Finally upgraded to latest Bullet subversion, about to release 2.71. Some recent changes in extern/bullet2 need to be re-applied, will check with Benoit. Ray tests in 0_FPS_Template.blend is broken, didn't figure out why yet.

HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.

20 files changed, 6966 insertions, 875 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
index be4a11506df..d7eea33ea41 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -21,640 +21,18 @@
 
 #include <assert.h>
 
-#ifdef DEBUG_BROADPHASE
-#include <stdio.h>
-void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
+btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
+:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
 {
-	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)
-{
-		(void)shapeType;
-		BP_FP_INT_TYPE handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
-		
-		Handle* handle = getHandle(handleId);
-				
-		return handle;
-}
-
-void	btAxisSweep3::destroyProxy(btBroadphaseProxy* proxy)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	removeHandle(handle->m_handleId);
-}
-
-void	btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	updateHandle(handle->m_handleId,aabbMin,aabbMax);
-
-}
-
-
-
-
-
-
-btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles)
-:btOverlappingPairCache()
-{
-	m_invalidPair = 0;
-	//assert(bounds.HasVolume());
-
 	// 1 handle is reserved as sentinel
-	btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
-
-	// init bounds
-	m_worldAabbMin = worldAabbMin;
-	m_worldAabbMax = worldAabbMax;
-
-	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
-
-	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];
-	m_maxHandles = maxHandles;
-	m_numHandles = 0;
-
-	// handle 0 is reserved as the null index, and is also used as the sentinel
-	m_firstFreeHandle = 1;
-	{
-		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
-			m_pHandles[i].SetNextFree(i + 1);
-		m_pHandles[maxHandles - 1].SetNextFree(0);
-	}
-
-	{
-	// allocate edge buffers
-	for (int i = 0; i < 3; i++)
-		m_pEdges[i] = new Edge[maxHandles * 2];
-	}
-	//removed overlap management
-
-	// make boundary sentinels
-	
-	m_pHandles[0].m_clientObject = 0;
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_minEdges[axis] = 0;
-		m_pHandles[0].m_maxEdges[axis] = 1;
-
-		m_pEdges[axis][0].m_pos = 0;
-		m_pEdges[axis][0].m_handle = 0;
-		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()
-{
-	
-	for (int i = 2; i >= 0; i--)
-		delete[] m_pEdges[i];
-	delete[] m_pHandles;
-}
-
-void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
-{
-	btPoint3 clampedPoint(point);
-	
-
-
-	clampedPoint.setMax(m_worldAabbMin);
-	clampedPoint.setMin(m_worldAabbMax);
-
-	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	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);
-	
-}
-
-
-
-BP_FP_INT_TYPE btAxisSweep3::allocHandle()
-{
-	assert(m_firstFreeHandle);
-
-	BP_FP_INT_TYPE handle = m_firstFreeHandle;
-	m_firstFreeHandle = getHandle(handle)->GetNextFree();
-	m_numHandles++;
-
-	return handle;
-}
-
-void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle)
-{
-	assert(handle > 0 && handle < m_maxHandles);
-
-	getHandle(handle)->SetNextFree(m_firstFreeHandle);
-	m_firstFreeHandle = handle;
-
-	m_numHandles--;
-}
-
-
-
-BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
-{
-	// quantize the bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// allocate a handle
-	BP_FP_INT_TYPE handle = allocHandle();
-	assert(handle!= 0xcdcd);
-
-	Handle* pHandle = getHandle(handle);
-	
-	pHandle->m_handleId = handle;
-	//pHandle->m_pOverlaps = 0;
-	pHandle->m_clientObject = pOwner;
-	pHandle->m_collisionFilterGroup = collisionFilterGroup;
-	pHandle->m_collisionFilterMask = collisionFilterMask;
-
-	// compute current limit of edge arrays
-	BP_FP_INT_TYPE limit = m_numHandles * 2;
-
-	
-	// insert new edges just inside the max boundary edge
-	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];
-
-		m_pEdges[axis][limit - 1].m_pos = min[axis];
-		m_pEdges[axis][limit - 1].m_handle = handle;
-
-		m_pEdges[axis][limit].m_pos = max[axis];
-		m_pEdges[axis][limit].m_handle = handle;
-
-		pHandle->m_minEdges[axis] = limit - 1;
-		pHandle->m_maxEdges[axis] = limit;
-	}
-
-	// now sort the new edges to their correct position
-	sortMinDown(0, pHandle->m_minEdges[0], false);
-	sortMaxDown(0, pHandle->m_maxEdges[0], false);
-	sortMinDown(1, pHandle->m_minEdges[1], false);
-	sortMaxDown(1, pHandle->m_maxEdges[1], false);
-	sortMinDown(2, pHandle->m_minEdges[2], true);
-	sortMaxDown(2, pHandle->m_maxEdges[2], true);
-
-
-	return handle;
-}
-
-
-void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
-{
-	
-	Handle* pHandle = getHandle(handle);
-
-	//explicitly remove the pairs containing the proxy
-	//we could do it also in the sortMinUp (passing true)
-	//todo: compare performance
-	removeOverlappingPairsContainingProxy(pHandle);
-
-
-	// compute current limit of edge arrays
-	int limit = m_numHandles * 2;
-	
-	int axis;
-
-	for (axis = 0;axis<3;axis++)
-	{
-		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];
-		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = BP_HANDLE_SENTINEL;
-
-		sortMaxUp(axis,max,false);
-
-
-		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 = 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
-
-	for (int axis = 0; axis < 3; axis++)
-	{ 
-		if (axis != ignoreAxis)
-		{
-			if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
-				pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
-			{ 
-				return false; 
-			} 
-		}
-	} 
-
-	//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
-
-	/*for (int axis = 0; axis < 3; axis++)
-	{
-		if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
-			m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
-		{
-			return false;
-		}
-	}
-	*/
-
-	return true;
-}
-
-void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
-{
-//	assert(bounds.IsFinite());
-	//assert(bounds.HasVolume());
-
-	Handle* pHandle = getHandle(handle);
-
-	// quantize the new bounds
-	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++)
-	{
-		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;
-
-		m_pEdges[axis][emin].m_pos = min[axis];
-		m_pEdges[axis][emax].m_pos = max[axis];
-
-		// expand (only adds overlaps)
-		if (dmin < 0)
-			sortMinDown(axis, emin);
-
-		if (dmax > 0)
-			sortMaxUp(axis, emax);
-
-		// shrink (only removes overlaps)
-		if (dmin > 0)
-			sortMinUp(axis, emin);
-
-		if (dmax < 0)
-			sortMaxDown(axis, emax);
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif //DEBUG_BROADPHASE
-	}
-
-	
-}
-
-
-
-
-// sorting a min edge downwards can only ever *add* overlaps
-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);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (pPrev->IsMax())
-		{
-			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
-			{
-				addOverlappingPair(pHandleEdge,pHandlePrev);
-
-				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_maxEdges[axis]++;
-		}
-		else
-			pHandlePrev->m_minEdges[axis]++;
-
-		pHandleEdge->m_minEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		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, BP_FP_INT_TYPE edge, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (pNext->IsMax())
-		{
-			// 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);
-				*/
-
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_maxEdges[axis]--;
-		}
-		else
-			pHandleNext->m_minEdges[axis]--;
-
-		pHandleEdge->m_minEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-
+	btAssert(maxHandles > 1 && maxHandles < 32767);
 
 }
 
-// sorting a max edge downwards can only ever *remove* overlaps
-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);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (!pPrev->IsMax())
-		{
-			// 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);
-				//assert(pair);
-
-				if (pair)
-				{
-					removeOverlappingPair(*pair);
-				}
-				*/
-
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;;
-		}
-		else
-			pHandlePrev->m_maxEdges[axis]++;
-
-		pHandleEdge->m_maxEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
 
-		// decrement
-		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, BP_FP_INT_TYPE edge, bool updateOverlaps)
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
+:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
 {
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (!pNext->IsMax())
-		{
-			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext))
-			{
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pNext->m_handle);
-				addOverlappingPair(handle0,handle1);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_minEdges[axis]--;
-		}
-		else
-			pHandleNext->m_maxEdges[axis]--;
-
-		pHandleEdge->m_maxEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-	
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 2147483647);
 }
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index 57bbb368672..e7c5fb5b6cf 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -19,34 +19,25 @@
 #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 "btBroadphaseInterface.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
+#include "btOverlappingPairCallback.h"
 
 //#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
-class btAxisSweep3 : public btOverlappingPairCache
+/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase.
+/// It uses quantized integers to represent the begin and end points for each of the 3 axis.
+/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.
+template <typename BP_FP_INT_TYPE>
+class btAxisSweep3Internal : public btBroadphaseInterface
 {
+protected:
+
+	BP_FP_INT_TYPE	m_bpHandleMask;
+	BP_FP_INT_TYPE	m_handleSentinel;
 
 public:
 	
@@ -57,40 +48,52 @@ public:
 		BP_FP_INT_TYPE m_pos;			// low bit is min/max
 		BP_FP_INT_TYPE m_handle;
 
-		BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
+		BP_FP_INT_TYPE IsMax() const {return static_cast<BP_FP_INT_TYPE>(m_pos & 1);}
 	};
 
 public:
+	//This breaks the Intel compiler, see http://softwarecommunity.intel.com/isn/Community/en-US/forums/thread/30253577.aspx
 	class Handle : public btBroadphaseProxy
+	//ATTRIBUTE_ALIGNED16(class) Handle : public btBroadphaseProxy
 	{
 	public:
-		
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 		// indexes into the edge arrays
 		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
-		BP_FP_INT_TYPE m_handleId;
+//		BP_FP_INT_TYPE m_uniqueId;
 		BP_FP_INT_TYPE m_pad;
 		
 		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
 	
-		inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
-		inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
+		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
+		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
 	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
 
 	
-private:
+protected:
 	btPoint3 m_worldAabbMin;						// overall system bounds
 	btPoint3 m_worldAabbMax;						// overall system bounds
 
 	btVector3 m_quantize;						// scaling factor for quantization
 
 	BP_FP_INT_TYPE m_numHandles;						// number of active handles
-	int m_maxHandles;						// max number of handles
+	BP_FP_INT_TYPE m_maxHandles;						// max number of handles
 	Handle* m_pHandles;						// handles pool
+	void* m_pHandlesRawPtr;
 	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)
+	void* m_pEdgesRawPtr[3];
+
+	btOverlappingPairCache* m_pairCache;
+
+	///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
+	btOverlappingPairCallback* m_userPairCallback;
+	
+	bool	m_ownsPairCache;
 
-	int m_invalidPair;
+	int	m_invalidPair;
 
 	// allocation/deallocation
 	BP_FP_INT_TYPE allocHandle();
@@ -108,29 +111,801 @@ private:
 
 	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);
+	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
 
 public:
-	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
-	virtual	~btAxisSweep3();
 
-	virtual void	refreshOverlappingPairs();
+	btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
+
+	virtual	~btAxisSweep3Internal();
+
+	BP_FP_INT_TYPE getNumHandles() const
+	{
+		return m_numHandles;
+	}
+
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
 	
-	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;}
+	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
+	void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
+	SIMD_FORCE_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);
+	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_pairCache;
+	}
+	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_pairCache;
+	}
+
+	void	setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
+	{
+		m_userPairCallback = pairCallback;
+	}
+	const btOverlappingPairCallback*	getOverlappingPairUserCallback() const
+	{
+		return m_userPairCallback;
+	}
+
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin = m_worldAabbMin;
+		aabbMax = m_worldAabbMax;
+	}
+
+	virtual void	printStats()
+	{
+/*		printf("btAxisSweep3.h\n");
+		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
+			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
+			*/
+
+	}
+
+};
+
+////////////////////////////////////////////////////////////////////
+
+
+
+
+#ifdef DEBUG_BROADPHASE
+#include <stdio.h>
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3<BP_FP_INT_TYPE>::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
+
+template <typename BP_FP_INT_TYPE>
+btBroadphaseProxy*	btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
+{
+		(void)shapeType;
+		BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy);
+		
+		Handle* handle = getHandle(handleId);
+				
+		return handle;
+}
+
+
+
+template <typename BP_FP_INT_TYPE>
+void	btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+	Handle* handle = static_cast<Handle*>(proxy);
+	removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
+}
+
+template <typename BP_FP_INT_TYPE>
+void	btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
+{
+	Handle* handle = static_cast<Handle*>(proxy);
+	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
+
+}
+
+
+
+
+
+template <typename BP_FP_INT_TYPE>
+btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
+:m_bpHandleMask(handleMask),
+m_handleSentinel(handleSentinel),
+m_pairCache(pairCache),
+m_userPairCallback(0),
+m_ownsPairCache(false),
+m_invalidPair(0)
+{
+	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
+
+	if (!m_pairCache)
+	{
+		void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
+		m_pairCache = new(ptr) btHashedOverlappingPairCache();
+		m_ownsPairCache = true;
+	}
+
+	//assert(bounds.HasVolume());
+
+	// init bounds
+	m_worldAabbMin = worldAabbMin;
+	m_worldAabbMax = worldAabbMax;
+
+	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
+
+	BP_FP_INT_TYPE	maxInt = m_handleSentinel;
+
+	m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
+
+	// allocate handles buffer and put all handles on free list
+	m_pHandlesRawPtr = btAlignedAlloc(sizeof(Handle)*maxHandles,16);
+	m_pHandles = new(m_pHandlesRawPtr) Handle[maxHandles];
+
+	m_maxHandles = maxHandles;
+	m_numHandles = 0;
+
+	// handle 0 is reserved as the null index, and is also used as the sentinel
+	m_firstFreeHandle = 1;
+	{
+		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
+			m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
+		m_pHandles[maxHandles - 1].SetNextFree(0);
+	}
+
+	{
+		// allocate edge buffers
+		for (int i = 0; i < 3; i++)
+		{
+			m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16);
+			m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
+		}
+	}
+	//removed overlap management
+
+	// make boundary sentinels
+	
+	m_pHandles[0].m_clientObject = 0;
+
+	for (int axis = 0; axis < 3; axis++)
+	{
+		m_pHandles[0].m_minEdges[axis] = 0;
+		m_pHandles[0].m_maxEdges[axis] = 1;
+
+		m_pEdges[axis][0].m_pos = 0;
+		m_pEdges[axis][0].m_handle = 0;
+		m_pEdges[axis][1].m_pos = m_handleSentinel;
+		m_pEdges[axis][1].m_handle = 0;
+#ifdef DEBUG_BROADPHASE
+		debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
+	}
+
+}
+
+template <typename BP_FP_INT_TYPE>
+btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
+{
+	
+	for (int i = 2; i >= 0; i--)
+	{
+		btAlignedFree(m_pEdgesRawPtr[i]);
+	}
+	btAlignedFree(m_pHandlesRawPtr);
+
+	if (m_ownsPairCache)
+	{
+		m_pairCache->~btOverlappingPairCache();
+		btAlignedFree(m_pairCache);
+	}
+}
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
+{
+	btPoint3 clampedPoint(point);
+	
+
+
+	clampedPoint.setMax(m_worldAabbMin);
+	clampedPoint.setMin(m_worldAabbMax);
+
+	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
+	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
+	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
+	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
+	
+}
+
+
+template <typename BP_FP_INT_TYPE>
+BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
+{
+	assert(m_firstFreeHandle);
+
+	BP_FP_INT_TYPE handle = m_firstFreeHandle;
+	m_firstFreeHandle = getHandle(handle)->GetNextFree();
+	m_numHandles++;
+
+	return handle;
+}
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
+{
+	assert(handle > 0 && handle < m_maxHandles);
+
+	getHandle(handle)->SetNextFree(m_firstFreeHandle);
+	m_firstFreeHandle = handle;
+
+	m_numHandles--;
+}
+
+
+template <typename BP_FP_INT_TYPE>
+BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
+{
+	// quantize the bounds
+	BP_FP_INT_TYPE min[3], max[3];
+	quantize(min, aabbMin, 0);
+	quantize(max, aabbMax, 1);
+
+	// allocate a handle
+	BP_FP_INT_TYPE handle = allocHandle();
+	
+
+	Handle* pHandle = getHandle(handle);
+	
+	pHandle->m_uniqueId = static_cast<int>(handle);
+	//pHandle->m_pOverlaps = 0;
+	pHandle->m_clientObject = pOwner;
+	pHandle->m_collisionFilterGroup = collisionFilterGroup;
+	pHandle->m_collisionFilterMask = collisionFilterMask;
+	pHandle->m_multiSapParentProxy = multiSapProxy;
+
+	// compute current limit of edge arrays
+	BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
+
+	
+	// insert new edges just inside the max boundary edge
+	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];
+
+		m_pEdges[axis][limit - 1].m_pos = min[axis];
+		m_pEdges[axis][limit - 1].m_handle = handle;
+
+		m_pEdges[axis][limit].m_pos = max[axis];
+		m_pEdges[axis][limit].m_handle = handle;
+
+		pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1);
+		pHandle->m_maxEdges[axis] = limit;
+	}
+
+	// now sort the new edges to their correct position
+	sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false);
+	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false);
+	sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false);
+	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false);
+	sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true);
+	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true);
+
+
+	return handle;
+}
+
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher)
+{
+
+	Handle* pHandle = getHandle(handle);
+
+	//explicitly remove the pairs containing the proxy
+	//we could do it also in the sortMinUp (passing true)
+	//todo: compare performance
+	if (!m_pairCache->hasDeferredRemoval())
+	{
+		m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
+	}
+
+	// compute current limit of edge arrays
+	int limit = static_cast<int>(m_numHandles * 2);
+	
+	int axis;
+
+	for (axis = 0;axis<3;axis++)
+	{
+		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];
+		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
+		pEdges[max].m_pos = m_handleSentinel;
+
+		sortMaxUp(axis,max,dispatcher,false);
+
+
+		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
+		pEdges[i].m_pos = m_handleSentinel;
+
+
+		sortMinUp(axis,i,dispatcher,false);
+
+		pEdges[limit-1].m_handle = 0;
+		pEdges[limit-1].m_pos = m_handleSentinel;
+		
+#ifdef DEBUG_BROADPHASE
+			debugPrintAxis(axis,false);
+#endif //DEBUG_BROADPHASE
+
+
+	}
+
+
+	// free the handle
+	freeHandle(handle);
+
+	
+}
+
+extern int gOverlappingPairs;
+//#include <stdio.h>
+
+template <typename BP_FP_INT_TYPE>
+void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+
+	if (m_pairCache->hasDeferredRemoval())
+	{
+	
+		btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_invalidPair = 0;
+
+		
+		int i;
+
+		btBroadphasePair previousPair;
+		previousPair.m_pProxy0 = 0;
+		previousPair.m_pProxy1 = 0;
+		previousPair.m_algorithm = 0;
+		
+		
+		for (i=0;i<overlappingPairArray.size();i++)
+		{
+		
+			btBroadphasePair& pair = overlappingPairArray[i];
+
+			bool isDuplicate = (pair == previousPair);
+
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;//callback->processOverlap(pair);
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				m_pairCache->cleanOverlappingPair(pair,dispatcher);
+
+		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+		//		m_overlappingPairArray.pop_back();
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				m_invalidPair++;
+				gOverlappingPairs--;
+			} 
+			
+		}
+
+	///if you don't like to skip the invalid pairs in the array, execute following code:
+	#define CLEAN_INVALID_PAIRS 1
+	#ifdef CLEAN_INVALID_PAIRS
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_invalidPair = 0;
+	#endif//CLEAN_INVALID_PAIRS
+		
+		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
+	}
+
+
+
+	
+
+}
+
+
+template <typename BP_FP_INT_TYPE>
+bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(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;
+}
+
+template <typename BP_FP_INT_TYPE>
+bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
+{
+	//optimization 1: check the array index (memory address), instead of the m_pos
+
+	for (int axis = 0; axis < 3; axis++)
+	{ 
+		if (axis != ignoreAxis)
+		{
+			if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
+				pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
+			{ 
+				return false; 
+			} 
+		}
+	} 
+
+	//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
+
+	/*for (int axis = 0; axis < 3; axis++)
+	{
+		if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
+			m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
+		{
+			return false;
+		}
+	}
+	*/
+
+	return true;
+}
+
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
+{
+//	assert(bounds.IsFinite());
+	//assert(bounds.HasVolume());
+
+	Handle* pHandle = getHandle(handle);
+
+	// quantize the new bounds
+	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++)
+	{
+		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;
+
+		m_pEdges[axis][emin].m_pos = min[axis];
+		m_pEdges[axis][emax].m_pos = max[axis];
+
+		// expand (only adds overlaps)
+		if (dmin < 0)
+			sortMinDown(axis, emin,dispatcher,true);
+
+		if (dmax > 0)
+			sortMaxUp(axis, emax,dispatcher,true);
+
+		// shrink (only removes overlaps)
+		if (dmin > 0)
+			sortMinUp(axis, emin,dispatcher,true);
+
+		if (dmax < 0)
+			sortMaxDown(axis, emax,dispatcher,true);
+
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+	}
+
+	
+}
+
+
+
+
+// sorting a min edge downwards can only ever *add* overlaps
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
+{
+
+	Edge* pEdge = m_pEdges[axis] + edge;
+	Edge* pPrev = pEdge - 1;
+	Handle* pHandleEdge = getHandle(pEdge->m_handle);
+
+	while (pEdge->m_pos < pPrev->m_pos)
+	{
+		Handle* pHandlePrev = getHandle(pPrev->m_handle);
+
+		if (pPrev->IsMax())
+		{
+			// if previous edge is a maximum check the bounds and add an overlap if necessary
+			if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
+			{
+				m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
+				if (m_userPairCallback)
+					m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev);
+
+				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
+
+			}
+
+			// update edge reference in other handle
+			pHandlePrev->m_maxEdges[axis]++;
+		}
+		else
+			pHandlePrev->m_minEdges[axis]++;
+
+		pHandleEdge->m_minEdges[axis]--;
+
+		// swap the edges
+		Edge swap = *pEdge;
+		*pEdge = *pPrev;
+		*pPrev = swap;
+
+		// decrement
+		pEdge--;
+		pPrev--;
+	}
+
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
+}
+
+// sorting a min edge upwards can only ever *remove* overlaps
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
+{
+	Edge* pEdge = m_pEdges[axis] + edge;
+	Edge* pNext = pEdge + 1;
+	Handle* pHandleEdge = getHandle(pEdge->m_handle);
+
+	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
+	{
+		Handle* pHandleNext = getHandle(pNext->m_handle);
+
+		if (pNext->IsMax())
+		{
+
+			// 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);
+
+				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);	
+				if (m_userPairCallback)
+					m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher);
+				
+			}
+
+
+			// update edge reference in other handle
+			pHandleNext->m_maxEdges[axis]--;
+		}
+		else
+			pHandleNext->m_minEdges[axis]--;
+
+		pHandleEdge->m_minEdges[axis]++;
+
+		// swap the edges
+		Edge swap = *pEdge;
+		*pEdge = *pNext;
+		*pNext = swap;
+
+		// increment
+		pEdge++;
+		pNext++;
+	}
+
+
+}
+
+// sorting a max edge downwards can only ever *remove* overlaps
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
+{
+
+	Edge* pEdge = m_pEdges[axis] + edge;
+	Edge* pPrev = pEdge - 1;
+	Handle* pHandleEdge = getHandle(pEdge->m_handle);
+
+	while (pEdge->m_pos < pPrev->m_pos)
+	{
+		Handle* pHandlePrev = getHandle(pPrev->m_handle);
+
+		if (!pPrev->IsMax())
+		{
+			// 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);
+				m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);
+				if (m_userPairCallback)
+					m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher);
+			
+
+
+			}
+
+			// update edge reference in other handle
+			pHandlePrev->m_minEdges[axis]++;;
+		}
+		else
+			pHandlePrev->m_maxEdges[axis]++;
+
+		pHandleEdge->m_maxEdges[axis]--;
+
+		// swap the edges
+		Edge swap = *pEdge;
+		*pEdge = *pPrev;
+		*pPrev = swap;
+
+		// decrement
+		pEdge--;
+		pPrev--;
+	}
+
+	
+#ifdef DEBUG_BROADPHASE
+	debugPrintAxis(axis);
+#endif //DEBUG_BROADPHASE
+
+}
+
+// sorting a max edge upwards can only ever *add* overlaps
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
+{
+	Edge* pEdge = m_pEdges[axis] + edge;
+	Edge* pNext = pEdge + 1;
+	Handle* pHandleEdge = getHandle(pEdge->m_handle);
+
+	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
+	{
+		Handle* pHandleNext = getHandle(pNext->m_handle);
+
+		if (!pNext->IsMax())
+		{
+			// if next edge is a minimum check the bounds and add an overlap if necessary
+			if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext))
+			{
+				Handle* handle0 = getHandle(pEdge->m_handle);
+				Handle* handle1 = getHandle(pNext->m_handle);
+				m_pairCache->addOverlappingPair(handle0,handle1);
+				if (m_userPairCallback)
+					m_userPairCallback->addOverlappingPair(handle0,handle1);
+			}
+
+			// update edge reference in other handle
+			pHandleNext->m_minEdges[axis]--;
+		}
+		else
+			pHandleNext->m_maxEdges[axis]--;
+
+		pHandleEdge->m_maxEdges[axis]++;
+
+		// swap the edges
+		Edge swap = *pEdge;
+		*pEdge = *pNext;
+		*pNext = swap;
+
+		// increment
+		pEdge++;
+		pNext++;
+	}
+	
+}
+
+
+
+////////////////////////////////////////////////////////////////////
+
+
+/// The 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 16 bit integer coordinates instead of floats.
+/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
+class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
+{
+public:
+
+	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
+
+};
+
+/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
+/// This comes at the cost of more memory per handle, and a bit slower performance.
+/// It uses arrays rather then lists for storage of the 3 axis.
+class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
+{
+public:
+
+	bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
index b6ace03c07a..200ac365329 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -20,20 +20,34 @@ subject to the following restrictions:
 
 struct btDispatcherInfo;
 class btDispatcher;
-struct btBroadphaseProxy;
-#include "../../LinearMath/btVector3.h"
+#include "btBroadphaseProxy.h"
+class btOverlappingPairCache;
 
-///BroadphaseInterface for aabb-overlapping object pairs
+#include "LinearMath/btVector3.h"
+
+///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
+///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
+///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
 class btBroadphaseInterface
 {
 public:
 	virtual ~btBroadphaseInterface() {}
 
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
-	virtual void	destroyProxy(btBroadphaseProxy* proxy)=0;
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)=0;
-	virtual void	cleanProxyFromPairs(btBroadphaseProxy* proxy)=0;
+	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
 	
+	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
+
+	virtual	btOverlappingPairCache*	getOverlappingPairCache()=0;
+	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const =0;
+
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
+
+	virtual void	printStats() = 0;
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index 40d9748ffa9..e0bb67f8521 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -16,7 +16,8 @@ subject to the following restrictions:
 #ifndef BROADPHASE_PROXY_H
 #define BROADPHASE_PROXY_H
 
-#include "../../LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
+#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
+#include "LinearMath/btAlignedAllocator.h"
 
 
 /// btDispatcher uses these types
@@ -38,6 +39,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 	CONE_SHAPE_PROXYTYPE,
 	CONVEX_SHAPE_PROXYTYPE,
 	CYLINDER_SHAPE_PROXYTYPE,
+	UNIFORM_SCALING_SHAPE_PROXYTYPE,
 	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
 	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
 //concave shapes
@@ -50,6 +52,8 @@ CONCAVE_SHAPES_START_HERE,
 	TERRAIN_SHAPE_PROXYTYPE,
 ///Used for GIMPACT Trimesh integration
 	GIMPACT_SHAPE_PROXYTYPE,
+///Multimaterial mesh
+    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
 	
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
@@ -57,13 +61,18 @@ CONCAVE_SHAPES_END_HERE,
 
 	COMPOUND_SHAPE_PROXYTYPE,
 
+	SOFTBODY_SHAPE_PROXYTYPE,
+
 	MAX_BROADPHASE_COLLISION_TYPES
 };
 
 
-///btBroadphaseProxy
-struct btBroadphaseProxy
+///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. 
+///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
+ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
 {
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
 	
 	///optional filtering to cull potential collisions
 	enum CollisionFilterGroups
@@ -73,44 +82,60 @@ struct btBroadphaseProxy
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
 			SensorTrigger = 16,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
+	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
 	void*	m_clientObject;
+
 	short int m_collisionFilterGroup;
 	short int m_collisionFilterMask;
 
+	void*	m_multiSapParentProxy;		
+
+
+	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
+
+	SIMD_FORCE_INLINE int getUid() const
+	{
+		return m_uniqueId;
+	}
+
 	//used for memory pools
-	btBroadphaseProxy() :m_clientObject(0){}
+	btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
+	{
+	}
 
-	btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
+	btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
 		:m_clientObject(userPtr),
 		m_collisionFilterGroup(collisionFilterGroup),
 		m_collisionFilterMask(collisionFilterMask)
 	{
+		m_multiSapParentProxy = multiSapParentProxy;
 	}
 
-	static inline bool isPolyhedral(int proxyType)
+	
+
+	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
 	{
 		return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
 	}
 
-	static inline bool	isConvex(int proxyType)
+	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
 	{
 		return (proxyType < CONCAVE_SHAPES_START_HERE);
 	}
 
-	static inline bool	isConcave(int proxyType)
+	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
 	{
 		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
 			(proxyType < CONCAVE_SHAPES_END_HERE));
 	}
-	static inline bool	isCompound(int proxyType)
+	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
 	{
 		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 	}
-	static inline bool isInfinite(int proxyType)
+	static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
 	{
 		return (proxyType == STATIC_PLANE_PROXYTYPE);
 	}
@@ -124,8 +149,9 @@ struct btBroadphaseProxy;
 
 
 
-/// contains a pair of aabb-overlapping objects
-struct btBroadphasePair
+///The btBroadphasePair class contains a pair of aabb-overlapping objects.
+///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
+ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
 {
 	btBroadphasePair ()
 		:
@@ -136,6 +162,8 @@ struct btBroadphasePair
 	{
 	}
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btBroadphasePair(const btBroadphasePair& other)
 		:		m_pProxy0(other.m_pProxy0),
 				m_pProxy1(other.m_pProxy1),
@@ -181,6 +209,7 @@ SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePa
 */
 
 
+
 class btBroadphasePairSortPredicate
 {
 	public:
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
index 2ad0c86d8a2..c95d1be0f2c 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
@@ -18,6 +18,6 @@ subject to the following restrictions:
 
 btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 {
-	m_dispatcher = ci.m_dispatcher;
+	m_dispatcher = ci.m_dispatcher1;
 }
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 55cec386a7b..1618ad9fdd3 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -16,7 +16,8 @@ subject to the following restrictions:
 #ifndef COLLISION_ALGORITHM_H
 #define COLLISION_ALGORITHM_H
 
-#include "../../LinearMath/btScalar.h"
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 struct btBroadphaseProxy;
 class btDispatcher;
@@ -25,21 +26,22 @@ class btCollisionObject;
 struct btDispatcherInfo;
 class	btPersistentManifold;
 
+typedef btAlignedObjectArray<btPersistentManifold*>	btManifoldArray;
 
 struct btCollisionAlgorithmConstructionInfo
 {
 	btCollisionAlgorithmConstructionInfo()
-		:m_dispatcher(0),
+		:m_dispatcher1(0),
 		m_manifold(0)
 	{
 	}
 	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
-		:m_dispatcher(dispatcher)
+		:m_dispatcher1(dispatcher)
 	{
 		(void)temp;
 	}
 
-	btDispatcher*	m_dispatcher;
+	btDispatcher*	m_dispatcher1;
 	btPersistentManifold*	m_manifold;
 
 	int	getDispatcherId();
@@ -71,6 +73,7 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray) = 0;
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
new file mode 100644
index 00000000000..fade71179e6
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -0,0 +1,1320 @@
+/*
+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.
+*/
+///btDbvt implementation by Nathanael Presson
+
+#include "btDbvt.h"
+
+//
+typedef btAlignedObjectArray<btDbvtNode*>			tNodeArray;
+typedef btAlignedObjectArray<const btDbvtNode*>	tConstNodeArray;
+
+//
+struct btDbvtNodeEnumerator : btDbvt::ICollide
+{
+tConstNodeArray	nodes;
+void Process(const btDbvtNode* n) { nodes.push_back(n); }
+};
+
+//
+static DBVT_INLINE int			indexof(const btDbvtNode* node)
+{
+return(node->parent->childs[1]==node);
+}
+
+//
+static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
+										const btDbvtVolume& b)
+{
+#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
+DBVT_ALIGN char locals[sizeof(btDbvtAabbMm)];
+btDbvtVolume&	res=*(btDbvtVolume*)locals;
+#else
+btDbvtVolume	res;
+#endif
+Merge(a,b,res);
+return(res);
+}
+
+// volume+edge lengths
+static DBVT_INLINE btScalar		size(const btDbvtVolume& a)
+{
+const btVector3	edges=a.Lengths();
+return(	edges.x()*edges.y()*edges.z()+
+		edges.x()+edges.y()+edges.z());
+}
+
+//
+static void						getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
+{
+if(node->isinternal())
+	{
+	getmaxdepth(node->childs[0],depth+1,maxdepth);
+	getmaxdepth(node->childs[0],depth+1,maxdepth);
+	} else maxdepth=btMax(maxdepth,depth);
+}
+
+//
+static DBVT_INLINE void			deletenode(	btDbvt* pdbvt,
+											btDbvtNode* node)
+{
+btAlignedFree(pdbvt->m_free);
+pdbvt->m_free=node;
+}
+	
+//
+static void						recursedeletenode(	btDbvt* pdbvt,
+													btDbvtNode* node)
+{
+if(!node->isleaf())
+	{
+	recursedeletenode(pdbvt,node->childs[0]);
+	recursedeletenode(pdbvt,node->childs[1]);
+	}
+if(node==pdbvt->m_root) pdbvt->m_root=0;
+deletenode(pdbvt,node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+											btDbvtNode* parent,
+											void* data)
+{
+btDbvtNode*	node;
+if(pdbvt->m_free)
+	{ node=pdbvt->m_free;pdbvt->m_free=0; }
+	else
+	{ node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); }
+node->parent	=	parent;
+node->data		=	data;
+node->childs[1]	=	0;
+return(node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+											btDbvtNode* parent,
+											const btDbvtVolume& volume,
+											void* data)
+{
+btDbvtNode*	node=createnode(pdbvt,parent,data);
+node->volume=volume;
+return(node);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	createnode(	btDbvt* pdbvt,
+											btDbvtNode* parent,
+											const btDbvtVolume& volume0,
+											const btDbvtVolume& volume1,
+											void* data)
+{
+btDbvtNode*	node=createnode(pdbvt,parent,data);
+Merge(volume0,volume1,node->volume);
+return(node);
+}
+
+//
+static void						insertleaf(	btDbvt* pdbvt,
+											btDbvtNode* root,
+											btDbvtNode* leaf)
+{
+if(!pdbvt->m_root)
+	{
+	pdbvt->m_root	=	leaf;
+	leaf->parent	=	0;
+	}
+	else
+	{
+	if(!root->isleaf())
+		{
+		do	{
+			root=root->childs[Select(	leaf->volume,
+										root->childs[0]->volume,
+										root->childs[1]->volume)];
+			} while(!root->isleaf());
+		}
+	btDbvtNode*	prev=root->parent;
+	btDbvtNode*	node=createnode(pdbvt,prev,leaf->volume,root->volume,0);
+	if(prev)
+		{
+		prev->childs[indexof(root)]	=	node;
+		node->childs[0]				=	root;root->parent=node;
+		node->childs[1]				=	leaf;leaf->parent=node;
+		do	{
+			if(!prev->volume.Contain(node->volume))
+				Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+				else
+				break;
+			node=prev;
+			} while(0!=(prev=node->parent));
+		}
+		else
+		{
+		node->childs[0]	=	root;root->parent=node;
+		node->childs[1]	=	leaf;leaf->parent=node;
+		pdbvt->m_root	=	node;
+		}
+	}
+}
+	
+//
+static btDbvtNode*				removeleaf(	btDbvt* pdbvt,
+											btDbvtNode* leaf)
+{
+if(leaf==pdbvt->m_root)
+	{
+	pdbvt->m_root=0;
+	return(0);
+	}
+	else
+	{
+	btDbvtNode*	parent=leaf->parent;
+	btDbvtNode*	prev=parent->parent;
+	btDbvtNode*	sibling=parent->childs[1-indexof(leaf)];			
+	if(prev)
+		{
+		prev->childs[indexof(parent)]=sibling;
+		sibling->parent=prev;
+		deletenode(pdbvt,parent);
+		while(prev)
+			{
+			const btDbvtVolume	pb=prev->volume;
+			Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
+			if(NotEqual(pb,prev->volume))
+				{
+				prev=prev->parent;
+				} else break;
+			}
+		return(prev?prev:pdbvt->m_root);
+		}
+		else
+		{								
+		pdbvt->m_root=sibling;
+		sibling->parent=0;
+		deletenode(pdbvt,parent);
+		return(pdbvt->m_root);
+		}			
+	}
+}
+
+//
+static void						fetchleaves(btDbvt* pdbvt,
+											btDbvtNode* root,
+											tNodeArray& leaves,
+											int depth=-1)
+{
+if(root->isinternal()&&depth)
+	{
+	fetchleaves(pdbvt,root->childs[0],leaves,depth-1);
+	fetchleaves(pdbvt,root->childs[1],leaves,depth-1);
+	deletenode(pdbvt,root);
+	}
+	else
+	{
+	leaves.push_back(root);
+	}
+}
+
+//
+static void						split(	const tNodeArray& leaves,
+										tNodeArray& left,
+										tNodeArray& right,
+										const btVector3& org,
+										const btVector3& axis)
+{
+left.resize(0);
+right.resize(0);
+for(int i=0,ni=leaves.size();i<ni;++i)
+	{
+	if(dot(axis,leaves[i]->volume.Center()-org)<0)
+		left.push_back(leaves[i]);
+		else
+		right.push_back(leaves[i]);
+	}
+}
+
+//
+static btDbvtVolume				bounds(	const tNodeArray& leaves)
+{
+#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
+DBVT_ALIGN char	locals[sizeof(btDbvtVolume)];
+btDbvtVolume&	volume=*(btDbvtVolume*)locals;
+volume=leaves[0]->volume;
+#else
+btDbvtVolume volume=leaves[0]->volume;
+#endif
+for(int i=1,ni=leaves.size();i<ni;++i)
+	{
+	Merge(volume,leaves[i]->volume,volume);
+	}
+return(volume);
+}
+
+//
+static void						bottomup(	btDbvt* pdbvt,
+											tNodeArray& leaves)
+{
+while(leaves.size()>1)
+	{
+	btScalar	minsize=SIMD_INFINITY;
+	int			minidx[2]={-1,-1};
+	for(int i=0;i<leaves.size();++i)
+		{
+		for(int j=i+1;j<leaves.size();++j)
+			{
+			const btScalar	sz=size(merge(leaves[i]->volume,leaves[j]->volume));
+			if(sz<minsize)
+				{
+				minsize		=	sz;
+				minidx[0]	=	i;
+				minidx[1]	=	j;
+				}
+			}
+		}
+	btDbvtNode*	n[]	=	{leaves[minidx[0]],leaves[minidx[1]]};
+	btDbvtNode*	p	=	createnode(pdbvt,0,n[0]->volume,n[1]->volume,0);
+	p->childs[0]		=	n[0];
+	p->childs[1]		=	n[1];
+	n[0]->parent		=	p;
+	n[1]->parent		=	p;
+	leaves[minidx[0]]	=	p;
+	leaves.swap(minidx[1],leaves.size()-1);
+	leaves.pop_back();
+	}
+}
+
+//
+static btDbvtNode*			topdown(btDbvt* pdbvt,
+									tNodeArray& leaves,
+									int bu_treshold)
+{
+static const btVector3	axis[]={btVector3(1,0,0),
+								btVector3(0,1,0),
+								btVector3(0,0,1)};
+if(leaves.size()>1)
+	{
+	if(leaves.size()>bu_treshold)
+		{
+		const btDbvtVolume	vol=bounds(leaves);
+		const btVector3			org=vol.Center();
+		tNodeArray				sets[2];
+		int						bestaxis=-1;
+		int						bestmidp=leaves.size();
+		int						splitcount[3][2]={{0,0},{0,0},{0,0}};
+		int i;
+		for( i=0;i<leaves.size();++i)
+			{
+			const btVector3	x=leaves[i]->volume.Center()-org;
+			for(int j=0;j<3;++j)
+				{
+				++splitcount[j][dot(x,axis[j])>0?1:0];
+				}
+			}
+		for( i=0;i<3;++i)
+			{
+			if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
+				{
+				const int	midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1]));
+				if(midp<bestmidp)
+					{
+					bestaxis=i;
+					bestmidp=midp;
+					}
+				}
+			}
+		if(bestaxis>=0)
+			{
+			sets[0].reserve(splitcount[bestaxis][0]);
+			sets[1].reserve(splitcount[bestaxis][1]);
+			split(leaves,sets[0],sets[1],org,axis[bestaxis]);
+			}
+			else
+			{
+			sets[0].reserve(leaves.size()/2+1);
+			sets[1].reserve(leaves.size()/2);
+			for(int i=0,ni=leaves.size();i<ni;++i)
+				{
+				sets[i&1].push_back(leaves[i]);
+				}
+			}
+		btDbvtNode*	node=createnode(pdbvt,0,vol,0);
+		node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
+		node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
+		node->childs[0]->parent=node;
+		node->childs[1]->parent=node;
+		return(node);
+		}
+		else
+		{
+		bottomup(pdbvt,leaves);
+		return(leaves[0]);
+		}
+	}
+return(leaves[0]);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	sort(btDbvtNode* n,btDbvtNode*& r)
+{
+btDbvtNode*	p=n->parent;
+btAssert(n->isinternal());
+if(p>n)
+	{
+	const int		i=indexof(n);
+	const int		j=1-i;
+	btDbvtNode*	s=p->childs[j];
+	btDbvtNode*	q=p->parent;
+	btAssert(n==p->childs[i]);
+	if(q) q->childs[indexof(p)]=n; else r=n;
+	s->parent=n;
+	p->parent=n;
+	n->parent=q;
+	p->childs[0]=n->childs[0];
+	p->childs[1]=n->childs[1];
+	n->childs[0]->parent=p;
+	n->childs[1]->parent=p;
+	n->childs[i]=p;
+	n->childs[j]=s;
+	btSwap(p->volume,n->volume);
+	return(p);
+	}
+return(n);
+}
+
+//
+static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
+{
+while(n&&(count--)) n=n->parent;
+return(n);
+}
+
+//
+// Api
+//
+
+//
+				btDbvt::btDbvt()
+{
+m_root		=	0;
+m_free		=	0;
+m_lkhd		=	-1;
+m_leaves	=	0;
+m_opath		=	0;
+}
+
+//
+				btDbvt::~btDbvt()
+{
+clear();
+}
+
+//
+void			btDbvt::clear()
+{
+if(m_root)	recursedeletenode(this,m_root);
+btAlignedFree(m_free);
+m_free=0;
+}
+
+//
+void			btDbvt::optimizeBottomUp()
+{
+if(m_root)
+	{
+	tNodeArray leaves;
+	leaves.reserve(m_leaves);
+	fetchleaves(this,m_root,leaves);
+	bottomup(this,leaves);
+	m_root=leaves[0];
+	}
+}
+
+//
+void			btDbvt::optimizeTopDown(int bu_treshold)
+{
+if(m_root)
+	{
+	tNodeArray	leaves;
+	leaves.reserve(m_leaves);
+	fetchleaves(this,m_root,leaves);
+	m_root=topdown(this,leaves,bu_treshold);
+	}
+}
+
+//
+void			btDbvt::optimizeIncremental(int passes)
+{
+if(passes<0) passes=m_leaves;
+if(m_root&&(passes>0))
+	{
+	do	{
+		btDbvtNode*		node=m_root;
+		unsigned	bit=0;
+		while(node->isinternal())
+			{
+			node=sort(node,m_root)->childs[(m_opath>>bit)&1];
+			bit=(bit+1)&(sizeof(unsigned)*8-1);
+			}
+		update(node);
+		++m_opath;
+		} while(--passes);
+	}
+}
+
+//
+btDbvtNode*	btDbvt::insert(const btDbvtVolume& volume,void* data)
+{
+btDbvtNode*	leaf=createnode(this,0,volume,data);
+insertleaf(this,m_root,leaf);
+++m_leaves;
+return(leaf);
+}
+
+//
+void			btDbvt::update(btDbvtNode* leaf,int lookahead)
+{
+btDbvtNode*	root=removeleaf(this,leaf);
+if(root)
+	{
+	if(lookahead>=0)
+		{
+		for(int i=0;(i<lookahead)&&root->parent;++i)
+			{
+			root=root->parent;
+			}
+		} else root=m_root;
+	}
+insertleaf(this,root,leaf);
+}
+
+//
+void			btDbvt::update(btDbvtNode* leaf,const btDbvtVolume& volume)
+{
+btDbvtNode*	root=removeleaf(this,leaf);
+if(root)
+	{
+	if(m_lkhd>=0)
+		{
+		for(int i=0;(i<m_lkhd)&&root->parent;++i)
+			{
+			root=root->parent;
+			}
+		} else root=m_root;
+	}
+leaf->volume=volume;
+insertleaf(this,root,leaf);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin)
+{
+if(leaf->volume.Contain(volume)) return(false);
+volume.Expand(btVector3(margin,margin,margin));
+volume.SignedExpand(velocity);
+update(leaf,volume);
+return(true);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity)
+{
+if(leaf->volume.Contain(volume)) return(false);
+volume.SignedExpand(velocity);
+update(leaf,volume);
+return(true);
+}
+
+//
+bool			btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin)
+{
+if(leaf->volume.Contain(volume)) return(false);
+volume.Expand(btVector3(margin,margin,margin));
+update(leaf,volume);
+return(true);
+}
+
+//
+void			btDbvt::remove(btDbvtNode* leaf)
+{
+removeleaf(this,leaf);
+deletenode(this,leaf);
+--m_leaves;
+}
+
+//
+void			btDbvt::write(IWriter* iwriter) const
+{
+btDbvtNodeEnumerator	nodes;
+nodes.nodes.reserve(m_leaves*2);
+enumNodes(m_root,nodes);
+iwriter->Prepare(m_root,nodes.nodes.size());
+for(int i=0;i<nodes.nodes.size();++i)
+	{
+	const btDbvtNode* n=nodes.nodes[i];
+	int			p=-1;
+	if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
+	if(n->isinternal())
+		{
+		const int	c0=nodes.nodes.findLinearSearch(n->childs[0]);
+		const int	c1=nodes.nodes.findLinearSearch(n->childs[1]);
+		iwriter->WriteNode(n,i,p,c0,c1);
+		}
+		else
+		{
+		iwriter->WriteLeaf(n,i,p);
+		}	
+	}
+}
+
+//
+void			btDbvt::clone(btDbvt& dest,IClone* iclone) const
+{
+dest.clear();
+if(m_root!=0)
+	{	
+	btAlignedObjectArray<sStkCLN>	stack;
+	stack.reserve(m_leaves);
+	stack.push_back(sStkCLN(m_root,0));
+	do	{
+		const int		i=stack.size()-1;
+		const sStkCLN	e=stack[i];
+		btDbvtNode*			n=createnode(&dest,e.parent,e.node->volume,e.node->data);
+		stack.pop_back();
+		if(e.parent!=0)
+			e.parent->childs[i&1]=n;
+			else
+			dest.m_root=n;
+		if(e.node->isinternal())
+			{
+			stack.push_back(sStkCLN(e.node->childs[0],n));
+			stack.push_back(sStkCLN(e.node->childs[1],n));
+			}
+			else
+			{
+			iclone->CloneLeaf(n);
+			}
+		} while(stack.size()>0);
+	}
+}
+
+//
+int				btDbvt::maxdepth(const btDbvtNode* node)
+{
+int	depth=0;
+if(node) getmaxdepth(node,1,depth);
+return(depth);
+}
+
+//
+int				btDbvt::countLeaves(const btDbvtNode* node)
+{
+if(node->isinternal())
+	return(countLeaves(node->childs[0])+countLeaves(node->childs[1]));
+	else
+	return(1);
+}
+
+//
+void			btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves)
+{
+if(node->isinternal())
+	{
+	extractLeaves(node->childs[0],leaves);
+	extractLeaves(node->childs[1],leaves);
+	}
+	else
+	{
+	leaves.push_back(node);
+	}	
+}
+
+//
+#if DBVT_ENABLE_BENCHMARK
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "LinearMath/btQuickProf.h"
+
+/*
+q6600,2.4ghz
+
+/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"
+/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch"
+/Fo"..\..\out\release8\build\libbulletcollision\\"
+/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb"
+/W3 /nologo /c /Wp64 /Zi /errorReport:prompt
+
+Benchmarking dbvt...
+        World scale: 100.000000
+        Extents base: 1.000000
+        Extents range: 4.000000
+        Leaves: 8192
+        sizeof(btDbvtVolume): 32 bytes
+        sizeof(btDbvtNode):   44 bytes
+[1] btDbvtVolume intersections: 3537 ms (0%)
+[2] btDbvtVolume merges: 1945 ms (0%)
+[3] btDbvt::collideTT: 6646 ms (0%)
+[4] btDbvt::collideTT self: 3389 ms (0%)
+[5] btDbvt::collideTT xform: 7505 ms (0%)
+[6] btDbvt::collideTT xform,self: 7480 ms (0%)
+[7] btDbvt::collideRAY: 6307 ms (0%),(332511 r/s)
+[8] insert/remove: 2105 ms (-3%),(996271 ir/s)
+[9] updates (teleport): 1943 ms (0%),(1079337 u/s)
+[10] updates (jitter): 1301 ms (0%),(1611953 u/s)
+[11] optimize (incremental): 2510 ms (0%),(1671000 o/s)
+[12] btDbvtVolume notequal: 3677 ms (0%)
+[13] culling(OCL+fullsort): 2231 ms (0%),(458 t/s)
+[14] culling(OCL+qsort): 3500 ms (0%),(2340 t/s)
+[15] culling(KDOP+qsort): 1151 ms (0%),(7117 t/s)
+[16] insert/remove batch(256): 5138 ms (0%),(816330 bir/s)
+[17] btDbvtVolume proximity: 2842 ms (0%)
+[18] btDbvtVolume select: 3390 ms (0%)
+*/
+
+struct btDbvtBenchmark
+{
+struct NilPolicy : btDbvt::ICollide
+	{
+	NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true)		{}
+	void	Process(const btDbvtNode*,const btDbvtNode*)				{ ++m_pcount; }
+	void	Process(const btDbvtNode*)									{ ++m_pcount; }
+	void	Process(const btDbvtNode*,btScalar depth)
+		{
+		++m_pcount;
+		if(m_checksort)
+			{ if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); }
+		}
+	int			m_pcount;
+	btScalar	m_depth;
+	bool		m_checksort;
+	};
+struct P14 : btDbvt::ICollide
+	{
+	struct Node
+		{
+		const btDbvtNode*	leaf;
+		btScalar			depth;
+		};
+	void Process(const btDbvtNode* leaf,btScalar depth)
+		{
+		Node	n;
+		n.leaf	=	leaf;
+		n.depth	=	depth;
+		}
+	static int sortfnc(const Node& a,const Node& b)
+		{
+		if(a.depth<b.depth) return(+1);
+		if(a.depth>b.depth) return(-1);
+		return(0);
+		}
+	btAlignedObjectArray<Node>		m_nodes;
+	};
+struct P15 : btDbvt::ICollide
+	{
+	struct Node
+		{
+		const btDbvtNode*	leaf;
+		btScalar			depth;
+		};
+	void Process(const btDbvtNode* leaf)
+		{
+		Node	n;
+		n.leaf	=	leaf;
+		n.depth	=	dot(leaf->volume.Center(),m_axis);
+		}
+	static int sortfnc(const Node& a,const Node& b)
+		{
+		if(a.depth<b.depth) return(+1);
+		if(a.depth>b.depth) return(-1);
+		return(0);
+		}
+	btAlignedObjectArray<Node>		m_nodes;
+	btVector3						m_axis;
+	};
+static btScalar			RandUnit()
+	{
+	return(rand()/(btScalar)RAND_MAX);
+	}
+static btVector3		RandVector3()
+	{
+	return(btVector3(RandUnit(),RandUnit(),RandUnit()));
+	}
+static btVector3		RandVector3(btScalar cs)
+	{
+	return(RandVector3()*cs-btVector3(cs,cs,cs)/2);
+	}
+static btDbvtVolume	RandVolume(btScalar cs,btScalar eb,btScalar es)
+	{
+	return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es));
+	}
+static btTransform		RandTransform(btScalar cs)
+	{
+	btTransform	t;
+	t.setOrigin(RandVector3(cs));
+	t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized());
+	return(t);
+	}
+static void				RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt)
+	{
+	dbvt.clear();
+	for(int i=0;i<leaves;++i)
+		{
+		dbvt.insert(RandVolume(cs,eb,es),0);
+		}
+	}
+};
+
+void			btDbvt::benchmark()
+{
+static const btScalar	cfgVolumeCenterScale		=	100;
+static const btScalar	cfgVolumeExentsBase			=	1;
+static const btScalar	cfgVolumeExentsScale		=	4;
+static const int		cfgLeaves					=	8192;
+static const bool		cfgEnable					=	true;
+
+//[1] btDbvtVolume intersections
+bool					cfgBenchmark1_Enable		=	cfgEnable;
+static const int		cfgBenchmark1_Iterations	=	8;
+static const int		cfgBenchmark1_Reference		=	3537;
+//[2] btDbvtVolume merges
+bool					cfgBenchmark2_Enable		=	cfgEnable;
+static const int		cfgBenchmark2_Iterations	=	4;
+static const int		cfgBenchmark2_Reference		=	1945;
+//[3] btDbvt::collideTT
+bool					cfgBenchmark3_Enable		=	cfgEnable;
+static const int		cfgBenchmark3_Iterations	=	512;
+static const int		cfgBenchmark3_Reference		=	6646;
+//[4] btDbvt::collideTT self
+bool					cfgBenchmark4_Enable		=	cfgEnable;
+static const int		cfgBenchmark4_Iterations	=	512;
+static const int		cfgBenchmark4_Reference		=	3389;
+//[5] btDbvt::collideTT xform
+bool					cfgBenchmark5_Enable		=	cfgEnable;
+static const int		cfgBenchmark5_Iterations	=	512;
+static const btScalar	cfgBenchmark5_OffsetScale	=	2;
+static const int		cfgBenchmark5_Reference		=	7505;
+//[6] btDbvt::collideTT xform,self
+bool					cfgBenchmark6_Enable		=	cfgEnable;
+static const int		cfgBenchmark6_Iterations	=	512;
+static const btScalar	cfgBenchmark6_OffsetScale	=	2;
+static const int		cfgBenchmark6_Reference		=	7480;
+//[7] btDbvt::collideRAY
+bool					cfgBenchmark7_Enable		=	cfgEnable;
+static const int		cfgBenchmark7_Passes		=	32;
+static const int		cfgBenchmark7_Iterations	=	65536;
+static const int		cfgBenchmark7_Reference		=	6307;
+//[8] insert/remove
+bool					cfgBenchmark8_Enable		=	cfgEnable;
+static const int		cfgBenchmark8_Passes		=	32;
+static const int		cfgBenchmark8_Iterations	=	65536;
+static const int		cfgBenchmark8_Reference		=	2105;
+//[9] updates (teleport)
+bool					cfgBenchmark9_Enable		=	cfgEnable;
+static const int		cfgBenchmark9_Passes		=	32;
+static const int		cfgBenchmark9_Iterations	=	65536;
+static const int		cfgBenchmark9_Reference		=	1943;
+//[10] updates (jitter)
+bool					cfgBenchmark10_Enable		=	cfgEnable;
+static const btScalar	cfgBenchmark10_Scale		=	cfgVolumeCenterScale/10000;
+static const int		cfgBenchmark10_Passes		=	32;
+static const int		cfgBenchmark10_Iterations	=	65536;
+static const int		cfgBenchmark10_Reference	=	1301;
+//[11] optimize (incremental)
+bool					cfgBenchmark11_Enable		=	cfgEnable;
+static const int		cfgBenchmark11_Passes		=	64;
+static const int		cfgBenchmark11_Iterations	=	65536;
+static const int		cfgBenchmark11_Reference	=	2510;
+//[12] btDbvtVolume notequal
+bool					cfgBenchmark12_Enable		=	cfgEnable;
+static const int		cfgBenchmark12_Iterations	=	32;
+static const int		cfgBenchmark12_Reference	=	3677;
+//[13] culling(OCL+fullsort)
+bool					cfgBenchmark13_Enable		=	cfgEnable;
+static const int		cfgBenchmark13_Iterations	=	1024;
+static const int		cfgBenchmark13_Reference	=	2231;
+//[14] culling(OCL+qsort)
+bool					cfgBenchmark14_Enable		=	cfgEnable;
+static const int		cfgBenchmark14_Iterations	=	8192;
+static const int		cfgBenchmark14_Reference	=	3500;
+//[15] culling(KDOP+qsort)
+bool					cfgBenchmark15_Enable		=	cfgEnable;
+static const int		cfgBenchmark15_Iterations	=	8192;
+static const int		cfgBenchmark15_Reference	=	1151;
+//[16] insert/remove batch
+bool					cfgBenchmark16_Enable		=	cfgEnable;
+static const int		cfgBenchmark16_BatchCount	=	256;
+static const int		cfgBenchmark16_Passes		=	16384;
+static const int		cfgBenchmark16_Reference	=	5138;
+//[17] proximity
+bool					cfgBenchmark17_Enable		=	cfgEnable;
+static const int		cfgBenchmark17_Iterations	=	8;
+static const int		cfgBenchmark17_Reference	=	2842;
+//[18] select
+bool					cfgBenchmark18_Enable		=	cfgEnable;
+static const int		cfgBenchmark18_Iterations	=	4;
+static const int		cfgBenchmark18_Reference	=	3390;
+
+btClock					wallclock;
+printf("Benchmarking dbvt...\r\n");
+printf("\tWorld scale: %f\r\n",cfgVolumeCenterScale);
+printf("\tExtents base: %f\r\n",cfgVolumeExentsBase);
+printf("\tExtents range: %f\r\n",cfgVolumeExentsScale);
+printf("\tLeaves: %u\r\n",cfgLeaves);
+printf("\tsizeof(btDbvtVolume): %u bytes\r\n",sizeof(btDbvtVolume));
+printf("\tsizeof(btDbvtNode):   %u bytes\r\n",sizeof(btDbvtNode));
+if(cfgBenchmark1_Enable)
+	{// Benchmark 1	
+	srand(380843);
+	btAlignedObjectArray<btDbvtVolume>	volumes;
+	btAlignedObjectArray<bool>			results;
+	volumes.resize(cfgLeaves);
+	results.resize(cfgLeaves);
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+	printf("[1] btDbvtVolume intersections: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark1_Iterations;++i)
+		{
+		for(int j=0;j<cfgLeaves;++j)
+			{
+			for(int k=0;k<cfgLeaves;++k)
+				{
+				results[k]=Intersect(volumes[j],volumes[k]);
+				}
+			}
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark1_Reference)*100/time);
+	}
+if(cfgBenchmark2_Enable)
+	{// Benchmark 2	
+	srand(380843);
+	btAlignedObjectArray<btDbvtVolume>	volumes;
+	btAlignedObjectArray<btDbvtVolume>	results;
+	volumes.resize(cfgLeaves);
+	results.resize(cfgLeaves);
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+	printf("[2] btDbvtVolume merges: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark2_Iterations;++i)
+		{
+		for(int j=0;j<cfgLeaves;++j)
+			{
+			for(int k=0;k<cfgLeaves;++k)
+				{
+				Merge(volumes[j],volumes[k],results[k]);
+				}
+			}
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark2_Reference)*100/time);
+	}
+if(cfgBenchmark3_Enable)
+	{// Benchmark 3	
+	srand(380843);
+	btDbvt						dbvt[2];
+	btDbvtBenchmark::NilPolicy	policy;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+	dbvt[0].optimizeTopDown();
+	dbvt[1].optimizeTopDown();
+	printf("[3] btDbvt::collideTT: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark3_Iterations;++i)
+		{
+		btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,policy);
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark3_Reference)*100/time);
+	}
+if(cfgBenchmark4_Enable)
+	{// Benchmark 4
+	srand(380843);
+	btDbvt						dbvt;
+	btDbvtBenchmark::NilPolicy	policy;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[4] btDbvt::collideTT self: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark4_Iterations;++i)
+		{
+		btDbvt::collideTT(dbvt.m_root,dbvt.m_root,policy);
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark4_Reference)*100/time);
+	}
+if(cfgBenchmark5_Enable)
+	{// Benchmark 5	
+	srand(380843);
+	btDbvt								dbvt[2];
+	btAlignedObjectArray<btTransform>	transforms;
+	btDbvtBenchmark::NilPolicy			policy;
+	transforms.resize(cfgBenchmark5_Iterations);
+	for(int i=0;i<transforms.size();++i)
+		{
+		transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark5_OffsetScale);
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[0]);
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt[1]);
+	dbvt[0].optimizeTopDown();
+	dbvt[1].optimizeTopDown();
+	printf("[5] btDbvt::collideTT xform: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark5_Iterations;++i)
+		{
+		btDbvt::collideTT(dbvt[0].m_root,dbvt[1].m_root,transforms[i],policy);
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark5_Reference)*100/time);
+	}
+if(cfgBenchmark6_Enable)
+	{// Benchmark 6	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btTransform>	transforms;
+	btDbvtBenchmark::NilPolicy			policy;
+	transforms.resize(cfgBenchmark6_Iterations);
+	for(int i=0;i<transforms.size();++i)
+		{
+		transforms[i]=btDbvtBenchmark::RandTransform(cfgVolumeCenterScale*cfgBenchmark6_OffsetScale);
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[6] btDbvt::collideTT xform,self: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark6_Iterations;++i)
+		{
+		btDbvt::collideTT(dbvt.m_root,dbvt.m_root,transforms[i],policy);		
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark6_Reference)*100/time);
+	}
+if(cfgBenchmark7_Enable)
+	{// Benchmark 7	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btVector3>		rayorg;
+	btAlignedObjectArray<btVector3>		raydir;
+	btDbvtBenchmark::NilPolicy			policy;
+	rayorg.resize(cfgBenchmark7_Iterations);
+	raydir.resize(cfgBenchmark7_Iterations);
+	for(int i=0;i<rayorg.size();++i)
+		{
+		rayorg[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+		raydir[i]=btDbvtBenchmark::RandVector3(cfgVolumeCenterScale*2);
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[7] btDbvt::collideRAY: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark7_Passes;++i)
+		{
+		for(int j=0;j<cfgBenchmark7_Iterations;++j)
+			{
+			btDbvt::collideRAY(dbvt.m_root,rayorg[j],raydir[j],policy);
+			}
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	unsigned	rays=cfgBenchmark7_Passes*cfgBenchmark7_Iterations;
+	printf("%u ms (%i%%),(%u r/s)\r\n",time,(time-cfgBenchmark7_Reference)*100/time,(rays*1000)/time);
+	}
+if(cfgBenchmark8_Enable)
+	{// Benchmark 8	
+	srand(380843);
+	btDbvt								dbvt;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[8] insert/remove: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark8_Passes;++i)
+		{
+		for(int j=0;j<cfgBenchmark8_Iterations;++j)
+			{
+			dbvt.remove(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+			}
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	ir=cfgBenchmark8_Passes*cfgBenchmark8_Iterations;
+	printf("%u ms (%i%%),(%u ir/s)\r\n",time,(time-cfgBenchmark8_Reference)*100/time,ir*1000/time);
+	}
+if(cfgBenchmark9_Enable)
+	{// Benchmark 9	
+	srand(380843);
+	btDbvt										dbvt;
+	btAlignedObjectArray<const btDbvtNode*>	leaves;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	dbvt.extractLeaves(dbvt.m_root,leaves);
+	printf("[9] updates (teleport): ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark9_Passes;++i)
+		{
+		for(int j=0;j<cfgBenchmark9_Iterations;++j)
+			{
+			dbvt.update(const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]),
+						btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale));
+			}
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations;
+	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time);
+	}
+if(cfgBenchmark10_Enable)
+	{// Benchmark 10	
+	srand(380843);
+	btDbvt										dbvt;
+	btAlignedObjectArray<const btDbvtNode*>	leaves;
+	btAlignedObjectArray<btVector3>				vectors;
+	vectors.resize(cfgBenchmark10_Iterations);
+	for(int i=0;i<vectors.size();++i)
+		{
+		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1))*cfgBenchmark10_Scale;
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	dbvt.extractLeaves(dbvt.m_root,leaves);
+	printf("[10] updates (jitter): ");
+	wallclock.reset();
+	
+	for(int i=0;i<cfgBenchmark10_Passes;++i)
+		{
+		for(int j=0;j<cfgBenchmark10_Iterations;++j)
+			{			
+			const btVector3&	d=vectors[j];
+			btDbvtNode*		l=const_cast<btDbvtNode*>(leaves[rand()%cfgLeaves]);
+			btDbvtVolume		v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d);
+			dbvt.update(l,v);
+			}
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations;
+	printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time);
+	}
+if(cfgBenchmark11_Enable)
+	{// Benchmark 11	
+	srand(380843);
+	btDbvt										dbvt;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[11] optimize (incremental): ");
+	wallclock.reset();	
+	for(int i=0;i<cfgBenchmark11_Passes;++i)
+		{
+		dbvt.optimizeIncremental(cfgBenchmark11_Iterations);
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	op=cfgBenchmark11_Passes*cfgBenchmark11_Iterations;
+	printf("%u ms (%i%%),(%u o/s)\r\n",time,(time-cfgBenchmark11_Reference)*100/time,op/time*1000);
+	}
+if(cfgBenchmark12_Enable)
+	{// Benchmark 12	
+	srand(380843);
+	btAlignedObjectArray<btDbvtVolume>	volumes;
+	btAlignedObjectArray<bool>				results;
+	volumes.resize(cfgLeaves);
+	results.resize(cfgLeaves);
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+	printf("[12] btDbvtVolume notequal: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark12_Iterations;++i)
+		{
+		for(int j=0;j<cfgLeaves;++j)
+			{
+			for(int k=0;k<cfgLeaves;++k)
+				{
+				results[k]=NotEqual(volumes[j],volumes[k]);
+				}
+			}
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark12_Reference)*100/time);
+	}
+if(cfgBenchmark13_Enable)
+	{// Benchmark 13	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btVector3>		vectors;
+	btDbvtBenchmark::NilPolicy			policy;
+	vectors.resize(cfgBenchmark13_Iterations);
+	for(int i=0;i<vectors.size();++i)
+		{
+		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	printf("[13] culling(OCL+fullsort): ");
+	wallclock.reset();	
+	for(int i=0;i<cfgBenchmark13_Iterations;++i)
+		{
+		static const btScalar	offset=0;
+		policy.m_depth=-SIMD_INFINITY;
+		dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy);
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	t=cfgBenchmark13_Iterations;
+	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark13_Reference)*100/time,(t*1000)/time);
+	}
+if(cfgBenchmark14_Enable)
+	{// Benchmark 14	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btVector3>		vectors;
+	btDbvtBenchmark::P14				policy;
+	vectors.resize(cfgBenchmark14_Iterations);
+	for(int i=0;i<vectors.size();++i)
+		{
+		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	policy.m_nodes.reserve(cfgLeaves);
+	printf("[14] culling(OCL+qsort): ");
+	wallclock.reset();	
+	for(int i=0;i<cfgBenchmark14_Iterations;++i)
+		{
+		static const btScalar	offset=0;
+		policy.m_nodes.resize(0);
+		dbvt.collideOCL(dbvt.m_root,&vectors[i],&offset,vectors[i],1,policy,false);
+		policy.m_nodes.quickSort(btDbvtBenchmark::P14::sortfnc);
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	t=cfgBenchmark14_Iterations;
+	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark14_Reference)*100/time,(t*1000)/time);
+	}
+if(cfgBenchmark15_Enable)
+	{// Benchmark 15	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btVector3>		vectors;
+	btDbvtBenchmark::P15				policy;
+	vectors.resize(cfgBenchmark15_Iterations);
+	for(int i=0;i<vectors.size();++i)
+		{
+		vectors[i]=(btDbvtBenchmark::RandVector3()*2-btVector3(1,1,1)).normalized();
+		}
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	policy.m_nodes.reserve(cfgLeaves);
+	printf("[15] culling(KDOP+qsort): ");
+	wallclock.reset();	
+	for(int i=0;i<cfgBenchmark15_Iterations;++i)
+		{
+		static const btScalar	offset=0;
+		policy.m_nodes.resize(0);
+		policy.m_axis=vectors[i];
+		dbvt.collideKDOP(dbvt.m_root,&vectors[i],&offset,1,policy);
+		policy.m_nodes.quickSort(btDbvtBenchmark::P15::sortfnc);
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	t=cfgBenchmark15_Iterations;
+	printf("%u ms (%i%%),(%u t/s)\r\n",time,(time-cfgBenchmark15_Reference)*100/time,(t*1000)/time);
+	}
+if(cfgBenchmark16_Enable)
+	{// Benchmark 16	
+	srand(380843);
+	btDbvt								dbvt;
+	btAlignedObjectArray<btDbvtNode*>	batch;
+	btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt);
+	dbvt.optimizeTopDown();
+	batch.reserve(cfgBenchmark16_BatchCount);
+	printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount);
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark16_Passes;++i)
+		{
+		for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			{
+			batch.push_back(dbvt.insert(btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale),0));
+			}
+		for(int j=0;j<cfgBenchmark16_BatchCount;++j)
+			{
+			dbvt.remove(batch[j]);
+			}
+		batch.resize(0);
+		}
+	const int	time=(int)wallclock.getTimeMilliseconds();
+	const int	ir=cfgBenchmark16_Passes*cfgBenchmark16_BatchCount;
+	printf("%u ms (%i%%),(%u bir/s)\r\n",time,(time-cfgBenchmark16_Reference)*100/time,int(ir*1000.0/time));
+	}
+if(cfgBenchmark17_Enable)
+	{// Benchmark 17
+	srand(380843);
+	btAlignedObjectArray<btDbvtVolume>	volumes;
+	btAlignedObjectArray<btScalar>		results;
+	volumes.resize(cfgLeaves);
+	results.resize(cfgLeaves);
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+	printf("[17] btDbvtVolume proximity: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark17_Iterations;++i)
+		{
+		for(int j=0;j<cfgLeaves;++j)
+			{
+			for(int k=0;k<cfgLeaves;++k)
+				{
+				results[k]=Proximity(volumes[j],volumes[k]);
+				}
+			}
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark17_Reference)*100/time);
+	}
+if(cfgBenchmark18_Enable)
+	{// Benchmark 18
+	srand(380843);
+	btAlignedObjectArray<btDbvtVolume>	volumes;
+	btAlignedObjectArray<int>			results;
+	btAlignedObjectArray<int>			indices;
+	volumes.resize(cfgLeaves);
+	results.resize(cfgLeaves);
+	indices.resize(cfgLeaves);
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		indices[i]=i;
+		volumes[i]=btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale);
+		}
+	for(int i=0;i<cfgLeaves;++i)
+		{
+		btSwap(indices[i],indices[rand()%cfgLeaves]);
+		}
+	printf("[18] btDbvtVolume select: ");
+	wallclock.reset();
+	for(int i=0;i<cfgBenchmark18_Iterations;++i)
+		{
+		for(int j=0;j<cfgLeaves;++j)
+			{
+			for(int k=0;k<cfgLeaves;++k)
+				{
+				const int idx=indices[k];
+				results[idx]=Select(volumes[idx],volumes[j],volumes[k]);
+				}
+			}
+		}
+	const int time=(int)wallclock.getTimeMilliseconds();
+	printf("%u ms (%i%%)\r\n",time,(time-cfgBenchmark18_Reference)*100/time);
+	}
+printf("\r\n\r\n");
+}
+#endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
new file mode 100644
index 00000000000..10f94627c37
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -0,0 +1,1101 @@
+/*
+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.
+*/
+///btDbvt implementation by Nathanael Presson
+
+#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
+#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+
+//
+// Compile time configuration
+//
+
+
+// Implementation profiles
+#define DBVT_IMPL_GENERIC		0	// Generic implementation	
+#define DBVT_IMPL_SSE			1	// SSE
+
+// Template implementation of ICollide
+#ifdef WIN32_AVOID_WHEN_EMBEDDED_INSIDE_BLENDER
+	#if (defined (_MSC_VER) && _MSC_VER >= 1400)
+	#define	DBVT_USE_TEMPLATE		1
+	#else
+	#define	DBVT_USE_TEMPLATE		0
+#endif
+#else
+#define	DBVT_USE_TEMPLATE		0
+#endif
+
+// Using memmov for collideOCL
+#define DBVT_USE_MEMMOVE		1
+
+// Enable benchmarking code
+#define	DBVT_ENABLE_BENCHMARK	0
+
+// Inlining
+#define DBVT_INLINE				SIMD_FORCE_INLINE
+// Align
+#ifdef WIN32
+#define DBVT_ALIGN				__declspec(align(16))
+#else
+#define DBVT_ALIGN
+#endif
+
+// Specific methods implementation
+#ifdef WIN32_AVOID_WHEN_EMBEDDED_INSIDE_BLENDER
+#define DBVT_PROXIMITY_IMPL		DBVT_IMPL_SSE
+#define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
+#define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
+#else
+#define DBVT_PROXIMITY_IMPL		DBVT_IMPL_GENERIC
+#define DBVT_SELECT_IMPL		DBVT_IMPL_GENERIC
+#define DBVT_MERGE_IMPL			DBVT_IMPL_GENERIC
+#endif
+
+//
+// Auto config and checks
+//
+
+#if DBVT_USE_TEMPLATE
+#define	DBVT_VIRTUAL
+#define DBVT_VIRTUAL_DTOR(a)
+#define DBVT_PREFIX					template <typename T>
+#define DBVT_IPOLICY				T& policy
+#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)0;
+#else
+#define	DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
+#define DBVT_VIRTUAL				virtual
+#define DBVT_PREFIX
+#define DBVT_IPOLICY				ICollide& policy
+#define DBVT_CHECKTYPE
+#endif
+
+#if DBVT_USE_MEMMOVE
+#ifndef __CELLOS_LV2__
+#include <memory.h>
+#endif
+#include <string.h>
+#endif
+
+#ifndef DBVT_USE_TEMPLATE
+#error "DBVT_USE_TEMPLATE undefined"
+#endif
+
+#ifndef DBVT_USE_MEMMOVE
+#error "DBVT_USE_MEMMOVE undefined"
+#endif
+
+#ifndef DBVT_ENABLE_BENCHMARK
+#error "DBVT_ENABLE_BENCHMARK undefined"
+#endif
+
+#ifndef DBVT_PROXIMITY_IMPL
+#error "DBVT_PROXIMITY_IMPL undefined"
+#endif
+
+#ifndef DBVT_SELECT_IMPL
+#error "DBVT_SELECT_IMPL undefined"
+#endif
+
+#ifndef DBVT_MERGE_IMPL
+#error "DBVT_MERGE_IMPL undefined"
+#endif
+
+//
+// Defaults volumes
+//
+
+/* btDbvtAabbMm			*/ 
+struct	btDbvtAabbMm
+{
+DBVT_INLINE btVector3			Center() const	{ return((mi+mx)/2); }
+DBVT_INLINE btVector3			Lengths() const	{ return(mx-mi); }
+DBVT_INLINE btVector3			Extents() const	{ return((mx-mi)/2); }
+DBVT_INLINE const btVector3&	Mins() const	{ return(mi); }
+DBVT_INLINE const btVector3&	Maxs() const	{ return(mx); }
+static inline btDbvtAabbMm		FromCE(const btVector3& c,const btVector3& e);
+static inline btDbvtAabbMm		FromCR(const btVector3& c,btScalar r);
+static inline btDbvtAabbMm		FromMM(const btVector3& mi,const btVector3& mx);
+static inline btDbvtAabbMm		FromPoints(const btVector3* pts,int n);
+static inline btDbvtAabbMm		FromPoints(const btVector3** ppts,int n);
+DBVT_INLINE void				Expand(const btVector3 e);
+DBVT_INLINE void				SignedExpand(const btVector3 e);
+DBVT_INLINE bool				Contain(const btDbvtAabbMm& a) const;
+DBVT_INLINE int					Classify(const btVector3& n,btScalar o,int s) const;
+DBVT_INLINE btScalar			ProjectMinimum(const btVector3& v,unsigned signs) const;
+DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b);
+DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b,
+											const btTransform& xform);
+DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+											const btVector3& b);
+DBVT_INLINE friend bool			Intersect(	const btDbvtAabbMm& a,
+											const btVector3& org,
+											const btVector3& invdir,
+											const unsigned* signs);
+DBVT_INLINE friend btScalar		Proximity(	const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b);
+DBVT_INLINE friend int			Select(		const btDbvtAabbMm& o,
+											const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b);
+DBVT_INLINE friend void			Merge(		const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b,
+											btDbvtAabbMm& r);
+DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
+											const btDbvtAabbMm& b);
+private:
+DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
+private:
+btVector3	mi,mx;
+};
+
+// Types	
+typedef	btDbvtAabbMm	btDbvtVolume;
+
+/* btDbvtNode				*/ 
+struct	btDbvtNode
+{
+	btDbvtVolume	volume;
+	btDbvtNode*		parent;
+	bool	isleaf() const		{ return(childs[1]==0); }
+	bool	isinternal() const	{ return(!isleaf()); }
+	union	{
+		btDbvtNode*	childs[2];
+		void*	data;
+		};
+};
+
+///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
+///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
+///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
+struct	btDbvt
+	{
+	
+	
+	/* Stack element	*/ 
+	struct	sStkNN
+		{
+		const btDbvtNode*	a;
+		const btDbvtNode*	b;
+		sStkNN() {}
+		sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {}
+		};
+	struct	sStkNP
+		{
+		const btDbvtNode*	node;
+		int			mask;
+		sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {}
+		};
+	struct	sStkNPS
+		{
+		const btDbvtNode*	node;
+		int			mask;
+		btScalar	value;
+		sStkNPS() {}
+		sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {}
+		};
+	struct	sStkCLN
+		{
+		const btDbvtNode*	node;
+		btDbvtNode*		parent;
+		sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {}
+		};
+	// Policies/Interfaces
+			
+	/* ICollide	*/ 
+	struct	ICollide
+		{		
+		DBVT_VIRTUAL_DTOR(ICollide)
+		DBVT_VIRTUAL void	Process(const btDbvtNode*,const btDbvtNode*)		{}
+		DBVT_VIRTUAL void	Process(const btDbvtNode*)					{}
+		DBVT_VIRTUAL void	Process(const btDbvtNode* n,btScalar)			{ Process(n); }
+		DBVT_VIRTUAL bool	Descent(const btDbvtNode*)					{ return(true); }
+		DBVT_VIRTUAL bool	AllLeaves(const btDbvtNode*)					{ return(true); }
+		};
+	/* IWriter	*/ 
+	struct	IWriter
+		{
+		virtual ~IWriter() {}
+		virtual void		Prepare(const btDbvtNode* root,int numnodes)=0;
+		virtual void		WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0;
+		virtual void		WriteLeaf(const btDbvtNode*,int index,int parent)=0;
+		};
+	/* IClone	*/ 
+	struct	IClone
+		{
+		virtual ~IClone()	{}
+		virtual void		CloneLeaf(btDbvtNode*) {}
+		};
+		
+	// Constants
+	enum	{
+			SIMPLE_STACKSIZE	=	64,
+			DOUBLE_STACKSIZE	=	SIMPLE_STACKSIZE*2
+			};
+		
+	// Fields
+	btDbvtNode*			m_root;
+	btDbvtNode*			m_free;
+	int				m_lkhd;
+	int				m_leaves;
+	unsigned		m_opath;
+	// Methods
+					btDbvt();
+					~btDbvt();
+	void			clear();
+	bool			empty() const { return(0==m_root); }
+	void			optimizeBottomUp();
+	void			optimizeTopDown(int bu_treshold=128);
+	void			optimizeIncremental(int passes);
+	btDbvtNode*		insert(const btDbvtVolume& box,void* data);
+	void			update(btDbvtNode* leaf,int lookahead=-1);
+	void			update(btDbvtNode* leaf,const btDbvtVolume& volume);
+	bool			update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin);
+	bool			update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity);
+	bool			update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin);	
+	void			remove(btDbvtNode* leaf);
+	void			write(IWriter* iwriter) const;
+	void			clone(btDbvt& dest,IClone* iclone=0) const;
+	static int		maxdepth(const btDbvtNode* node);
+	static int		countLeaves(const btDbvtNode* node);
+	static void		extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves);
+	#if DBVT_ENABLE_BENCHMARK
+	static void		benchmark();
+	#else
+	static void		benchmark(){}
+	#endif
+	// DBVT_IPOLICY must support ICollide policy/interface
+	DBVT_PREFIX
+	static void		enumNodes(	const btDbvtNode* root,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		enumLeaves(	const btDbvtNode* root,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideTT(	const btDbvtNode* root0,
+								const btDbvtNode* root1,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideTT(	const btDbvtNode* root0,
+								const btDbvtNode* root1,
+								const btTransform& xform,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideTT(	const btDbvtNode* root0,
+								const btTransform& xform0,
+								const btDbvtNode* root1,
+								const btTransform& xform1,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideTV(	const btDbvtNode* root,
+								const btDbvtVolume& volume,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideRAY(	const btDbvtNode* root,
+								const btVector3& origin,
+								const btVector3& direction,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideKDOP(const btDbvtNode* root,
+								const btVector3* normals,
+								const btScalar* offsets,
+								int count,
+								DBVT_IPOLICY);
+	DBVT_PREFIX
+	static void		collideOCL(	const btDbvtNode* root,
+								const btVector3* normals,
+								const btScalar* offsets,
+								const btVector3& sortaxis,
+								int count,								
+								DBVT_IPOLICY,
+								bool fullsort=true);
+	DBVT_PREFIX
+	static void		collideTU(	const btDbvtNode* root,
+								DBVT_IPOLICY);
+	// Helpers	
+	static DBVT_INLINE int	nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
+		{
+		int	m=0;
+		while(l<h)
+			{
+			m=(l+h)>>1;
+			if(a[i[m]].value>=v) l=m+1; else h=m;
+			}
+		return(h);
+		}
+	static DBVT_INLINE int	allocate(	btAlignedObjectArray<int>& ifree,
+										btAlignedObjectArray<sStkNPS>& stock,
+										const sStkNPS& value)
+		{
+		int	i;
+		if(ifree.size()>0)
+			{ i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
+			else
+			{ i=stock.size();stock.push_back(value); }
+		return(i); 
+		}
+	//
+	private:
+					btDbvt(const btDbvt&)	{}	
+	};
+
+//
+// Inline's
+//
+
+//
+inline btDbvtAabbMm			btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
+{
+btDbvtAabbMm box;
+box.mi=c-e;box.mx=c+e;
+return(box);
+}
+	
+//
+inline btDbvtAabbMm			btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
+{
+return(FromCE(c,btVector3(r,r,r)));
+}
+	
+//
+inline btDbvtAabbMm			btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
+{
+btDbvtAabbMm box;
+box.mi=mi;box.mx=mx;
+return(box);
+}
+	
+//
+inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
+{
+btDbvtAabbMm box;
+box.mi=box.mx=pts[0];
+for(int i=1;i<n;++i)
+	{
+	box.mi.setMin(pts[i]);
+	box.mx.setMax(pts[i]);
+	}
+return(box);
+}
+
+//
+inline btDbvtAabbMm			btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
+{
+btDbvtAabbMm box;
+box.mi=box.mx=*ppts[0];
+for(int i=1;i<n;++i)
+	{
+	box.mi.setMin(*ppts[i]);
+	box.mx.setMax(*ppts[i]);
+	}
+return(box);
+}
+
+//
+DBVT_INLINE void		btDbvtAabbMm::Expand(const btVector3 e)
+{
+mi-=e;mx+=e;
+}
+	
+//
+DBVT_INLINE void		btDbvtAabbMm::SignedExpand(const btVector3 e)
+{
+if(e.x()>0) mx.setX(mx.x()+e.x()); else mi.setX(mi.x()+e.x());
+if(e.y()>0) mx.setY(mx.y()+e.y()); else mi.setY(mi.y()+e.y());
+if(e.z()>0) mx.setZ(mx.z()+e.z()); else mi.setZ(mi.z()+e.z());
+}
+	
+//
+DBVT_INLINE bool		btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
+{
+return(	(mi.x()<=a.mi.x())&&
+		(mi.y()<=a.mi.y())&&
+		(mi.z()<=a.mi.z())&&
+		(mx.x()>=a.mx.x())&&
+		(mx.y()>=a.mx.y())&&
+		(mx.z()>=a.mx.z()));
+}
+
+//
+DBVT_INLINE int		btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
+{
+btVector3			pi,px;
+switch(s)
+	{
+	case	(0+0+0):	px=btVector3(mi.x(),mi.y(),mi.z());
+						pi=btVector3(mx.x(),mx.y(),mx.z());break;
+	case	(1+0+0):	px=btVector3(mx.x(),mi.y(),mi.z());
+						pi=btVector3(mi.x(),mx.y(),mx.z());break;
+	case	(0+2+0):	px=btVector3(mi.x(),mx.y(),mi.z());
+						pi=btVector3(mx.x(),mi.y(),mx.z());break;
+	case	(1+2+0):	px=btVector3(mx.x(),mx.y(),mi.z());
+						pi=btVector3(mi.x(),mi.y(),mx.z());break;
+	case	(0+0+4):	px=btVector3(mi.x(),mi.y(),mx.z());
+						pi=btVector3(mx.x(),mx.y(),mi.z());break;
+	case	(1+0+4):	px=btVector3(mx.x(),mi.y(),mx.z());
+						pi=btVector3(mi.x(),mx.y(),mi.z());break;
+	case	(0+2+4):	px=btVector3(mi.x(),mx.y(),mx.z());
+						pi=btVector3(mx.x(),mi.y(),mi.z());break;
+	case	(1+2+4):	px=btVector3(mx.x(),mx.y(),mx.z());
+						pi=btVector3(mi.x(),mi.y(),mi.z());break;
+	}
+if((dot(n,px)+o)<0)		return(-1);
+if((dot(n,pi)+o)>=0)	return(+1);
+return(0);
+}
+
+//
+DBVT_INLINE btScalar	btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
+{
+const btVector3*	b[]={&mx,&mi};
+const btVector3		p(	b[(signs>>0)&1]->x(),
+						b[(signs>>1)&1]->y(),
+						b[(signs>>2)&1]->z());
+return(dot(p,v));
+}
+
+//
+DBVT_INLINE void		btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
+{
+for(int i=0;i<3;++i)
+	{
+	if(d[i]<0)
+		{ smi+=mx[i]*d[i];smx+=mi[i]*d[i]; }
+		else
+		{ smi+=mi[i]*d[i];smx+=mx[i]*d[i]; }
+	}
+}
+	
+//
+DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
+									const btDbvtAabbMm& b)
+{
+return(	(a.mi.x()<=b.mx.x())&&
+		(a.mx.x()>=b.mi.x())&&
+		(a.mi.y()<=b.mx.y())&&
+		(a.mx.y()>=b.mi.y())&&
+		(a.mi.z()<=b.mx.z())&&		
+		(a.mx.z()>=b.mi.z()));
+}
+
+//
+DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
+									const btDbvtAabbMm& b,
+									const btTransform& xform)
+{
+const btVector3		d0=xform*b.Center()-a.Center();
+const btVector3		d1=d0*xform.getBasis();
+btScalar			s0[2]={0,0};
+btScalar			s1[2]={dot(xform.getOrigin(),d0),s1[0]};
+a.AddSpan(d0,s0[0],s0[1]);
+b.AddSpan(d1,s1[0],s1[1]);
+if(s0[0]>(s1[1])) return(false);
+if(s0[1]<(s1[0])) return(false);
+return(true);
+}
+
+//
+DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
+									const btVector3& b)
+{
+return(	(b.x()>=a.mi.x())&&
+		(b.y()>=a.mi.y())&&
+		(b.z()>=a.mi.z())&&
+		(b.x()<=a.mx.x())&&
+		(b.y()<=a.mx.y())&&
+		(b.z()<=a.mx.z()));
+}
+
+//
+DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
+									const btVector3& org,
+									const btVector3& invdir,
+									const unsigned* signs)
+{
+#if 0
+const btVector3		b0((a.mi-org)*invdir);
+const btVector3		b1((a.mx-org)*invdir);
+const btVector3		tmin(btMin(b0[0],b1[0]),btMin(b0[1],b1[1]),btMin(b0[2],b1[2]));
+const btVector3		tmax(btMax(b0[0],b1[0]),btMax(b0[1],b1[1]),btMax(b0[2],b1[2]));
+const btScalar		tin=btMax(tmin[0],btMax(tmin[1],tmin[2]));
+const btScalar		tout=btMin(tmax[0],btMin(tmax[1],tmax[2]));
+return(tin<tout);
+#else
+const btVector3*	bounds[2]={&a.mi,&a.mx};
+btScalar			txmin=(bounds[  signs[0]]->x()-org[0])*invdir[0];
+btScalar			txmax=(bounds[1-signs[0]]->x()-org[0])*invdir[0];
+const btScalar		tymin=(bounds[  signs[1]]->y()-org[1])*invdir[1];
+const btScalar		tymax=(bounds[1-signs[1]]->y()-org[1])*invdir[1];
+if((txmin>tymax)||(tymin>txmax)) return(false);
+if(tymin>txmin) txmin=tymin;
+if(tymax<txmax) txmax=tymax;
+const btScalar		tzmin=(bounds[  signs[2]]->z()-org[2])*invdir[2];
+const btScalar		tzmax=(bounds[1-signs[2]]->z()-org[2])*invdir[2];
+if((txmin>tzmax)||(tzmin>txmax)) return(false);
+if(tzmin>txmin) txmin=tzmin;
+if(tzmax<txmax) txmax=tzmax;
+return(txmax>0);
+#endif
+}
+	
+//
+DBVT_INLINE btScalar	Proximity(	const btDbvtAabbMm& a,
+									const btDbvtAabbMm& b)
+{
+#if	DBVT_PROXIMITY_IMPL == DBVT_IMPL_SSE
+DBVT_ALIGN btScalar							r[1];
+static DBVT_ALIGN const unsigned __int32	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+__asm
+	{
+	mov		eax,a
+	mov		ecx,b
+	movaps	xmm0,[eax]
+	movaps	xmm2,[ecx]
+	movaps	xmm1,[eax+16]
+	movaps	xmm3,[ecx+16]
+	addps	xmm0,xmm1
+	addps	xmm2,xmm3
+	subps	xmm0,xmm2
+	andps	xmm0,mask
+	movhlps	xmm1,xmm0
+	addps	xmm0,xmm1
+	pshufd	xmm1,xmm0,1
+	addss	xmm0,xmm1
+	movss	r,xmm0
+	}
+return(r[0]);
+#else
+const btVector3	d=(a.mi+a.mx)-(b.mi+b.mx);
+return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
+#endif
+}
+
+//
+DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
+								const btDbvtAabbMm& a,
+								const btDbvtAabbMm& b)
+{
+#if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
+DBVT_ALIGN __int32							r[1];
+static DBVT_ALIGN const unsigned __int32	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+__asm
+	{
+	mov		eax,o
+	mov		ecx,a
+	mov		edx,b
+	movaps	xmm0,[eax]
+	movaps	xmm5,mask
+	addps	xmm0,[eax+16]	
+	movaps	xmm1,[ecx]
+	movaps	xmm2,[edx]
+	addps	xmm1,[ecx+16]
+	addps	xmm2,[edx+16]
+	subps	xmm1,xmm0
+	subps	xmm2,xmm0
+	andps	xmm1,xmm5
+	andps	xmm2,xmm5
+	movhlps	xmm3,xmm1
+	movhlps	xmm4,xmm2
+	addps	xmm1,xmm3
+	addps	xmm2,xmm4
+	pshufd	xmm3,xmm1,1
+	pshufd	xmm4,xmm2,1
+	addss	xmm1,xmm3
+	addss	xmm2,xmm4
+	cmpless	xmm2,xmm1
+	movss	r,xmm2
+	}
+return(r[0]&1);
+#else
+return(Proximity(o,a)<Proximity(o,b)?0:1);
+#endif
+}
+
+//
+DBVT_INLINE void		Merge(	const btDbvtAabbMm& a,
+								const btDbvtAabbMm& b,
+								btDbvtAabbMm& r)
+{
+#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
+__asm
+	{
+	mov		eax,a
+	mov		edx,b
+	mov		ecx,r
+	movaps	xmm0,[eax+0]
+	movaps	xmm1,[edx+0]
+	movaps	xmm2,[eax+16]
+	movaps	xmm3,[edx+16]
+	minps	xmm0,xmm1
+	maxps	xmm2,xmm3
+	movaps	[ecx+0],xmm0
+	movaps	[ecx+16],xmm2
+	}
+#else
+for(int i=0;i<3;++i)
+	{
+	if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
+	if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
+	}
+#endif
+}
+
+//
+DBVT_INLINE bool		NotEqual(	const btDbvtAabbMm& a,
+									const btDbvtAabbMm& b)
+{
+return(	(a.mi.x()!=b.mi.x())||
+		(a.mi.y()!=b.mi.y())||
+		(a.mi.z()!=b.mi.z())||
+		(a.mx.x()!=b.mx.x())||
+		(a.mx.y()!=b.mx.y())||
+		(a.mx.z()!=b.mx.z()));
+}
+
+//
+// Inline's
+//
+
+//
+DBVT_PREFIX
+inline void		btDbvt::enumNodes(	const btDbvtNode* root,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+policy.Process(root);
+if(root->isinternal())
+	{
+	enumNodes(root->childs[0],policy);
+	enumNodes(root->childs[1],policy);
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::enumLeaves(	const btDbvtNode* root,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root->isinternal())
+	{
+	enumLeaves(root->childs[0],policy);
+	enumLeaves(root->childs[1],policy);
+	}
+	else
+	{
+	policy.Process(root);
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTT(	const btDbvtNode* root0,
+									const btDbvtNode* root1,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root0&&root1)
+	{
+	btAlignedObjectArray<sStkNN>	stack;
+	int								depth=1;
+	int								treshold=DOUBLE_STACKSIZE-4;
+	stack.resize(DOUBLE_STACKSIZE);
+	stack[0]=sStkNN(root0,root1);
+	do	{
+		sStkNN	p=stack[--depth];
+		if(depth>treshold)
+			{
+			stack.resize(stack.size()*2);
+			treshold=stack.size()-4;
+			}
+		if(p.a==p.b)
+			{
+			if(p.a->isinternal())
+				{
+				stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
+				stack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
+				stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
+				}
+			}
+		else if(Intersect(p.a->volume,p.b->volume))
+			{
+			if(p.a->isinternal())
+				{
+				if(p.b->isinternal())
+					{
+					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+					}
+					else
+					{
+					stack[depth++]=sStkNN(p.a->childs[0],p.b);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b);
+					}
+				}
+				else
+				{
+				if(p.b->isinternal())
+					{
+					stack[depth++]=sStkNN(p.a,p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a,p.b->childs[1]);
+					}
+					else
+					{
+					policy.Process(p.a,p.b);
+					}
+				}
+			}
+		} while(depth);
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTT(	const btDbvtNode* root0,
+									const btDbvtNode* root1,
+									const btTransform& xform,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root0&&root1)
+	{
+	btAlignedObjectArray<sStkNN>	stack;
+	int								depth=1;
+	int								treshold=DOUBLE_STACKSIZE-4;
+	stack.resize(DOUBLE_STACKSIZE);
+	stack[0]=sStkNN(root0,root1);
+	do	{
+		sStkNN	p=stack[--depth];
+		if(Intersect(p.a->volume,p.b->volume,xform))
+			{
+			if(depth>treshold)
+				{
+				stack.resize(stack.size()*2);
+				treshold=stack.size()-4;
+				}
+			if(p.a->isinternal())
+				{
+				if(p.b->isinternal())
+					{					
+					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
+					}
+					else
+					{
+					stack[depth++]=sStkNN(p.a->childs[0],p.b);
+					stack[depth++]=sStkNN(p.a->childs[1],p.b);
+					}
+				}
+				else
+				{
+				if(p.b->isinternal())
+					{
+					stack[depth++]=sStkNN(p.a,p.b->childs[0]);
+					stack[depth++]=sStkNN(p.a,p.b->childs[1]);
+					}
+					else
+					{
+					policy.Process(p.a,p.b);
+					}
+				}
+			}
+		} while(depth);
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTT(	const btDbvtNode* root0,
+									const btTransform& xform0,
+									const btDbvtNode* root1,
+									const btTransform& xform1,
+									DBVT_IPOLICY)
+{
+const btTransform	xform=xform0.inverse()*xform1;
+collideTT(root0,root1,xform,policy);
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTV(	const btDbvtNode* root,
+									const btDbvtVolume& volume,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root)
+	{
+	btAlignedObjectArray<const btDbvtNode*>	stack;
+	stack.reserve(SIMPLE_STACKSIZE);
+	stack.push_back(root);
+	do	{
+		const btDbvtNode*	n=stack[stack.size()-1];
+		stack.pop_back();
+		if(Intersect(n->volume,volume))
+			{
+			if(n->isinternal())
+				{
+				stack.push_back(n->childs[0]);
+				stack.push_back(n->childs[1]);
+				}
+				else
+				{
+				policy.Process(n);
+				}
+			}
+		} while(stack.size()>0);
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideRAY(	const btDbvtNode* root,
+									const btVector3& origin,
+									const btVector3& direction,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root)
+	{
+	const btVector3	normal=direction.normalized();
+	const btVector3	invdir(	1/normal.x(),
+							1/normal.y(),
+							1/normal.z());
+	const unsigned	signs[]={	direction.x()<0,
+								direction.y()<0,
+								direction.z()<0};
+	btAlignedObjectArray<const btDbvtNode*>	stack;
+	stack.reserve(SIMPLE_STACKSIZE);
+	stack.push_back(root);
+	do	{
+		const btDbvtNode*	node=stack[stack.size()-1];
+		stack.pop_back();
+		if(Intersect(node->volume,origin,invdir,signs))
+			{
+			if(node->isinternal())
+				{
+				stack.push_back(node->childs[0]);
+				stack.push_back(node->childs[1]);
+				}
+				else
+				{
+				policy.Process(node);
+				}
+			}
+		} while(stack.size());
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideKDOP(const btDbvtNode* root,
+									const btVector3* normals,
+									const btScalar* offsets,
+									int count,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root)
+	{
+	const int						inside=(1<<count)-1;
+	btAlignedObjectArray<sStkNP>	stack;
+	int								signs[sizeof(unsigned)*8];
+	btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
+	for(int i=0;i<count;++i)
+		{
+		signs[i]=	((normals[i].x()>=0)?1:0)+
+					((normals[i].y()>=0)?2:0)+
+					((normals[i].z()>=0)?4:0);
+		}
+	stack.reserve(SIMPLE_STACKSIZE);
+	stack.push_back(sStkNP(root,0));
+	do	{
+		sStkNP	se=stack[stack.size()-1];
+		bool	out=false;
+		stack.pop_back();
+		for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+			{
+			if(0==(se.mask&j))
+				{
+				const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
+				switch(side)
+					{
+					case	-1:	out=true;break;
+					case	+1:	se.mask|=j;break;
+					}
+				}
+			}
+		if(!out)
+			{
+			if((se.mask!=inside)&&(se.node->isinternal()))
+				{
+				stack.push_back(sStkNP(se.node->childs[0],se.mask));
+				stack.push_back(sStkNP(se.node->childs[1],se.mask));
+				}
+				else
+				{
+				if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
+				}
+			}
+		} while(stack.size());
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideOCL(	const btDbvtNode* root,
+									const btVector3* normals,
+									const btScalar* offsets,
+									const btVector3& sortaxis,
+									int count,
+									DBVT_IPOLICY,
+									bool fsort)
+{
+DBVT_CHECKTYPE
+if(root)
+	{
+	const unsigned					srtsgns=(sortaxis[0]>=0?1:0)+
+											(sortaxis[1]>=0?2:0)+
+											(sortaxis[2]>=0?4:0);
+	const int						inside=(1<<count)-1;
+	btAlignedObjectArray<sStkNPS>	stock;
+	btAlignedObjectArray<int>		ifree;
+	btAlignedObjectArray<int>		stack;
+	int								signs[sizeof(unsigned)*8];
+	btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
+	for(int i=0;i<count;++i)
+		{
+		signs[i]=	((normals[i].x()>=0)?1:0)+
+					((normals[i].y()>=0)?2:0)+
+					((normals[i].z()>=0)?4:0);
+		}
+	stock.reserve(SIMPLE_STACKSIZE);
+	stack.reserve(SIMPLE_STACKSIZE);
+	ifree.reserve(SIMPLE_STACKSIZE);
+	stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
+	do	{
+		const int	id=stack[stack.size()-1];
+		sStkNPS		se=stock[id];
+		stack.pop_back();ifree.push_back(id);
+		if(se.mask!=inside)
+			{
+			bool	out=false;
+			for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
+				{
+				if(0==(se.mask&j))
+					{
+					const int	side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
+					switch(side)
+						{
+						case	-1:	out=true;break;
+						case	+1:	se.mask|=j;break;
+						}
+					}
+				}
+			if(out) continue;
+			}
+		if(policy.Descent(se.node))
+			{
+			if(se.node->isinternal())
+				{
+				const btDbvtNode* pns[]={	se.node->childs[0],se.node->childs[1]};
+				sStkNPS		nes[]={	sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
+									sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
+				const int	q=nes[0].value<nes[1].value?1:0;				
+				int			j=stack.size();
+				if(fsort&&(j>0))
+					{
+					/* Insert 0	*/ 
+					j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
+					stack.push_back(0);
+					#if DBVT_USE_MEMMOVE
+					memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+					#else
+					for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+					#endif
+					stack[j]=allocate(ifree,stock,nes[q]);
+					/* Insert 1	*/ 
+					j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
+					stack.push_back(0);
+					#if DBVT_USE_MEMMOVE
+					memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
+					#else
+					for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
+					#endif
+					stack[j]=allocate(ifree,stock,nes[1-q]);
+					}
+					else
+					{
+					stack.push_back(allocate(ifree,stock,nes[q]));
+					stack.push_back(allocate(ifree,stock,nes[1-q]));
+					}
+				}
+				else
+				{
+				policy.Process(se.node,se.value);
+				}
+			}
+		} while(stack.size());
+	}
+}
+
+//
+DBVT_PREFIX
+inline void		btDbvt::collideTU(	const btDbvtNode* root,
+									DBVT_IPOLICY)
+{
+DBVT_CHECKTYPE
+if(root)
+	{
+	btAlignedObjectArray<const btDbvtNode*>	stack;
+	stack.reserve(SIMPLE_STACKSIZE);
+	stack.push_back(root);
+	do	{
+		const btDbvtNode*	n=stack[stack.size()-1];
+		stack.pop_back();
+		if(policy.Descent(n))
+			{
+			if(n->isinternal())
+				{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
+				else
+				{ policy.Process(n); }
+			}
+		} while(stack.size()>0);
+	}
+}
+
+//
+// PP Cleanup
+//
+
+#undef DBVT_USE_MEMMOVE
+#undef DBVT_USE_TEMPLATE
+#undef DBVT_VIRTUAL_DTOR
+#undef DBVT_VIRTUAL
+#undef DBVT_PREFIX
+#undef DBVT_IPOLICY
+#undef DBVT_CHECKTYPE
+#undef DBVT_IMPL_GENERIC
+#undef DBVT_IMPL_FPU0x86
+#undef DBVT_IMPL_SSE
+
+#endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
new file mode 100644
index 00000000000..c6086f28f19
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -0,0 +1,344 @@
+/*
+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.
+*/
+///btDbvtBroadphase implementation by Nathanael Presson
+
+#include "btDbvtBroadphase.h"
+
+//
+// Profiling
+//
+
+#if DBVT_BP_PROFILE
+#include <stdio.h>
+struct	ProfileScope
+	{
+	ProfileScope(btClock& clock,unsigned long& value)
+		{
+		m_clock=&clock;
+		m_value=&value;
+		m_base=clock.getTimeMicroseconds();
+		}
+	~ProfileScope()
+		{
+		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
+		}
+	btClock*		m_clock;
+	unsigned long*	m_value;
+	unsigned long	m_base;
+	};
+#define	SPC(_value_)	ProfileScope	spc_scope(m_clock,_value_)
+#else
+#define	SPC(_value_)
+#endif
+
+//
+// Helpers
+//
+
+//
+template <typename T>
+static inline void	listappend(T* item,T*& list)
+{
+item->links[0]=0;
+item->links[1]=list;
+if(list) list->links[0]=item;
+list=item;
+}
+
+//
+template <typename T>
+static inline void	listremove(T* item,T*& list)
+{
+if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
+if(item->links[1]) item->links[1]->links[0]=item->links[0];
+}
+
+//
+template <typename T>
+static inline int	listcount(T* root)
+{
+int	n=0;
+while(root) { ++n;root=root->links[1]; }
+return(n);
+}
+
+//
+template <typename T>
+static inline void	clear(T& value)
+{
+static const struct ZeroDummy : T {} zerodummy;
+value=zerodummy;
+}
+
+//
+// Colliders
+//
+
+/* Tree collider	*/ 
+struct	btDbvtTreeCollider : btDbvt::ICollide
+{
+btDbvtBroadphase*	pbp;
+		btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
+void	Process(const btDbvtNode* na,const btDbvtNode* nb)
+	{
+	btDbvtProxy*	pa=(btDbvtProxy*)na->data;
+	btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
+	#if DBVT_BP_DISCRETPAIRS
+	if(Intersect(pa->aabb,pb->aabb))
+	#endif
+		{
+		if(pa>pb) btSwap(pa,pb);
+		pbp->m_paircache->addOverlappingPair(pa,pb);
+		}
+	}
+};
+
+//
+// btDbvtBroadphase
+//
+
+//
+btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
+{
+m_releasepaircache	=	(paircache!=0)?false:true;
+m_predictedframes	=	2;
+m_stageCurrent		=	0;
+m_fupdates			=	1;
+m_dupdates			=	1;
+m_paircache			=	paircache?
+							paircache	:
+							new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+m_gid				=	0;
+m_pid				=	0;
+for(int i=0;i<=STAGECOUNT;++i)
+	{
+	m_stageRoots[i]=0;
+	}
+#if DBVT_BP_PROFILE
+clear(m_profiling);
+#endif
+}
+
+//
+btDbvtBroadphase::~btDbvtBroadphase()
+{
+if(m_releasepaircache) 
+{
+	m_paircache->~btOverlappingPairCache();
+	btAlignedFree(m_paircache);
+}
+}
+
+//
+btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
+																const btVector3& aabbMax,
+																int /*shapeType*/,
+																void* userPtr,
+																short int collisionFilterGroup,
+																short int collisionFilterMask,
+																btDispatcher* /*dispatcher*/,
+																void* /*multiSapProxy*/)
+{
+btDbvtProxy*	proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	userPtr,
+																				collisionFilterGroup,
+																				collisionFilterMask);
+proxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
+proxy->leaf			=	m_sets[0].insert(proxy->aabb,proxy);
+proxy->stage		=	m_stageCurrent;
+proxy->m_uniqueId	=	++m_gid;
+listappend(proxy,m_stageRoots[m_stageCurrent]);
+return(proxy);
+}
+
+//
+void							btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,
+																btDispatcher* dispatcher)
+{
+btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
+if(proxy->stage==STAGECOUNT)
+	m_sets[1].remove(proxy->leaf);
+	else
+	m_sets[0].remove(proxy->leaf);
+listremove(proxy,m_stageRoots[proxy->stage]);
+m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+btAlignedFree(proxy);
+}
+
+//
+void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
+																const btVector3& aabbMin,
+																const btVector3& aabbMax,
+																btDispatcher* /*dispatcher*/)
+{
+btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
+btDbvtVolume	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+if(NotEqual(aabb,proxy->leaf->volume))
+	{
+	if(proxy->stage==STAGECOUNT)
+		{/* fixed -> dynamic set	*/ 
+		m_sets[1].remove(proxy->leaf);
+		proxy->leaf=m_sets[0].insert(aabb,proxy);
+		}
+		else
+		{/* dynamic set				*/ 
+		if(Intersect(proxy->leaf->volume,aabb))
+			{/* Moving				*/ 
+			const btVector3	delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
+			#ifdef DBVT_BP_MARGIN
+			m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes,DBVT_BP_MARGIN);
+			#else
+			m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes);
+			#endif
+			}
+			else
+			{/* Teleporting			*/ 
+			m_sets[0].update(proxy->leaf,aabb);		
+			}	
+		}
+	listremove(proxy,m_stageRoots[proxy->stage]);
+	proxy->aabb		=	aabb;
+	proxy->stage	=	m_stageCurrent;
+	listappend(proxy,m_stageRoots[m_stageCurrent]);
+	}
+}
+
+//
+void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+collide(dispatcher);
+#if DBVT_BP_PROFILE
+if(0==(m_pid%DBVT_BP_PROFILING_RATE))
+	{	
+	printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
+	unsigned int	total=m_profiling.m_total;
+	if(total<=0) total=1;
+	printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
+	printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
+	printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
+	printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
+	const unsigned long	sum=m_profiling.m_ddcollide+
+							m_profiling.m_fdcollide+
+							m_profiling.m_cleanup;
+	printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
+	printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
+	clear(m_profiling);
+	m_clock.reset();
+	}
+#endif
+}
+
+//
+void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
+{
+SPC(m_profiling.m_total);
+/* optimize				*/ 
+m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
+m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
+/* dynamic -> fixed set	*/ 
+m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
+btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
+if(current)
+	{
+	btDbvtTreeCollider	collider(this);
+	do	{
+		btDbvtProxy*	next=current->links[1];
+		listremove(current,m_stageRoots[current->stage]);
+		listappend(current,m_stageRoots[STAGECOUNT]);
+		btDbvt::collideTT(m_sets[1].m_root,current->leaf,collider);
+		m_sets[0].remove(current->leaf);
+		current->leaf	=	m_sets[1].insert(current->aabb,current);
+		current->stage	=	STAGECOUNT;	
+		current			=	next;
+		} while(current);
+	}
+/* collide dynamics		*/ 
+	{
+	btDbvtTreeCollider	collider(this);
+		{
+		SPC(m_profiling.m_fdcollide);
+		btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
+		}
+		{
+		SPC(m_profiling.m_ddcollide);
+		btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
+		}
+	}
+/* clean up				*/ 
+	{
+	SPC(m_profiling.m_cleanup);
+	btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
+	if(pairs.size()>0)
+		{
+		for(int i=0,ni=pairs.size();i<ni;++i)
+			{
+			btBroadphasePair&	p=pairs[i];
+			btDbvtProxy*	pa=(btDbvtProxy*)p.m_pProxy0;
+			btDbvtProxy*	pb=(btDbvtProxy*)p.m_pProxy1;
+			if(!Intersect(pa->aabb,pb->aabb))
+				{
+				if(pa>pb) btSwap(pa,pb);
+				m_paircache->removeOverlappingPair(pa,pb,dispatcher);
+				--ni;--i;
+				}
+			}
+		}
+	}
+++m_pid;
+}
+
+//
+void							btDbvtBroadphase::optimize()
+{
+m_sets[0].optimizeTopDown();
+m_sets[1].optimizeTopDown();
+}
+
+//
+btOverlappingPairCache*			btDbvtBroadphase::getOverlappingPairCache()
+{
+return(m_paircache);
+}
+
+//
+const btOverlappingPairCache*	btDbvtBroadphase::getOverlappingPairCache() const
+{
+return(m_paircache);
+}
+
+//
+void							btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+{
+
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds;
+
+if(!m_sets[0].empty())
+	if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
+									m_sets[1].m_root->volume,bounds);
+							else
+							bounds=m_sets[0].m_root->volume;
+else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+							else
+							bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
+aabbMin=bounds.Mins();
+aabbMax=bounds.Maxs();
+}
+
+//
+void							btDbvtBroadphase::printStats()
+{}
+
+#if DBVT_BP_PROFILE
+#undef	SPC
+#endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
new file mode 100644
index 00000000000..3f19075552b
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
@@ -0,0 +1,103 @@
+/*
+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.
+*/
+///btDbvtBroadphase implementation by Nathanael Presson
+#ifndef BT_DBVT_BROADPHASE_H
+#define BT_DBVT_BROADPHASE_H
+
+#include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+
+//
+// Compile time config
+//
+
+#define	DBVT_BP_PROFILE			0
+#define DBVT_BP_DISCRETPAIRS	1
+#define DBVT_BP_MARGIN			(btScalar)0.05
+
+#if DBVT_BP_PROFILE
+	#define	DBVT_BP_PROFILING_RATE	256
+	#include "LinearMath/btQuickprof.h"
+#endif
+
+//
+// btDbvtProxy
+//
+struct btDbvtProxy : btBroadphaseProxy
+{
+/* Fields		*/ 
+btDbvtAabbMm		aabb;
+btDbvtNode*		leaf;
+btDbvtProxy*		links[2];
+int					stage;
+/* ctor			*/ 
+btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
+	btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
+	{
+	links[0]=links[1]=0;
+	}
+};
+
+typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
+
+///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
+///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
+///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
+struct	btDbvtBroadphase : btBroadphaseInterface
+{
+/* Config		*/ 
+enum	{
+		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
+		FIXED_SET			=	1,	/* Fixed set index		*/ 
+		STAGECOUNT			=	2	/* Number of stages		*/ 
+		};
+/* Fields		*/ 
+btDbvt					m_sets[2];					// Dbvt sets
+btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
+btOverlappingPairCache*	m_paircache;				// Pair cache
+btScalar				m_predictedframes;			// Frames predicted
+int						m_stageCurrent;				// Current stage
+int						m_fupdates;					// % of fixed updates per frame
+int						m_dupdates;					// % of dynamic updates per frame
+int						m_pid;						// Parse id
+int						m_gid;						// Gen id
+bool					m_releasepaircache;			// Release pair cache on delete
+#if DBVT_BP_PROFILE
+btClock					m_clock;
+struct	{
+		unsigned long		m_total;
+		unsigned long		m_ddcollide;
+		unsigned long		m_fdcollide;
+		unsigned long		m_cleanup;
+		unsigned long		m_jobcount;
+		}				m_profiling;
+#endif
+/* Methods		*/ 
+btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+~btDbvtBroadphase();
+void							collide(btDispatcher* dispatcher);
+void							optimize();
+/* btBroadphaseInterface Implementation	*/ 
+btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+void							setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+void							calculateOverlappingPairs(btDispatcher* dispatcher);
+btOverlappingPairCache*			getOverlappingPairCache();
+const btOverlappingPairCache*	getOverlappingPairCache() const;
+void							getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
+void							printStats();
+};
+
+#endif
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index 3d958cc8fef..6db71a0170e 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef _DISPATCHER_H
 #define _DISPATCHER_H
 
-#include "../../LinearMath/btScalar.h"
+#include "LinearMath/btScalar.h"
 
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;
@@ -43,7 +43,9 @@ struct btDispatcherInfo
 		m_useContinuous(false),
 		m_debugDraw(0),
 		m_enableSatConvex(false),
-		m_enableSPU(false),
+		m_enableSPU(true),
+		m_useEpa(true),
+		m_allowedCcdPenetration(btScalar(0.04)),
 		m_stackAllocator(0)
 	{
 
@@ -51,17 +53,19 @@ struct btDispatcherInfo
 	btScalar	m_timeStep;
 	int		m_stepCount;
 	int		m_dispatchFunc;
-	btScalar	m_timeOfImpact;
+	mutable btScalar	m_timeOfImpact;
 	bool	m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
 	bool	m_enableSatConvex;
 	bool	m_enableSPU;
+	bool	m_useEpa;
+	btScalar	m_allowedCcdPenetration;
 	btStackAlloc*	m_stackAllocator;
 	
 };
 
-/// btDispatcher can be used in combination with broadphase to dispatch overlapping pairs.
-/// For example for pairwise collision detection or user callbacks (game logic).
+///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
+///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
 class btDispatcher
 {
 
@@ -81,12 +85,18 @@ public:
 
 	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
 
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo)=0;
+	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
 
 	virtual int getNumManifolds() const = 0;
 
 	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
 
+	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
+
+	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
+
+	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
+
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
new file mode 100644
index 00000000000..3f866ab7c5f
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
@@ -0,0 +1,466 @@
+/*
+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 "btMultiSapBroadphase.h"
+
+#include "btSimpleBroadphase.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "btQuantizedBvh.h"
+
+///	btSapBroadphaseArray	m_sapBroadphases;
+
+///	btOverlappingPairCache*	m_overlappingPairs;
+extern int gOverlappingPairs;
+
+/*
+class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
+{
+public:
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	{
+		return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
+	}
+};
+
+*/
+
+btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
+:m_overlappingPairs(pairCache),
+m_optimizedAabbTree(0),
+m_ownsPairCache(false),
+m_invalidPair(0)
+{
+	if (!m_overlappingPairs)
+	{
+		m_ownsPairCache = true;
+		void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
+		m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
+	}
+
+	struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
+	{
+		virtual ~btMultiSapOverlapFilterCallback()
+		{}
+		// return true when pairs need collision
+		virtual bool	needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
+		{
+			btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
+			btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
+			
+			bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
+			collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
+	
+			return collides;
+		}
+	};
+
+	void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
+	m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
+
+	m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
+//	mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
+//	m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
+}
+
+btMultiSapBroadphase::~btMultiSapBroadphase()
+{
+	if (m_ownsPairCache)
+	{
+		m_overlappingPairs->~btOverlappingPairCache();
+		btAlignedFree(m_overlappingPairs);
+	}
+}
+
+
+void	btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
+{
+	m_optimizedAabbTree = new btQuantizedBvh();
+	m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
+	QuantizedNodeArray&	nodes = m_optimizedAabbTree->getLeafNodeArray();
+	for (int i=0;i<m_sapBroadphases.size();i++)
+	{
+		btQuantizedBvhNode node;
+		btVector3 aabbMin,aabbMax;
+		m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
+		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
+		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+		int partId = 0;
+		node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
+		nodes.push_back(node);
+	}
+	m_optimizedAabbTree->buildInternal();
+}
+
+btBroadphaseProxy*	btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
+{
+	//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
+
+	void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
+	btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin,  aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
+	m_multiSapProxies.push_back(proxy);
+
+	///this should deal with inserting/removal into child broadphases
+	setAabb(proxy,aabbMin,aabbMax,dispatcher);
+	return proxy;
+}
+
+void	btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+{
+	///not yet
+	btAssert(0);
+
+}
+
+
+void	btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase)
+{
+	void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
+	btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
+	bridgeProxyRef->m_childProxy = childProxy;
+	bridgeProxyRef->m_childBroadphase = childBroadphase;
+	parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
+}
+
+
+bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
+bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
+{
+return
+amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
+amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
+amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
+}
+
+
+
+
+
+
+//#include <stdio.h>
+
+void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
+{
+	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
+	multiProxy->m_aabbMin = aabbMin;
+	multiProxy->m_aabbMax = aabbMax;
+	
+	
+//	bool fullyContained = false;
+//	bool alreadyInSimple = false;
+	
+
+
+	
+	struct MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btMultiSapBroadphase*	m_multiSap;
+		btMultiSapProxy*		m_multiProxy;
+		btDispatcher*			m_dispatcher;
+
+		MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
+			:m_multiSap(multiSap),
+			m_multiProxy(multiProxy),
+			m_dispatcher(dispatcher)
+		{
+
+		}
+
+		virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
+		{
+			btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
+
+			int containingBroadphaseIndex = -1;
+			//already found?
+			for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
+			{
+
+				if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
+				{
+					containingBroadphaseIndex = i;
+					break;
+				}
+			}
+			if (containingBroadphaseIndex<0)
+			{
+				//add it
+				btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
+				m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
+
+			}
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(this,multiProxy,dispatcher);
+
+
+
+	
+	m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+	int i;
+
+	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
+	{
+		btVector3 worldAabbMin,worldAabbMax;
+		multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
+		bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+		if (!overlapsBroadphase)
+		{
+			//remove it now
+			btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
+
+			btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
+			bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
+			
+			multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
+			multiProxy->m_bridgeProxies.pop_back();
+
+		}
+	}
+
+
+	/*
+
+	if (1)
+	{
+
+		//find broadphase that contain this multiProxy
+		int numChildBroadphases = getBroadphaseArray().size();
+		for (int i=0;i<numChildBroadphases;i++)
+		{
+			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
+			btVector3 worldAabbMin,worldAabbMax;
+			childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
+			bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+			
+		//	fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+			int containingBroadphaseIndex = -1;
+			
+			//if already contains this
+			
+			for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
+			{
+				if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
+				{
+					containingBroadphaseIndex = i;
+				}
+				alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
+			}
+
+			if (overlapsBroadphase)
+			{
+				if (containingBroadphaseIndex<0)
+				{
+					btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+					childProxy->m_multiSapParentProxy = multiProxy;
+					addToChildBroadphase(multiProxy,childProxy,childBroadphase);
+				}
+			} else
+			{
+				if (containingBroadphaseIndex>=0)
+				{
+					//remove
+					btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
+
+					btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
+					bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
+					
+					multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
+					multiProxy->m_bridgeProxies.pop_back();
+				}
+			}
+		}
+
+
+		///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
+		///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
+		if (0)//!multiProxy->m_bridgeProxies.size())
+		{
+			///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
+			///this is needed to be able to calculate the aabb overlap
+			btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+			childProxy->m_multiSapParentProxy = multiProxy;
+			addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
+		}
+	}
+
+	if (!multiProxy->m_bridgeProxies.size())
+	{
+		///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
+		///this is needed to be able to calculate the aabb overlap
+		btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+		childProxy->m_multiSapParentProxy = multiProxy;
+		addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
+	}
+*/
+
+
+	//update
+	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
+	{
+		btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
+		bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
+	}
+
+}
+bool stopUpdating=false;
+
+
+
+class btMultiSapBroadphasePairSortPredicate
+{
+	public:
+
+		bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
+		{
+				btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
+
+				 return aProxy0 > bProxy0 || 
+					(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
+					(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); 
+		}
+};
+
+
+        ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
+void    btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+
+//	m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
+
+	if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
+	{
+	
+		btBroadphasePairArray&	overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
+
+	//	quicksort(overlappingPairArray,0,overlappingPairArray.size());
+
+		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+	//	overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_invalidPair = 0;
+
+		
+		int i;
+
+		btBroadphasePair previousPair;
+		previousPair.m_pProxy0 = 0;
+		previousPair.m_pProxy1 = 0;
+		previousPair.m_algorithm = 0;
+		
+		
+		for (i=0;i<overlappingPairArray.size();i++)
+		{
+		
+			btBroadphasePair& pair = overlappingPairArray[i];
+
+			btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
+			btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
+			btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
+			btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
+
+			bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
+			
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;//callback->processOverlap(pair);
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
+
+		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+		//		m_overlappingPairArray.pop_back();
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				m_invalidPair++;
+				gOverlappingPairs--;
+			} 
+			
+		}
+
+	///if you don't like to skip the invalid pairs in the array, execute following code:
+	#define CLEAN_INVALID_PAIRS 1
+	#ifdef CLEAN_INVALID_PAIRS
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
+		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_invalidPair = 0;
+	#endif//CLEAN_INVALID_PAIRS
+		
+		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
+	}
+
+
+}
+
+
+bool	btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
+{
+	btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
+		btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
+
+		return	TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
+			multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
+		
+}
+
+
+void	btMultiSapBroadphase::printStats()
+{
+/*	printf("---------------------------------\n");
+	
+		printf("btMultiSapBroadphase.h\n");
+		printf("numHandles = %d\n",m_multiSapProxies.size());
+			//find broadphase that contain this multiProxy
+		int numChildBroadphases = getBroadphaseArray().size();
+		for (int i=0;i<numChildBroadphases;i++)
+		{
+
+			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
+			childBroadphase->printStats();
+
+		}
+		*/
+
+}
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
new file mode 100644
index 00000000000..a0c002de856
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
@@ -0,0 +1,144 @@
+/*
+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_MULTI_SAP_BROADPHASE
+#define BT_MULTI_SAP_BROADPHASE
+
+#include "btBroadphaseInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btOverlappingPairCache.h"
+
+
+class btBroadphaseInterface;
+class btSimpleBroadphase;
+
+
+typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
+
+///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
+///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
+///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
+///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
+///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
+class btMultiSapBroadphase :public btBroadphaseInterface
+{
+	btSapBroadphaseArray	m_sapBroadphases;
+	
+	btSimpleBroadphase*		m_simpleBroadphase;
+
+	btOverlappingPairCache*	m_overlappingPairs;
+
+	class btQuantizedBvh*			m_optimizedAabbTree;
+
+
+	bool					m_ownsPairCache;
+	
+	btOverlapFilterCallback*	m_filterCallback;
+
+	int			m_invalidPair;
+
+	struct	btBridgeProxy
+	{
+		btBroadphaseProxy*		m_childProxy;
+		btBroadphaseInterface*	m_childBroadphase;
+	};
+
+
+public:
+
+	struct	btMultiSapProxy	: public btBroadphaseProxy
+	{
+
+		///array with all the entries that this proxy belongs to
+		btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
+		btVector3	m_aabbMin;
+		btVector3	m_aabbMax;
+
+		int	m_shapeType;
+
+/*		void*	m_userPtr;
+		short int	m_collisionFilterGroup;
+		short int	m_collisionFilterMask;
+*/
+		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
+			:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax),
+			m_shapeType(shapeType)
+		{
+			m_multiSapParentProxy =this;
+		}
+
+		
+	};
+
+protected:
+
+
+	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
+
+public:
+
+	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
+
+
+	btSapBroadphaseArray&	getBroadphaseArray()
+	{
+		return m_sapBroadphases;
+	}
+
+	const btSapBroadphaseArray&	getBroadphaseArray() const
+	{
+		return m_sapBroadphases;
+	}
+
+	virtual ~btMultiSapBroadphase();
+
+	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
+
+	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
+
+	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
+
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	virtual	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_overlappingPairs;
+	}
+	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_overlappingPairs;
+	}
+
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+		aabbMax.setValue(1e30f,1e30f,1e30f);
+	}
+
+	void	buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
+
+	virtual void	printStats();
+
+	void quicksort (btBroadphasePairArray& a, int lo, int hi);
+
+};
+
+#endif //BT_MULTI_SAP_BROADPHASE
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index 60f0a41a9d7..ff65cdde79f 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -1,4 +1,3 @@
-
 /*
 Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
@@ -21,66 +20,415 @@ subject to the following restrictions:
 #include "btDispatcher.h"
 #include "btCollisionAlgorithm.h"
 
+#include <stdio.h>
+
 int	gOverlappingPairs = 0;
 
-btOverlappingPairCache::btOverlappingPairCache():
-m_blockedForChanges(false),
-m_overlapFilterCallback(0)
-//m_NumOverlapBroadphasePair(0)
+int gRemovePairs =0;
+int gAddedPairs =0;
+int gFindPairs =0;
+
+
+
+
+btHashedOverlappingPairCache::btHashedOverlappingPairCache():
+	m_overlapFilterCallback(0),
+	m_blockedForChanges(false)
 {
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+	growTables();
 }
 
 
-btOverlappingPairCache::~btOverlappingPairCache()
+
+
+btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
 	//todo/test: show we erase/delete data, or is it automatic
 }
 
 
-void	btOverlappingPairCache::removeOverlappingPair(btBroadphasePair& findPair)
+
+void	btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
 {
-	
-	int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
-	if (findIndex < m_overlappingPairArray.size())
+	if (pair.m_algorithm)
+	{
+		{
+			pair.m_algorithm->~btCollisionAlgorithm();
+			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
+			pair.m_algorithm=0;
+		}
+	}
+}
+
+
+
+
+void	btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	CleanPairCallback : public btOverlapCallback
+	{
+		btBroadphaseProxy* m_cleanProxy;
+		btOverlappingPairCache*	m_pairCache;
+		btDispatcher* m_dispatcher;
+
+	public:
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			if ((pair.m_pProxy0 == m_cleanProxy) ||
+				(pair.m_pProxy1 == m_cleanProxy))
+			{
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+			}
+			return false;
+		}
+		
+	};
+
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
+
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
+
+}
+
+
+
+
+void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	RemovePairCallback : public btOverlapCallback
 	{
-		gOverlappingPairs--;
-		btBroadphasePair& pair = m_overlappingPairArray[findIndex];
-		cleanOverlappingPair(pair);
+		btBroadphaseProxy* m_obsoleteProxy;
+
+	public:
+		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
+				(pair.m_pProxy1 == m_obsoleteProxy));
+		}
 		
-		m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.size()-1);
+	};
+
+
+	RemovePairCallback removeCallback(proxy);
+
+	processAllOverlappingPairs(&removeCallback,dispatcher);
+}
+
+
+
+
+
+btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+{
+	gFindPairs++;
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	int proxyId1 = proxy0->getUid();
+	int proxyId2 = proxy1->getUid();
+
+	/*if (proxyId1 > proxyId2) 
+		btSwap(proxyId1, proxyId2);*/
+
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+
+	if (hash >= m_hashTable.size())
+	{
+		return NULL;
+	}
+
+	int index = m_hashTable[hash];
+	while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+	{
+		index = m_next[index];
+	}
+
+	if (index == BT_NULL_PAIR)
+	{
+		return NULL;
+	}
+
+	btAssert(index < m_overlappingPairArray.size());
+
+	return &m_overlappingPairArray[index];
+}
+
+//#include <stdio.h>
+
+void	btHashedOverlappingPairCache::growTables()
+{
+
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (m_hashTable.size() < newCapacity)
+	{
+		//grow hashtable and next table
+		int curHashtableSize = m_hashTable.size();
+
+		m_hashTable.resize(newCapacity);
+		m_next.resize(newCapacity);
+
+
+		int i;
+
+		for (i= 0; i < newCapacity; ++i)
+		{
+			m_hashTable[i] = BT_NULL_PAIR;
+		}
+		for (i = 0; i < newCapacity; ++i)
+		{
+			m_next[i] = BT_NULL_PAIR;
+		}
+
+		for(i=0;i<curHashtableSize;i++)
+		{
+	
+			const btBroadphasePair& pair = m_overlappingPairArray[i];
+			int proxyId1 = pair.m_pProxy0->getUid();
+			int proxyId2 = pair.m_pProxy1->getUid();
+			/*if (proxyId1 > proxyId2) 
+				btSwap(proxyId1, proxyId2);*/
+			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+			m_next[i] = m_hashTable[hashValue];
+			m_hashTable[hashValue] = i;
+		}
+
+
+	}
+}
+
+btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+{
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	int proxyId1 = proxy0->getUid();
+	int proxyId2 = proxy1->getUid();
+
+	/*if (proxyId1 > proxyId2) 
+		btSwap(proxyId1, proxyId2);*/
+
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+
+
+	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
+	if (pair != NULL)
+	{
+		return pair;
+	}
+	/*for(int i=0;i<m_overlappingPairArray.size();++i)
+		{
+		if(	(m_overlappingPairArray[i].m_pProxy0==proxy0)&&
+			(m_overlappingPairArray[i].m_pProxy1==proxy1))
+			{
+			printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
+			internalFindPair(proxy0, proxy1, hash);
+			}
+		}*/
+	int count = m_overlappingPairArray.size();
+	int oldCapacity = m_overlappingPairArray.capacity();
+	void* mem = &m_overlappingPairArray.expand();
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (oldCapacity < newCapacity)
+	{
+		growTables();
+		//hash with new capacity
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+	}
+	
+	pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
+//	pair->m_pProxy0 = proxy0;
+//	pair->m_pProxy1 = proxy1;
+	pair->m_algorithm = 0;
+	pair->m_userInfo = 0;
+	
+
+	m_next[count] = m_hashTable[hash];
+	m_hashTable[hash] = count;
+
+	return pair;
+}
+
+
+
+void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+{
+	gRemovePairs++;
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
+	int proxyId1 = proxy0->getUid();
+	int proxyId2 = proxy1->getUid();
+
+	/*if (proxyId1 > proxyId2) 
+		btSwap(proxyId1, proxyId2);*/
+
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
+
+	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
+	if (pair == NULL)
+	{
+		return 0;
+	}
+
+	cleanOverlappingPair(*pair,dispatcher);
+
+	void* userData = pair->m_userInfo;
+
+	btAssert(pair->m_pProxy0->getUid() == proxyId1);
+	btAssert(pair->m_pProxy1->getUid() == proxyId2);
+
+	int pairIndex = int(pair - &m_overlappingPairArray[0]);
+	btAssert(pairIndex < m_overlappingPairArray.size());
+
+	// Remove the pair from the hash table.
+	int index = m_hashTable[hash];
+	btAssert(index != BT_NULL_PAIR);
+
+	int previous = BT_NULL_PAIR;
+	while (index != pairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == pairIndex);
+		m_next[previous] = m_next[pairIndex];
+	}
+	else
+	{
+		m_hashTable[hash] = m_next[pairIndex];
+	}
+
+	// We now move the last pair into spot of the
+	// pair being removed. We need to fix the hash
+	// table indices to support the move.
+
+	int lastPairIndex = m_overlappingPairArray.size() - 1;
+
+	// If the removed pair is the last pair, we are done.
+	if (lastPairIndex == pairIndex)
+	{
 		m_overlappingPairArray.pop_back();
+		return userData;
+	}
+
+	// Remove the last pair from the hash table.
+	const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
+		/* missing swap here too, Nat. */ 
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1));
+
+	index = m_hashTable[lastHash];
+	btAssert(index != BT_NULL_PAIR);
+
+	previous = BT_NULL_PAIR;
+	while (index != lastPairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == lastPairIndex);
+		m_next[previous] = m_next[lastPairIndex];
+	}
+	else
+	{
+		m_hashTable[lastHash] = m_next[lastPairIndex];
+	}
+
+	// Copy the last pair into the remove pair's spot.
+	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
+
+	// Insert the last pair into the hash table
+	m_next[pairIndex] = m_hashTable[lastHash];
+	m_hashTable[lastHash] = pairIndex;
+
+	m_overlappingPairArray.pop_back();
+
+	return userData;
+}
+//#include <stdio.h>
+
+void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+{
+
+	int i;
+
+//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
+	for (i=0;i<m_overlappingPairArray.size();)
+	{
+	
+		btBroadphasePair* pair = &m_overlappingPairArray[i];
+		if (callback->processOverlap(*pair))
+		{
+			removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
+
+			gOverlappingPairs--;
+		} else
+		{
+			i++;
+		}
 	}
 }
 
 
-void	btOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair)
+
+void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
 {
-	if (pair.m_algorithm)
+	if (!hasDeferredRemoval())
 	{
+		btBroadphasePair findPair(*proxy0,*proxy1);
+
+		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
+		if (findIndex < m_overlappingPairArray.size())
 		{
-			delete pair.m_algorithm;;
-			pair.m_algorithm=0;
+			gOverlappingPairs--;
+			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
+			void* userData = pair.m_userInfo;
+			cleanOverlappingPair(pair,dispatcher);
+			
+			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
+			m_overlappingPairArray.pop_back();
+			return userData;
 		}
 	}
+
+	return 0;
 }
 
 
 
 
 
-void	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+
+
+
+btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	//don't add overlap with own
 	assert(proxy0 != proxy1);
 
 	if (!needsBroadphaseCollision(proxy0,proxy1))
-		return;
-
-
-	btBroadphasePair pair(*proxy0,*proxy1);
+		return 0;
 	
-	m_overlappingPairArray.push_back(pair);
+	void* mem = &m_overlappingPairArray.expand();
+	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
 	gOverlappingPairs++;
+	gAddedPairs++;
+	return pair;
 	
 }
 
@@ -88,7 +436,7 @@ void	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
 ///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
- btBroadphasePair*	btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+ btBroadphasePair*	btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	if (!needsBroadphaseCollision(proxy0,proxy1))
 		return 0;
@@ -109,18 +457,81 @@ void	btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
 
 
 
-void	btOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy)
+
+
+
+
+
+//#include <stdio.h>
+
+void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+{
+
+	int i;
+
+	for (i=0;i<m_overlappingPairArray.size();)
+	{
+	
+		btBroadphasePair* pair = &m_overlappingPairArray[i];
+		if (callback->processOverlap(*pair))
+		{
+			cleanOverlappingPair(*pair,dispatcher);
+
+			m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1);
+			m_overlappingPairArray.pop_back();
+			gOverlappingPairs--;
+		} else
+		{
+			i++;
+		}
+	}
+}
+
+
+
+
+btSortedOverlappingPairCache::btSortedOverlappingPairCache():
+	m_blockedForChanges(false),
+	m_hasDeferredRemoval(true),
+	m_overlapFilterCallback(0)
+{
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+}
+
+btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
+{
+	//todo/test: show we erase/delete data, or is it automatic
+}
+
+void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
+{
+	if (pair.m_algorithm)
+	{
+		{
+			pair.m_algorithm->~btCollisionAlgorithm();
+			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
+			pair.m_algorithm=0;
+			gRemovePairs--;
+		}
+	}
+}
+
+
+void	btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
 
 	class	CleanPairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_cleanProxy;
 		btOverlappingPairCache*	m_pairCache;
+		btDispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache)
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
 			:m_cleanProxy(cleanProxy),
-			m_pairCache(pairCache)
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
 		{
 		}
 		virtual	bool	processOverlap(btBroadphasePair& pair)
@@ -128,22 +539,21 @@ void	btOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy)
 			if ((pair.m_pProxy0 == m_cleanProxy) ||
 				(pair.m_pProxy1 == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair);
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
 			}
 			return false;
 		}
 		
 	};
 
-	CleanPairCallback cleanPairs(proxy,this);
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
 
-	processAllOverlappingPairs(&cleanPairs);
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
 
 }
 
 
-
-void	btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy)
+void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
 
 	class	RemovePairCallback : public btOverlapCallback
@@ -163,34 +573,7 @@ void	btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseP
 		
 	};
 
-
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback);
-}
-
-
-
-void	btOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback)
-{
-
-	int i;
-
-	for (i=0;i<m_overlappingPairArray.size();)
-	{
-	
-		btBroadphasePair* pair = &m_overlappingPairArray[i];
-		if (callback->processOverlap(*pair))
-		{
-			cleanOverlappingPair(*pair);
-
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-			m_overlappingPairArray.pop_back();
-			gOverlappingPairs--;
-		} else
-		{
-			i++;
-		}
-	}
+	processAllOverlappingPairs(&removeCallback,dispatcher);
 }
-
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index a81fe3264df..66679bd218a 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -1,4 +1,3 @@
-
 /*
 Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
@@ -20,9 +19,13 @@ subject to the following restrictions:
 
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
-#include "../../LinearMath/btPoint3.h"
-#include "../../LinearMath/btAlignedObjectArray.h"
+#include "btOverlappingPairCallback.h"
+
+#include "LinearMath/btPoint3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+class btDispatcher;
 
+typedef btAlignedObjectArray<btBroadphasePair>	btBroadphasePairArray;
 
 struct	btOverlapCallback
 {
@@ -30,6 +33,7 @@ struct	btOverlapCallback
 	{}
 	//return true for deletion of the pair
 	virtual bool	processOverlap(btBroadphasePair& pair) = 0;
+
 };
 
 struct btOverlapFilterCallback
@@ -40,38 +44,261 @@ struct btOverlapFilterCallback
 	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
 };
 
-///btOverlappingPairCache maintains the objects with overlapping AABB
+
+
+
+
+
+
+extern int gRemovePairs;
+extern int gAddedPairs;
+extern int gFindPairs;
+
+const int BT_NULL_PAIR=0xffffffff;
+
+///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
+///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
+class btOverlappingPairCache : public btOverlappingPairCallback
+{
+public:
+	virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr() = 0;
+	
+	virtual const btBroadphasePair*	getOverlappingPairArrayPtr() const = 0;
+
+	virtual btBroadphasePairArray&	getOverlappingPairArray() = 0;
+
+	virtual	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
+
+	virtual int getNumOverlappingPairs() const = 0;
+
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
+
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
+
+	virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
+
+	virtual bool	hasDeferredRemoval() = 0;
+
+};
+
+/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
+class btHashedOverlappingPairCache : public btOverlappingPairCache
+{
+	btBroadphasePairArray	m_overlappingPairArray;
+	btOverlapFilterCallback* m_overlapFilterCallback;
+	bool		m_blockedForChanges;
+
+
+public:
+	btHashedOverlappingPairCache();
+	virtual ~btHashedOverlappingPairCache();
+
+	
+	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
+	
+	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+	{
+		if (m_overlapFilterCallback)
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
+
+		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
+		return collides;
+	}
+
+	// Add a pair and return the new pair. If the pair already exists,
+	// no new pair is created and the old one is returned.
+	virtual btBroadphasePair* 	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	{
+		gAddedPairs++;
+
+		if (!needsBroadphaseCollision(proxy0,proxy1))
+			return 0;
+
+		return internalAddPair(proxy0,proxy1);
+	}
+
+	
+
+	void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+
+	
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	btBroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+
+	const btBroadphasePairArray&	getOverlappingPairArray() const
+	{
+		return m_overlappingPairArray;
+	}
+
+	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
+
+
+
+	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
+
+	int GetCount() const { return m_overlappingPairArray.size(); }
+//	btBroadphasePair* GetPairs() { return m_pairs; }
+
+	btOverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return m_overlapFilterCallback;
+	}
+
+	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+	{
+		m_overlapFilterCallback = callback;
+	}
+
+	int	getNumOverlappingPairs() const
+	{
+		return m_overlappingPairArray.size();
+	}
+private:
+	
+	btBroadphasePair* 	internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	void	growTables();
+
+	SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
+	{	
+		return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
+	}
+
+	/*
+	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
+	// This assumes proxyId1 and proxyId2 are 16-bit.
+	SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
+	{
+		int key = (proxyId2 << 16) | proxyId1;
+		key = ~key + (key << 15);
+		key = key ^ (key >> 12);
+		key = key + (key << 2);
+		key = key ^ (key >> 4);
+		key = key * 2057;
+		key = key ^ (key >> 16);
+		return key;
+	}
+	*/
+
+
+	
+	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	{
+		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
+		// Thomas Wang's hash
+
+		key += ~(key << 15);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
+		key += ~(key << 11);
+		key ^=  (key >> 16);
+		return static_cast<unsigned int>(key);
+	}
+	
+
+
+
+
+	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
+	{
+		int proxyId1 = proxy0->getUid();
+		int proxyId2 = proxy1->getUid();
+		#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
+		if (proxyId1 > proxyId2) 
+			btSwap(proxyId1, proxyId2);
+		#endif
+
+		int index = m_hashTable[hash];
+		
+		while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+		{
+			index = m_next[index];
+		}
+
+		if ( index == BT_NULL_PAIR )
+		{
+			return NULL;
+		}
+
+		btAssert(index < m_overlappingPairArray.size());
+
+		return &m_overlappingPairArray[index];
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return false;
+	}
+
+public:
+	
+	btAlignedObjectArray<int>	m_hashTable;
+	btAlignedObjectArray<int>	m_next;
+	
+};
+
+
+
+
+///btSortedOverlappingPairCache maintains the objects with overlapping AABB
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class	btOverlappingPairCache : public btBroadphaseInterface
+class	btSortedOverlappingPairCache : public btOverlappingPairCache
 {
 	protected:
 		//avoid brute-force finding all the time
-		btAlignedObjectArray<btBroadphasePair>	m_overlappingPairArray;
-		
+		btBroadphasePairArray	m_overlappingPairArray;
+
 		//during the dispatch, check that user doesn't destroy/create proxy
 		bool		m_blockedForChanges;
+
+		///by default, do the removal during the pair traversal
+		bool		m_hasDeferredRemoval;
 		
 		//if set, use the callback instead of the built in filter in needBroadphaseCollision
 		btOverlapFilterCallback* m_overlapFilterCallback;
+
 	public:
 			
-		btOverlappingPairCache();	
-		virtual ~btOverlappingPairCache();
+		btSortedOverlappingPairCache();	
+		virtual ~btSortedOverlappingPairCache();
 
-		virtual void	processAllOverlappingPairs(btOverlapCallback*);
+		virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
 
-		void	removeOverlappingPair(btBroadphasePair& pair);
+		void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
 
-		void	cleanOverlappingPair(btBroadphasePair& pair);
+		void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
 		
-		void	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+		btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
 		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 			
 		
-		void	cleanProxyFromPairs(btBroadphaseProxy* proxy);
+		void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
-		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
+		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
 
 		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
@@ -84,10 +311,19 @@ class	btOverlappingPairCache : public btBroadphaseInterface
 			
 			return collides;
 		}
-			
+		
+		btBroadphasePairArray&	getOverlappingPairArray()
+		{
+			return m_overlappingPairArray;
+		}
+
+		const btBroadphasePairArray&	getOverlappingPairArray() const
+		{
+			return m_overlappingPairArray;
+		}
+
 		
 
-		virtual void	refreshOverlappingPairs() =0;
 
 		btBroadphasePair*	getOverlappingPairArrayPtr()
 		{
@@ -114,7 +350,88 @@ class	btOverlappingPairCache : public btBroadphaseInterface
 			m_overlapFilterCallback = callback;
 		}
 
+		virtual bool	hasDeferredRemoval()
+		{
+			return m_hasDeferredRemoval;
+		}
+
+
+};
+
+
+
+///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
+class btNullPairCache : public btOverlappingPairCache
+{
+
+	btBroadphasePairArray	m_overlappingPairArray;
+
+public:
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+	btBroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+	
+	virtual	void	cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual int getNumOverlappingPairs() const
+	{
+		return 0;
+	}
+
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
+	{
+	}
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
+	{
+	}
+
+	virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return true;
+	}
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
+	{
+		return 0;
+	}
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
+	{
+	}
+
+
 };
+
+
 #endif //OVERLAPPING_PAIR_CACHE_H
 
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
new file mode 100644
index 00000000000..9c7b6f81367
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
@@ -0,0 +1,40 @@
+
+/*
+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 OVERLAPPING_PAIR_CALLBACK_H
+#define OVERLAPPING_PAIR_CALLBACK_H
+
+class btDispatcher;
+struct  btBroadphasePair;
+
+///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
+class btOverlappingPairCallback
+{
+public:
+	virtual ~btOverlappingPairCallback()
+	{
+
+	}
+	
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
+
+};
+
+#endif //OVERLAPPING_PAIR_CALLBACK_H
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
new file mode 100644
index 00000000000..a30bd1fd9e1
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -0,0 +1,1025 @@
+/*
+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 "btQuantizedBvh.h"
+
+#include "LinearMath/btAabbUtil2.h"
+#include "LinearMath/btIDebugDraw.h"
+
+
+btQuantizedBvh::btQuantizedBvh() : m_useQuantization(false), 
+					//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
+					m_traversalMode(TRAVERSAL_STACKLESS)
+					//m_traversalMode(TRAVERSAL_RECURSIVE)
+					,m_subtreeHeaderCount(0) //PCK: add this line
+{ 
+
+}
+
+
+
+
+
+void btQuantizedBvh::buildInternal()
+{
+	///assumes that caller filled in the m_quantizedLeafNodes
+	m_useQuantization = true;
+	int numLeafNodes = 0;
+	
+	if (m_useQuantization)
+	{
+		//now we have an array of leafnodes in m_leafNodes
+		numLeafNodes = m_quantizedLeafNodes.size();
+
+		m_quantizedContiguousNodes.resize(2*numLeafNodes);
+
+	}
+
+	m_curNodeIndex = 0;
+
+	buildTree(0,numLeafNodes);
+
+	///if the entire tree is small then subtree size, we need to create a header info for the tree
+	if(m_useQuantization && !m_SubtreeHeaders.size())
+	{
+		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
+		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
+		subtree.m_rootNodeIndex = 0;
+		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
+	}
+
+	//PCK: update the copy of the size
+	m_subtreeHeaderCount = m_SubtreeHeaders.size();
+
+	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
+	m_quantizedLeafNodes.clear();
+	m_leafNodes.clear();
+}
+
+
+
+///just for debugging, to visualize the individual patches/subtrees
+#ifdef DEBUG_PATCH_COLORS
+btVector3 color[4]=
+{
+	btVector3(255,0,0),
+	btVector3(0,255,0),
+	btVector3(0,0,255),
+	btVector3(0,255,255)
+};
+#endif //DEBUG_PATCH_COLORS
+
+
+
+void	btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin)
+{
+	//enlarge the AABB to avoid division by zero when initializing the quantization values
+	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
+	m_bvhAabbMin = bvhAabbMin - clampValue;
+	m_bvhAabbMax = bvhAabbMax + clampValue;
+	btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
+	m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+	m_useQuantization = true;
+}
+
+
+
+
+btQuantizedBvh::~btQuantizedBvh()
+{
+}
+
+#ifdef DEBUG_TREE_BUILDING
+int gStackDepth = 0;
+int gMaxStackDepth = 0;
+#endif //DEBUG_TREE_BUILDING
+
+void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
+{
+#ifdef DEBUG_TREE_BUILDING
+	gStackDepth++;
+	if (gStackDepth > gMaxStackDepth)
+		gMaxStackDepth = gStackDepth;
+#endif //DEBUG_TREE_BUILDING
+
+
+	int splitAxis, splitIndex, i;
+	int numIndices =endIndex-startIndex;
+	int curIndex = m_curNodeIndex;
+
+	assert(numIndices>0);
+
+	if (numIndices==1)
+	{
+#ifdef DEBUG_TREE_BUILDING
+		gStackDepth--;
+#endif //DEBUG_TREE_BUILDING
+		
+		assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex);
+
+		m_curNodeIndex++;
+		return;	
+	}
+	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
+	
+	splitAxis = calcSplittingAxis(startIndex,endIndex);
+
+	splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis);
+
+	int internalNodeIndex = m_curNodeIndex;
+	
+	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);
+	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);
+	
+	for (i=startIndex;i<endIndex;i++)
+	{
+		mergeInternalNodeAabb(m_curNodeIndex,getAabbMin(i),getAabbMax(i));
+	}
+
+	m_curNodeIndex++;
+	
+
+	//internalNode->m_escapeIndex;
+	
+	int leftChildNodexIndex = m_curNodeIndex;
+
+	//build left child tree
+	buildTree(startIndex,splitIndex);
+
+	int rightChildNodexIndex = m_curNodeIndex;
+	//build right child tree
+	buildTree(splitIndex,endIndex);
+
+#ifdef DEBUG_TREE_BUILDING
+	gStackDepth--;
+#endif //DEBUG_TREE_BUILDING
+
+	int escapeIndex = m_curNodeIndex - curIndex;
+
+	if (m_useQuantization)
+	{
+		//escapeIndex is the number of nodes of this subtree
+		const int sizeQuantizedNode =sizeof(btQuantizedBvhNode);
+		const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
+		if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
+		{
+			updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
+		}
+	}
+
+	setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
+
+}
+
+void	btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex)
+{
+	btAssert(m_useQuantization);
+
+	btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
+	int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
+	int leftSubTreeSizeInBytes =  leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
+	
+	btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
+	int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
+	int rightSubTreeSizeInBytes =  rightSubTreeSize *  static_cast<int>(sizeof(btQuantizedBvhNode));
+
+	if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	{
+		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
+		subtree.setAabbFromQuantizeNode(leftChildNode);
+		subtree.m_rootNodeIndex = leftChildNodexIndex;
+		subtree.m_subtreeSize = leftSubTreeSize;
+	}
+
+	if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+	{
+		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
+		subtree.setAabbFromQuantizeNode(rightChildNode);
+		subtree.m_rootNodeIndex = rightChildNodexIndex;
+		subtree.m_subtreeSize = rightSubTreeSize;
+	}
+
+	//PCK: update the copy of the size
+	m_subtreeHeaderCount = m_SubtreeHeaders.size();
+}
+
+
+int	btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis)
+{
+	int i;
+	int splitIndex =startIndex;
+	int numIndices = endIndex - startIndex;
+	btScalar splitValue;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+	
+	splitValue = means[splitAxis];
+	
+	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		if (center[splitAxis] > splitValue)
+		{
+			//swap
+			swapLeafNodes(i,splitIndex);
+			splitIndex++;
+		}
+	}
+
+	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
+	//otherwise the tree-building might fail due to stack-overflows in certain cases.
+	//unbalanced1 is unsafe: it can cause stack overflows
+	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
+
+	//unbalanced2 should work too: always use center (perfect balanced trees)	
+	//bool unbalanced2 = true;
+
+	//this should be safe too:
+	int rangeBalancedIndices = numIndices/3;
+	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+	
+	if (unbalanced)
+	{
+		splitIndex = startIndex+ (numIndices>>1);
+	}
+
+	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	(void)unbal;
+	btAssert(!unbal);
+
+	return splitIndex;
+}
+
+
+int	btQuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
+{
+	int i;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
+	int numIndices = endIndex-startIndex;
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+		
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+		btVector3 diff2 = center-means;
+		diff2 = diff2 * diff2;
+		variance += diff2;
+	}
+	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+	
+	return variance.maxAxis();
+}
+
+
+
+void	btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
+
+	if (m_useQuantization)
+	{
+		///quantize query AABB
+		unsigned short int quantizedQueryAabbMin[3];
+		unsigned short int quantizedQueryAabbMax[3];
+		quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
+		quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
+
+		switch (m_traversalMode)
+		{
+		case TRAVERSAL_STACKLESS:
+				walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,0,m_curNodeIndex);
+			break;
+		case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
+				walkStacklessQuantizedTreeCacheFriendly(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			break;
+		case TRAVERSAL_RECURSIVE:
+			{
+				const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
+				walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+			}
+			break;
+		default:
+			//unsupported
+			btAssert(0);
+		}
+	} else
+	{
+		walkStacklessTree(nodeCallback,aabbMin,aabbMax);
+	}
+}
+
+
+int maxIterations = 0;
+
+void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	btAssert(!m_useQuantization);
+
+	const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0];
+	int escapeIndex, curIndex = 0;
+	int walkIterations = 0;
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned aabbOverlap;
+
+	while (curIndex < m_curNodeIndex)
+	{
+		//catch bugs in tree data
+		assert (walkIterations < m_curNodeIndex);
+
+		walkIterations++;
+		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+		isLeafNode = rootNode->m_escapeIndex == -1;
+		
+		//PCK: unsigned instead of bool
+		if (isLeafNode && (aabbOverlap != 0))
+		{
+			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
+		} 
+		
+		//PCK: unsigned instead of bool
+		if ((aabbOverlap != 0) || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			escapeIndex = rootNode->m_escapeIndex;
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+	}
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
+
+/*
+///this was the original recursive traversal, before we optimized towards stackless traversal
+void	btQuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
+	if (aabbOverlap)
+	{
+		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
+		if (isLeafNode)
+		{
+			nodeCallback->processNode(rootNode);
+		} else
+		{
+			walkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
+			walkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
+		}
+	}
+
+}
+*/
+
+void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+{
+	btAssert(m_useQuantization);
+	
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned aabbOverlap;
+
+	//PCK: unsigned instead of bool
+	aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax);
+	isLeafNode = currentNode->isLeafNode();
+		
+	//PCK: unsigned instead of bool
+	if (aabbOverlap != 0)
+	{
+		if (isLeafNode)
+		{
+			nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex());
+		} else
+		{
+			//process left and right children
+			const btQuantizedBvhNode* leftChildNode = currentNode+1;
+			walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+
+			const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex();
+			walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+		}
+	}		
+}
+
+
+
+
+
+void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+{
+	btAssert(m_useQuantization);
+	
+	int curIndex = startNodeIndex;
+	int walkIterations = 0;
+	int subTreeSize = endNodeIndex - startNodeIndex;
+	(void)subTreeSize;
+
+	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
+	int escapeIndex;
+	
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned boxBoxOverlap = 0;
+	unsigned rayBoxOverlap = 0;
+
+	btScalar lambda_max = 1.0;
+#define RAYAABB2
+#ifdef RAYAABB2
+	btVector3 rayFrom = raySource;
+	btVector3 rayDirection = (rayTarget-raySource);
+	rayDirection.normalize ();
+	lambda_max = rayDirection.dot(rayTarget-raySource);
+	///what about division by zero? --> just set rayDirection[i] to 1.0
+	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[0];
+	rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[1];
+	rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[2];
+	unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
+#endif
+
+	/* Quick pruning by quantized box */
+	btVector3 rayAabbMin = raySource;
+	btVector3 rayAabbMax = raySource;
+	rayAabbMin.setMin(rayTarget);
+	rayAabbMax.setMax(rayTarget);
+
+	/* Add box cast extents to bounding box */
+	rayAabbMin += aabbMin;
+	rayAabbMax += aabbMax;
+
+	unsigned short int quantizedQueryAabbMin[3];
+	unsigned short int quantizedQueryAabbMax[3];
+	quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
+	quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
+
+	while (curIndex < endNodeIndex)
+	{
+
+//#define VISUALLY_ANALYZE_BVH 1
+#ifdef VISUALLY_ANALYZE_BVH
+		//some code snippet to debugDraw aabb, to visually analyze bvh structure
+		static int drawPatch = 0;
+		//need some global access to a debugDrawer
+		extern btIDebugDraw* debugDrawerPtr;
+		if (curIndex==drawPatch)
+		{
+			btVector3 aabbMin,aabbMax;
+			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
+			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
+			btVector3	color(1,0,0);
+			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+		}
+#endif//VISUALLY_ANALYZE_BVH
+
+		//catch bugs in tree data
+		assert (walkIterations < subTreeSize);
+
+		walkIterations++;
+		//PCK: unsigned instead of bool
+		// only interested if this is closer than any previous hit
+		btScalar param = 1.0;
+		rayBoxOverlap = 0;
+		boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		isLeafNode = rootNode->isLeafNode();
+		if (boxBoxOverlap)
+		{
+			btVector3 bounds[2];
+			bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
+			bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
+			/* Add box cast extents */
+			bounds[0] += aabbMin;
+			bounds[1] += aabbMax;
+			btVector3 normal;
+#if 0
+			bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
+			bool ra = btRayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
+			if (ra2 != ra)
+			{
+				printf("functions don't match\n");
+			}
+#endif
+#ifdef RAYAABB2
+			///careful with this check: need to check division by zero (above) and fix the unQuantize method
+			///thanks Joerg/hiker for the reproduction case!
+			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
+
+			rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
+#else
+			rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
+#endif
+		}
+		
+		if (isLeafNode && rayBoxOverlap)
+		{
+			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+		}
+		
+		//PCK: unsigned instead of bool
+		if ((rayBoxOverlap != 0) || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			escapeIndex = rootNode->getEscapeIndex();
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+	}
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
+
+void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const
+{
+	btAssert(m_useQuantization);
+	
+	int curIndex = startNodeIndex;
+	int walkIterations = 0;
+	int subTreeSize = endNodeIndex - startNodeIndex;
+	(void)subTreeSize;
+
+	const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
+	int escapeIndex;
+	
+	bool isLeafNode;
+	//PCK: unsigned instead of bool
+	unsigned aabbOverlap;
+
+	while (curIndex < endNodeIndex)
+	{
+
+//#define VISUALLY_ANALYZE_BVH 1
+#ifdef VISUALLY_ANALYZE_BVH
+		//some code snippet to debugDraw aabb, to visually analyze bvh structure
+		static int drawPatch = 0;
+		//need some global access to a debugDrawer
+		extern btIDebugDraw* debugDrawerPtr;
+		if (curIndex==drawPatch)
+		{
+			btVector3 aabbMin,aabbMax;
+			aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
+			aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
+			btVector3	color(1,0,0);
+			debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+		}
+#endif//VISUALLY_ANALYZE_BVH
+
+		//catch bugs in tree data
+		assert (walkIterations < subTreeSize);
+
+		walkIterations++;
+		//PCK: unsigned instead of bool
+		aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+		isLeafNode = rootNode->isLeafNode();
+		
+		if (isLeafNode && aabbOverlap)
+		{
+			nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+		} 
+		
+		//PCK: unsigned instead of bool
+		if ((aabbOverlap != 0) || isLeafNode)
+		{
+			rootNode++;
+			curIndex++;
+		} else
+		{
+			escapeIndex = rootNode->getEscapeIndex();
+			rootNode += escapeIndex;
+			curIndex += escapeIndex;
+		}
+	}
+	if (maxIterations < walkIterations)
+		maxIterations = walkIterations;
+
+}
+
+//This traversal can be called from Playstation 3 SPU
+void	btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+{
+	btAssert(m_useQuantization);
+
+	int i;
+
+
+	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	{
+		const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
+
+		//PCK: unsigned instead of bool
+		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		if (overlap != 0)
+		{
+			walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
+				subtree.m_rootNodeIndex,
+				subtree.m_rootNodeIndex+subtree.m_subtreeSize);
+		}
+	}
+}
+
+
+void	btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
+{
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
+	if (fast_path)
+	{
+		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0), 0, m_curNodeIndex);
+	} else {
+		/* Otherwise fallback to AABB overlap test */
+		btVector3 aabbMin = raySource;
+		btVector3 aabbMax = raySource;
+		aabbMin.setMin(rayTarget);
+		aabbMax.setMax(rayTarget);
+		reportAabbOverlappingNodex(nodeCallback,aabbMin,aabbMax);
+	}
+}
+
+
+void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
+	if (fast_path)
+	{
+		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
+	} else {
+		/* Slow path:
+		   Construct the bounding box for the entire box cast and send that down the tree */
+		btVector3 qaabbMin = raySource;
+		btVector3 qaabbMax = raySource;
+		qaabbMin.setMin(rayTarget);
+		qaabbMax.setMax(rayTarget);
+		qaabbMin += aabbMin;
+		qaabbMax += aabbMax;
+		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
+	}
+}
+
+
+void	btQuantizedBvh::swapLeafNodes(int i,int splitIndex)
+{
+	if (m_useQuantization)
+	{
+			btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
+			m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
+			m_quantizedLeafNodes[splitIndex] = tmp;
+	} else
+	{
+			btOptimizedBvhNode tmp = m_leafNodes[i];
+			m_leafNodes[i] = m_leafNodes[splitIndex];
+			m_leafNodes[splitIndex] = tmp;
+	}
+}
+
+void	btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex)
+{
+	if (m_useQuantization)
+	{
+		m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
+	} else
+	{
+		m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
+	}
+}
+
+//PCK: include
+#include <new>
+
+//PCK: consts
+static const unsigned BVH_ALIGNMENT = 16;
+static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
+
+static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
+
+
+
+unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
+{
+	return BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+}
+
+unsigned btQuantizedBvh::calculateSerializeBufferSize()
+{
+	unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
+	baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
+	if (m_useQuantization)
+	{
+		return baseSize + m_curNodeIndex * sizeof(btQuantizedBvhNode);
+	}
+	return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
+}
+
+bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
+{
+	assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
+	m_subtreeHeaderCount = m_SubtreeHeaders.size();
+
+/*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	{
+		///check alignedment for buffer?
+		btAssert(0);
+		return false;
+	}
+*/
+
+	btQuantizedBvh *targetBvh = (btQuantizedBvh *)o_alignedDataBuffer;
+
+	// construct the class so the virtual function table, etc will be set up
+	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
+	new (targetBvh) btQuantizedBvh;
+
+	if (i_swapEndian)
+	{
+		targetBvh->m_curNodeIndex = static_cast<int>(btSwapEndian(m_curNodeIndex));
+
+
+		btSwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin);
+		btSwapVector3Endian(m_bvhAabbMax,targetBvh->m_bvhAabbMax);
+		btSwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization);
+
+		targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode);
+		targetBvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(m_subtreeHeaderCount));
+	}
+	else
+	{
+		targetBvh->m_curNodeIndex = m_curNodeIndex;
+		targetBvh->m_bvhAabbMin = m_bvhAabbMin;
+		targetBvh->m_bvhAabbMax = m_bvhAabbMax;
+		targetBvh->m_bvhQuantization = m_bvhQuantization;
+		targetBvh->m_traversalMode = m_traversalMode;
+		targetBvh->m_subtreeHeaderCount = m_subtreeHeaderCount;
+	}
+
+	targetBvh->m_useQuantization = m_useQuantization;
+
+	unsigned char *nodeData = (unsigned char *)targetBvh;
+	nodeData += sizeof(btQuantizedBvh);
+	
+	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	nodeData += sizeToAdd;
+	
+	int nodeCount = m_curNodeIndex;
+
+	if (m_useQuantization)
+	{
+		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
+
+		if (i_swapEndian)
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
+
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
+
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
+			}
+		}
+		else
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+	
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
+
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0];
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1];
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
+
+				targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
+
+
+			}
+		}
+		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
+	}
+	else
+	{
+		targetBvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
+
+		if (i_swapEndian)
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+				btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMinOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
+				btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMaxOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
+
+				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex));
+				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_subPart));
+				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex));
+			}
+		}
+		else
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg = m_contiguousNodes[nodeIndex].m_aabbMinOrg;
+				targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg = m_contiguousNodes[nodeIndex].m_aabbMaxOrg;
+
+				targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = m_contiguousNodes[nodeIndex].m_escapeIndex;
+				targetBvh->m_contiguousNodes[nodeIndex].m_subPart = m_contiguousNodes[nodeIndex].m_subPart;
+				targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = m_contiguousNodes[nodeIndex].m_triangleIndex;
+			}
+		}
+		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
+	}
+
+	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	nodeData += sizeToAdd;
+
+	// Now serialize the subtree headers
+	targetBvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, m_subtreeHeaderCount, m_subtreeHeaderCount);
+	if (i_swapEndian)
+	{
+		for (int i = 0; i < m_subtreeHeaderCount; i++)
+		{
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
+
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
+
+			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex));
+			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(m_SubtreeHeaders[i].m_subtreeSize));
+		}
+	}
+	else
+	{
+		for (int i = 0; i < m_subtreeHeaderCount; i++)
+		{
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = (m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = (m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = (m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
+
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = (m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = (m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
+			targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = (m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
+
+			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex);
+			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize);
+			targetBvh->m_SubtreeHeaders[i] = m_SubtreeHeaders[i];
+		}
+	}
+
+	nodeData += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
+
+	return true;
+}
+
+btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+{
+
+	if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+	{
+		return NULL;
+	}
+	btQuantizedBvh *bvh = (btQuantizedBvh *)i_alignedDataBuffer;
+
+	if (i_swapEndian)
+	{
+		bvh->m_curNodeIndex = static_cast<int>(btSwapEndian(bvh->m_curNodeIndex));
+
+		btUnSwapVector3Endian(bvh->m_bvhAabbMin);
+		btUnSwapVector3Endian(bvh->m_bvhAabbMax);
+		btUnSwapVector3Endian(bvh->m_bvhQuantization);
+
+		bvh->m_traversalMode = (btTraversalMode)btSwapEndian(bvh->m_traversalMode);
+		bvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(bvh->m_subtreeHeaderCount));
+	}
+
+	unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize();
+	btAssert(calculatedBufSize <= i_dataBufferSize);
+
+	if (calculatedBufSize > i_dataBufferSize)
+	{
+		return NULL;
+	}
+
+	unsigned char *nodeData = (unsigned char *)bvh;
+	nodeData += sizeof(btQuantizedBvh);
+	
+	unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	nodeData += sizeToAdd;
+	
+	int nodeCount = bvh->m_curNodeIndex;
+
+	// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
+	// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
+	new (bvh) btQuantizedBvh(*bvh, false);
+
+	if (bvh->m_useQuantization)
+	{
+		bvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
+
+		if (i_swapEndian)
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]);
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]);
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]);
+
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]);
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]);
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]);
+
+				bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast<int>(btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex));
+			}
+		}
+		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
+	}
+	else
+	{
+		bvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount);
+
+		if (i_swapEndian)
+		{
+			for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
+			{
+				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
+				btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
+				
+				bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
+				bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
+				bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
+			}
+		}
+		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
+	}
+
+	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+	nodeData += sizeToAdd;
+
+	// Now serialize the subtree headers
+	bvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, bvh->m_subtreeHeaderCount, bvh->m_subtreeHeaderCount);
+	if (i_swapEndian)
+	{
+		for (int i = 0; i < bvh->m_subtreeHeaderCount; i++)
+		{
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0]);
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1]);
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2]);
+
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0]);
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1]);
+			bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2]);
+
+			bvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex));
+			bvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast<int>(btSwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize));
+		}
+	}
+
+	return bvh;
+}
+
+// Constructor that prevents btVector3's default constructor from being called
+btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
+m_bvhAabbMin(self.m_bvhAabbMin),
+m_bvhAabbMax(self.m_bvhAabbMax),
+m_bvhQuantization(self.m_bvhQuantization)
+{
+
+
+}
+
+
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
new file mode 100644
index 00000000000..8a149b533fa
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -0,0 +1,486 @@
+/*
+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 QUANTIZED_BVH_H
+#define QUANTIZED_BVH_H
+
+//#define DEBUG_CHECK_DEQUANTIZATION 1
+#ifdef DEBUG_CHECK_DEQUANTIZATION
+#ifdef __SPU__
+#define printf spu_printf
+#endif //__SPU__
+
+#include <stdio.h>
+#include <stdlib.h>
+#endif //DEBUG_CHECK_DEQUANTIZATION
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+
+//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
+
+
+//Note: currently we have 16 bytes per quantized node
+#define MAX_SUBTREE_SIZE_IN_BYTES  2048
+
+// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
+// actually) triangles each (since the sign bit is reserved
+#define MAX_NUM_PARTS_IN_BITS 10
+
+///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
+///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
+ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes
+	int	m_escapeIndexOrTriangleIndex;
+
+	bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrTriangleIndex >= 0);
+	}
+	int getEscapeIndex() const
+	{
+		btAssert(!isLeafNode());
+		return -m_escapeIndexOrTriangleIndex;
+	}
+	int	getTriangleIndex() const
+	{
+		btAssert(isLeafNode());
+		// Get only the lower bits where the triangle index is stored
+		return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+	}
+	int	getPartId() const
+	{
+		btAssert(isLeafNode());
+		// Get only the highest bits where the part index is stored
+		return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+	}
+}
+;
+
+/// btOptimizedBvhNode contains both internal and leaf node information.
+/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
+ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//32 bytes
+	btVector3	m_aabbMinOrg;
+	btVector3	m_aabbMaxOrg;
+
+	//4
+	int	m_escapeIndex;
+
+	//8
+	//for child nodes
+	int	m_subPart;
+	int	m_triangleIndex;
+	int	m_padding[5];//bad, due to alignment
+
+
+};
+
+
+///btBvhSubtreeInfo provides info to gather a subtree of limited size
+ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes, points to the root of the subtree
+	int			m_rootNodeIndex;
+	//4 bytes
+	int			m_subtreeSize;
+	int			m_padding[3];
+
+	btBvhSubtreeInfo()
+	{
+		//memset(&m_padding[0], 0, sizeof(m_padding));
+	}
+
+
+	void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
+	{
+		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
+		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
+		m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
+		m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
+		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
+		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
+	}
+}
+;
+
+
+class btNodeOverlapCallback
+{
+public:
+	virtual ~btNodeOverlapCallback() {};
+
+	virtual void processNode(int subPart, int triangleIndex) = 0;
+};
+
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+
+///for code readability:
+typedef btAlignedObjectArray<btOptimizedBvhNode>	NodeArray;
+typedef btAlignedObjectArray<btQuantizedBvhNode>	QuantizedNodeArray;
+typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
+
+
+///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
+///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase.
+///It is recommended to use quantization for better performance and lower memory requirements.
+ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
+{
+protected:
+
+	NodeArray			m_leafNodes;
+	NodeArray			m_contiguousNodes;
+
+	QuantizedNodeArray	m_quantizedLeafNodes;
+	
+	QuantizedNodeArray	m_quantizedContiguousNodes;
+	
+	int					m_curNodeIndex;
+
+
+	//quantization data
+	bool				m_useQuantization;
+	btVector3			m_bvhAabbMin;
+	btVector3			m_bvhAabbMax;
+	btVector3			m_bvhQuantization;
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	enum btTraversalMode
+	{
+		TRAVERSAL_STACKLESS = 0,
+		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
+		TRAVERSAL_RECURSIVE
+	};
+protected:
+
+	btTraversalMode	m_traversalMode;
+	
+	BvhSubtreeInfoArray		m_SubtreeHeaders;
+
+	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
+	int m_subtreeHeaderCount;
+
+
+	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
+	///this might be refactored into a virtual, it is usually not calculated at run-time
+	void	setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
+	{
+		if (m_useQuantization)
+		{
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
+		} else
+		{
+			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
+
+		}
+	}
+	void	setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
+	{
+		if (m_useQuantization)
+		{
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
+		} else
+		{
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
+		}
+	}
+
+	btVector3 getAabbMin(int nodeIndex) const
+	{
+		if (m_useQuantization)
+		{
+			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
+		}
+		//non-quantized
+		return m_leafNodes[nodeIndex].m_aabbMinOrg;
+
+	}
+	btVector3 getAabbMax(int nodeIndex) const
+	{
+		if (m_useQuantization)
+		{
+			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
+		} 
+		//non-quantized
+		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
+		
+	}
+
+	
+	void	setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
+	{
+		if (m_useQuantization)
+		{
+			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
+		} 
+		else
+		{
+			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
+		}
+
+	}
+
+	void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) 
+	{
+		if (m_useQuantization)
+		{
+			unsigned short int quantizedAabbMin[3];
+			unsigned short int quantizedAabbMax[3];
+			quantize(quantizedAabbMin,newAabbMin,0);
+			quantize(quantizedAabbMax,newAabbMax,1);
+			for (int i=0;i<3;i++)
+			{
+				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
+					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
+
+				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
+					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
+
+			}
+		} else
+		{
+			//non-quantized
+			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);		
+		}
+	}
+
+	void	swapLeafNodes(int firstIndex,int secondIndex);
+
+	void	assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
+
+protected:
+
+	
+
+	void	buildTree	(int startIndex,int endIndex);
+
+	int	calcSplittingAxis(int startIndex,int endIndex);
+
+	int	sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
+	
+	void	walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	void	walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
+	void	walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
+
+	///tree traversal designed for small-memory processors like PS3 SPU
+	void	walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+
+	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
+	void	walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
+
+	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
+	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
+	
+
+#define USE_BANCHLESS 1
+#ifdef USE_BANCHLESS
+	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
+	{		
+		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+			1, 0));
+	}
+#else
+	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
+	{
+		bool overlap = true;
+		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+		return overlap;
+	}
+#endif //USE_BANCHLESS
+
+	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
+
+public:
+	btQuantizedBvh();
+
+	virtual ~btQuantizedBvh();
+
+	
+	///***************************************** expert/internal use only *************************
+	void	setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
+	QuantizedNodeArray&	getLeafNodeArray() {			return	m_quantizedLeafNodes;	}
+	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
+	void	buildInternal();
+	///***************************************** expert/internal use only *************************
+
+	void	reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	void	reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
+	void	reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+		SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
+	{
+
+		btAssert(m_useQuantization);
+
+		btAssert(point.getX() <= m_bvhAabbMax.getX());
+		btAssert(point.getY() <= m_bvhAabbMax.getY());
+		btAssert(point.getZ() <= m_bvhAabbMax.getZ());
+
+		btAssert(point.getX() >= m_bvhAabbMin.getX());
+		btAssert(point.getY() >= m_bvhAabbMin.getY());
+		btAssert(point.getZ() >= m_bvhAabbMin.getZ());
+
+		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
+		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
+		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
+		///todo: double-check this
+		if (isMax)
+		{
+			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
+			out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
+			out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
+		} else
+		{
+			out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
+			out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
+			out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
+		}
+
+
+#ifdef DEBUG_CHECK_DEQUANTIZATION
+		btVector3 newPoint = unQuantize(out);
+		if (isMax)
+		{
+			if (newPoint.getX() < point.getX())
+			{
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+			}
+			if (newPoint.getY() < point.getY())
+			{
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+			}
+			if (newPoint.getZ() < point.getZ())
+			{
+
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+			}
+		} else
+		{
+			if (newPoint.getX() > point.getX())
+			{
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
+			}
+			if (newPoint.getY() > point.getY())
+			{
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
+			}
+			if (newPoint.getZ() > point.getZ())
+			{
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
+			}
+		}
+#endif //DEBUG_CHECK_DEQUANTIZATION
+
+	}
+
+
+	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
+	{
+
+		btAssert(m_useQuantization);
+
+		btVector3 clampedPoint(point2);
+		clampedPoint.setMax(m_bvhAabbMin);
+		clampedPoint.setMin(m_bvhAabbMax);
+
+		quantize(out,clampedPoint,isMax);
+
+	}
+	
+	SIMD_FORCE_INLINE btVector3	unQuantize(const unsigned short* vecIn) const
+	{
+			btVector3	vecOut;
+			vecOut.setValue(
+			(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
+			(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
+			(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
+			vecOut += m_bvhAabbMin;
+			return vecOut;
+	}
+
+	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
+	void	setTraversalMode(btTraversalMode	traversalMode)
+	{
+		m_traversalMode = traversalMode;
+	}
+
+
+	SIMD_FORCE_INLINE QuantizedNodeArray&	getQuantizedNodeArray()
+	{	
+		return	m_quantizedContiguousNodes;
+	}
+
+
+	SIMD_FORCE_INLINE BvhSubtreeInfoArray&	getSubtreeInfoArray()
+	{
+		return m_SubtreeHeaders;
+	}
+
+
+	/////Calculate space needed to store BVH for serialization
+	unsigned calculateSerializeBufferSize();
+
+	/// Data buffer MUST be 16 byte aligned
+	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
+
+	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
+	static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
+
+	static unsigned int getAlignmentSerializationPadding();
+
+	SIMD_FORCE_INLINE bool isQuantized()
+	{
+		return m_useQuantization;
+	}
+
+private:
+	// Special "copy" constructor that allows for in-place deserialization
+	// Prevents btVector3's default constructor from being called, but doesn't inialize much else
+	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
+	btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory);
+
+}
+;
+
+
+#endif //QUANTIZED_BVH_H
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index 30bcbe0c5f1..2d27f22567f 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -14,83 +14,86 @@ subject to the following restrictions:
 */
 
 #include "btSimpleBroadphase.h"
-#include <BulletCollision/BroadphaseCollision/btDispatcher.h>
-#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btMatrix3x3.h"
 #include <new>
 
+extern int gOverlappingPairs;
 
 void	btSimpleBroadphase::validate()
 {
-	for (int i=0;i<m_numProxies;i++)
+	for (int i=0;i<m_numHandles;i++)
 	{
-		for (int j=i+1;j<m_numProxies;j++)
+		for (int j=i+1;j<m_numHandles;j++)
 		{
-			assert(m_pProxies[i] != m_pProxies[j]);
+			btAssert(&m_pHandles[i] != &m_pHandles[j]);
 		}
 	}
 	
 }
 
-btSimpleBroadphase::btSimpleBroadphase(int maxProxies)
-	:btOverlappingPairCache(),
-	m_firstFreeProxy(0),
-	m_numProxies(0),
-	m_maxProxies(maxProxies)
+btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
+	:m_pairCache(overlappingPairCache),
+	m_ownsPairCache(false),
+	m_invalidPair(0)
 {
 
-	m_proxies = new btSimpleBroadphaseProxy[maxProxies];
-	m_freeProxies = new int[maxProxies];
-	m_pProxies = new btSimpleBroadphaseProxy*[maxProxies];
-	
+	if (!overlappingPairCache)
+	{
+		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
+		m_pairCache = new (mem)btHashedOverlappingPairCache();
+		m_ownsPairCache = true;
+	}
+
+	// allocate handles buffer and put all handles on free list
+	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
+	m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
+	m_maxHandles = maxProxies;
+	m_numHandles = 0;
+	m_firstFreeHandle = 0;
+	m_firstAllocatedHandle = -1;
 
-	int i;
-	for (i=0;i<m_maxProxies;i++)
 	{
-		m_freeProxies[i] = i;
+		for (int i = m_firstFreeHandle; i < maxProxies; i++)
+		{
+			m_pHandles[i].SetNextFree(i + 1);
+			m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
+			m_pHandles[i].SetNextAllocated(-1);
+		}
+		m_pHandles[maxProxies - 1].SetNextFree(0);
+		m_pHandles[maxProxies - 1].SetNextAllocated(-1);
+	
 	}
+
 }
 
 btSimpleBroadphase::~btSimpleBroadphase()
 {
-	delete[] m_proxies;
-	delete []m_freeProxies;
-	delete [] m_pProxies;
+	btAlignedFree(m_pHandlesRawPtr);
 
-	/*int i;
-	for (i=m_numProxies-1;i>=0;i--)
+	if (m_ownsPairCache)
 	{
-		BP_Proxy* proxy = m_pProxies[i]; 
-		destroyProxy(proxy);
+		m_pairCache->~btOverlappingPairCache();
+		btAlignedFree(m_pairCache);
 	}
-	*/
 }
 
 
-btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
+btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy)
 {
-	if (m_numProxies >= m_maxProxies)
+	if (m_numHandles >= m_maxHandles)
 	{
-		assert(0);
+		btAssert(0);
 		return 0; //should never happen, but don't let the game crash ;-)
 	}
-	assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
-
-	int freeIndex= m_freeProxies[m_firstFreeProxy];
-	btSimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])btSimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
-	m_firstFreeProxy++;
-
-	btSimpleBroadphaseProxy* proxy1 = &m_proxies[0];
-		
-	int	index = int(proxy - proxy1);
-	btAssert(index == freeIndex);
+	assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
 
-	m_pProxies[m_numProxies] = proxy;
-	m_numProxies++;
-	//validate();
+	int newHandleIndex = allocHandle();
+	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
 
 	return proxy;
 }
@@ -124,34 +127,19 @@ protected:
 	};
 };
 
-void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg)
+void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
 {
 		
-		int i;
-		
 		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
-		btSimpleBroadphaseProxy* proxy1 = &m_proxies[0];
-	
-		int index = int(proxy0 - proxy1);
-		btAssert (index < m_maxProxies);
-		m_freeProxies[--m_firstFreeProxy] = index;
+		freeHandle(proxy0);
+
+		m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
 
-		removeOverlappingPairsContainingProxy(proxyOrg);
-		
-		for (i=0;i<m_numProxies;i++)
-		{
-			if (m_pProxies[i] == proxyOrg)
-			{
-				m_pProxies[i] = m_pProxies[m_numProxies-1];
-				break;
-			}
-		}
-		m_numProxies--;
 		//validate();
 		
 }
 
-void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
+void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
 {
 	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
 	sbp->m_min = aabbMin;
@@ -186,37 +174,137 @@ public:
 	}
 };
 
-void	btSimpleBroadphase::refreshOverlappingPairs()
+void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	//first check for new overlapping pairs
 	int i,j;
 
-	for (i=0;i<m_numProxies;i++)
+	if (m_firstAllocatedHandle >= 0)
 	{
-		btBroadphaseProxy* proxy0 = m_pProxies[i];
-		for (j=i+1;j<m_numProxies;j++)
+
+		btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
+
+		for (i=0;i<m_numHandles;i++)
 		{
-			btBroadphaseProxy* proxy1 = m_pProxies[j];
-			btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
-			btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+			btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
 
-			if (aabbOverlap(p0,p1))
+			for (j=0;j<m_numHandles;j++)
 			{
-				if ( !findPair(proxy0,proxy1))
+				
+				if (proxy0 != proxy1)
 				{
-					addOverlappingPair(proxy0,proxy1);
+					btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+					btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+
+					if (aabbOverlap(p0,p1))
+					{
+						if ( !m_pairCache->findPair(proxy0,proxy1))
+						{
+							m_pairCache->addOverlappingPair(proxy0,proxy1);
+						}
+					} else
+					{
+					if (!m_pairCache->hasDeferredRemoval())
+					{
+						if ( m_pairCache->findPair(proxy0,proxy1))
+						{
+							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+						}
+					}
+
+					}
 				}
+				proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
+
 			}
+			proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
 
 		}
-	}
 
+		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
+		{
+			
+			btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
+
+			//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+			m_invalidPair = 0;
+
+
+			btBroadphasePair previousPair;
+			previousPair.m_pProxy0 = 0;
+			previousPair.m_pProxy1 = 0;
+			previousPair.m_algorithm = 0;
+			
+			
+			for (i=0;i<overlappingPairArray.size();i++)
+			{
+			
+				btBroadphasePair& pair = overlappingPairArray[i];
 
-	CheckOverlapCallback	checkOverlap;
+				bool isDuplicate = (pair == previousPair);
 
-	processAllOverlappingPairs(&checkOverlap);
+				previousPair = pair;
 
+				bool needsRemoval = false;
 
+				if (!isDuplicate)
+				{
+					bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+
+					if (hasOverlap)
+					{
+						needsRemoval = false;//callback->processOverlap(pair);
+					} else
+					{
+						needsRemoval = true;
+					}
+				} else
+				{
+					//remove duplicate
+					needsRemoval = true;
+					//should have no algorithm
+					btAssert(!pair.m_algorithm);
+				}
+				
+				if (needsRemoval)
+				{
+					m_pairCache->cleanOverlappingPair(pair,dispatcher);
+
+			//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+			//		m_overlappingPairArray.pop_back();
+					pair.m_pProxy0 = 0;
+					pair.m_pProxy1 = 0;
+					m_invalidPair++;
+					gOverlappingPairs--;
+				} 
+				
+			}
+
+		///if you don't like to skip the invalid pairs in the array, execute following code:
+		#define CLEAN_INVALID_PAIRS 1
+		#ifdef CLEAN_INVALID_PAIRS
+
+			//perform a sort, to sort 'invalid' pairs to the end
+			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+			m_invalidPair = 0;
+		#endif//CLEAN_INVALID_PAIRS
+
+		}
+	}
 }
 
 
+bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+{
+	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+	return aabbOverlap(p0,p1);
+}
+
+
+
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index fb155e7047c..49dfeb84900 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -24,35 +24,78 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
 	btVector3	m_min;
 	btVector3	m_max;
+	int			m_nextFree;
+	int			m_nextAllocated;
+//	int			m_handleId;
+
 	
 	btSimpleBroadphaseProxy() {};
 
-	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
+	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
 	m_min(minpt),m_max(maxpt)		
 	{
 		(void)shapeType;
 	}
 	
+	
+	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
+	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
+
+	SIMD_FORCE_INLINE void SetNextAllocated(int next) {m_nextAllocated = next;}
+	SIMD_FORCE_INLINE int GetNextAllocated() const {return m_nextAllocated;}
+
 
 };
 
-///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class btSimpleBroadphase : public btOverlappingPairCache
+///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
+///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
+class btSimpleBroadphase : public btBroadphaseInterface
 {
 
 protected:
 
-	btSimpleBroadphaseProxy*	m_proxies;
-	int*				m_freeProxies;
-	int				m_firstFreeProxy;
+	int		m_numHandles;						// number of active handles
+	int		m_maxHandles;						// max number of handles
+	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
+	void* m_pHandlesRawPtr;
+	int		m_firstFreeHandle;		// free handles list
+	int		m_firstAllocatedHandle;
 
-	btSimpleBroadphaseProxy** m_pProxies;
-	int				m_numProxies;
+	int allocHandle()
+	{
 
-	
+		int freeHandle = m_firstFreeHandle;
+		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
+		
+		m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
+		m_firstAllocatedHandle = freeHandle;
+		
+		m_numHandles++;
+
+		return freeHandle;
+	}
+
+	void freeHandle(btSimpleBroadphaseProxy* proxy)
+	{
+		int handle = int(proxy-m_pHandles);
+		btAssert(handle >= 0 && handle < m_maxHandles);
+
+		proxy->SetNextFree(m_firstFreeHandle);
+		m_firstFreeHandle = handle;
+
+		m_firstAllocatedHandle = proxy->GetNextAllocated();
+		proxy->SetNextAllocated(-1);
+
+		m_numHandles--;
+	}
+
+
+	btOverlappingPairCache*	m_pairCache;
+	bool	m_ownsPairCache;
+
+	int	m_invalidPair;
 
-	int m_maxProxies;
 	
 	
 	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
@@ -67,26 +110,48 @@ protected:
 protected:
 
 
-	virtual void	refreshOverlappingPairs();
+	
+
 public:
-	btSimpleBroadphase(int maxProxies=16384);
+	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
 	virtual ~btSimpleBroadphase();
 
 
 		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
 
 
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
 
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
 
-	virtual void	destroyProxy(btBroadphaseProxy* proxy);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
 		
-	
-	
+	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_pairCache;
+	}
+	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_pairCache;
+	}
+
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
 
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+		aabbMax.setValue(1e30f,1e30f,1e30f);
+	}
 
+	virtual void	printStats()
+	{
+//		printf("btSimpleBroadphase.h\n");
+//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+	}
 };