#include <vector>
+#include <new>
 
 
 void	btSimpleBroadphase::validate()
@@ -85,8 +85,8 @@ btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& min,  cons
 
 	btSimpleBroadphaseProxy* proxy1 = &m_proxies[0];
 		
-	int index = proxy - proxy1;
-	assert(index == freeIndex);
+	int	index = int(proxy - proxy1);
+	btAssert(index == freeIndex);
 
 	m_pProxies[m_numProxies] = proxy;
 	m_numProxies++;
@@ -100,7 +100,8 @@ class	RemovingOverlapCallback : public btOverlapCallback
 protected:
 	virtual bool	processOverlap(btBroadphasePair& pair)
 	{
-		assert(0);
+		(void)pair;
+		btAssert(0);
 		return false;
 	}
 };
@@ -131,8 +132,8 @@ void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg)
 		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
 		btSimpleBroadphaseProxy* proxy1 = &m_proxies[0];
 	
-		int index = proxy0 - proxy1;
-		assert (index < m_maxProxies);
+		int index = int(proxy0 - proxy1);
+		btAssert (index < m_maxProxies);
 		m_freeProxies[--m_firstFreeProxy] = index;
 
 		removeOverlappingPairsContainingProxy(proxyOrg);
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index 281677081d7..1f265f3dd6b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -31,6 +31,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
 	m_min(minpt),m_max(maxpt)		
 	{
+		(void)shapeType;
 	}