update Bullet 2.x with latest changes, notice that the integration is not finished yet, and GameBlender is still using extern/bullet.

15 files changed, 441 insertions, 61 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
new file mode 100644
index 00000000000..1b25006deec
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -0,0 +1,201 @@
+/*
+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 "SphereTriangleDetector.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+
+
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
+:m_sphere(sphere),
+m_triangle(triangle)
+{
+
+}
+
+void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+{
+
+	const btTransform& transformA = input.m_transformA;
+	const btTransform& transformB = input.m_transformB;
+
+	btVector3 point,normal;
+	btScalar timeOfImpact = 1.f;
+	btScalar depth = 0.f;
+//	output.m_distance = 1e30f;
+	//move sphere into triangle space
+	btTransform	sphereInTr = transformB.inverseTimes(transformA);
+
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
+	{
+		output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
+	}
+
+}
+
+#define MAX_OVERLAP 0.f
+
+
+
+// See also geometrictools.com
+// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
+float SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
+	btVector3 diff = p - from;
+	btVector3 v = to - from;
+	float t = v.dot(diff);
+	
+	if (t > 0) {
+		float dotVV = v.dot(v);
+		if (t < dotVV) {
+			t /= dotVV;
+			diff -= t*v;
+		} else {
+			t = 1;
+			diff -= v;
+		}
+	} else
+		t = 0;
+
+	nearest = from + t*v;
+	return diff.dot(diff);	
+}
+
+bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
+	btVector3 lp(p);
+	btVector3 lnormal(normal);
+	
+	return pointInTriangle(vertices, lnormal, &lp);
+}
+
+///combined discrete/continuous sphere-triangle
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, float &timeOfImpact)
+{
+
+	const btVector3* vertices = &m_triangle->getVertexPtr(0);
+	const btVector3& c = sphereCenter;
+	btScalar r = m_sphere->getRadius();
+
+	btVector3 delta (0,0,0);
+
+	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
+	normal.normalize();
+	btVector3 p1ToCentre = c - vertices[0];
+	float distanceFromPlane = p1ToCentre.dot(normal);
+
+	if (distanceFromPlane < 0.f)
+	{
+		//triangle facing the other way
+	
+		distanceFromPlane *= -1.f;
+		normal *= -1.f;
+	}
+
+	///todo: move this gContactBreakingThreshold into a proper structure
+	extern float gContactBreakingThreshold;
+
+	float contactMargin = gContactBreakingThreshold;
+	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
+	bool isInsideShellPlane = distanceFromPlane < r;
+	
+	float deltaDotNormal = delta.dot(normal);
+	if (!isInsideShellPlane && deltaDotNormal >= 0.0f)
+		return false;
+
+	// Check for contact / intersection
+	bool hasContact = false;
+	btVector3 contactPoint;
+	if (isInsideContactPlane) {
+		if (facecontains(c,vertices,normal)) {
+			// Inside the contact wedge - touches a point on the shell plane
+			hasContact = true;
+			contactPoint = c - normal*distanceFromPlane;
+		} else {
+			// Could be inside one of the contact capsules
+			float contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
+			btVector3 nearestOnEdge;
+			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
+				
+				btPoint3 pa;
+				btPoint3 pb;
+				
+				m_triangle->getEdge(i,pa,pb);
+
+				float distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
+				if (distanceSqr < contactCapsuleRadiusSqr) {
+					// Yep, we're inside a capsule
+					hasContact = true;
+					contactPoint = nearestOnEdge;
+				}
+				
+			}
+		}
+	}
+
+	if (hasContact) {
+		btVector3 contactToCentre = c - contactPoint;
+		float distanceSqr = contactToCentre.length2();
+		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
+			float distance = sqrtf(distanceSqr);
+			if (1)
+			{
+				resultNormal = contactToCentre;
+				resultNormal.normalize();
+			}
+			point = contactPoint;
+			depth = -(r-distance);
+			return true;
+		}
+
+		if (delta.dot(contactToCentre) >= 0.0f) 
+			return false;
+		
+		// Moving towards the contact point -> collision
+		point = contactPoint;
+		timeOfImpact = 0.0f;
+		return true;
+	}
+	
+	return false;
+}
+
+
+bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
+{
+	const btVector3* p1 = &vertices[0];
+	const btVector3* p2 = &vertices[1];
+	const btVector3* p3 = &vertices[2];
+
+	btVector3 edge1( *p2 - *p1 );
+	btVector3 edge2( *p3 - *p2 );
+	btVector3 edge3( *p1 - *p3 );
+
+	btVector3 p1_to_p( *p - *p1 );
+	btVector3 p2_to_p( *p - *p2 );
+	btVector3 p3_to_p( *p - *p3 );
+
+	btVector3 edge1_normal( edge1.cross(normal));
+	btVector3 edge2_normal( edge2.cross(normal));
+	btVector3 edge3_normal( edge3.cross(normal));
+	
+	float r1, r2, r3;
+	r1 = edge1_normal.dot( p1_to_p );
+	r2 = edge2_normal.dot( p2_to_p );
+	r3 = edge3_normal.dot( p3_to_p );
+	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
+	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
+		return true;
+	return false;
+
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
new file mode 100644
index 00000000000..22262340222
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
@@ -0,0 +1,48 @@
+/*
+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 SPHERE_TRIANGLE_DETECTOR_H
+#define SPHERE_TRIANGLE_DETECTOR_H
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+#include "LinearMath/btPoint3.h"
+
+
+class btSphereShape;
+class btTriangleShape;
+
+
+
+/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
+struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
+{
+	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
+
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
+
+	virtual ~SphereTriangleDetector() {};
+
+private:
+
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, float &timeOfImpact);
+	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
+	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
+
+	btSphereShape* m_sphere;
+	btTriangleShape* m_triangle;
+
+	
+};
+#endif //SPHERE_TRIANGLE_DETECTOR_H
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index d824f68ebe7..ebfccef9cb1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -142,13 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 
 	
 
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
 #define USE_DISPATCH_REGISTRY_ARRAY 1
 #ifdef USE_DISPATCH_REGISTRY_ARRAY
 	
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher = this;
+	ci.m_manifold = sharedManifold;
 	btCollisionAlgorithm* algo = m_doubleDispatch[body0->m_collisionShape->getShapeType()][body1->m_collisionShape->getShapeType()]
 	->CreateCollisionAlgorithm(ci,body0,body1);
 #else
@@ -193,7 +194,7 @@ btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(in
 
 
 
-btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
 	m_count++;
 	
@@ -202,7 +203,7 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
 	
 	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConvex() )
 	{
-		return new btConvexConvexAlgorithm(0,ci,body0,body1);
+		return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1);
 	}
 
 	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConcave())
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index def59650455..4e97bce9d65 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -56,7 +56,7 @@ class btCollisionDispatcher : public btDispatcher
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc*   m_emptyCreateFunc;
 
-	btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
+	btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
 
 public:
 
@@ -78,7 +78,7 @@ public:
 
 	int	getNumManifolds() const
 	{ 
-		return m_manifoldsPtr.size();
+		return int( m_manifoldsPtr.size());
 	}
 
 	btPersistentManifold**	getInternalManifoldPointer()
@@ -114,7 +114,7 @@ public:
 	virtual void clearManifold(btPersistentManifold* manifold);
 
 			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
+	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
 		
 	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 881a8c0042a..4179bc47e82 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -24,7 +24,7 @@ btCollisionObject::btCollisionObject()
 		m_userObjectPointer(0),
 		m_hitFraction(1.f),
 		m_ccdSweptSphereRadius(0.f),
-		m_ccdSquareMotionTreshold(0.f)
+		m_ccdSquareMotionThreshold(0.f)
 {
 	
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 3838fc98961..5df3de489cd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -43,6 +43,11 @@ struct	btCollisionObject
 	///m_interpolationWorldTransform is used for CCD and interpolation
 	///it can be either previous or future (predicted) transform
 	btTransform	m_interpolationWorldTransform;
+	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
+	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
+	btVector3	m_interpolationLinearVelocity;
+	btVector3	m_interpolationAngularVelocity;
+
 
 	enum CollisionFlags
 	{
@@ -73,32 +78,32 @@ struct	btCollisionObject
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
 	float			m_ccdSweptSphereRadius;
 
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
-	float			m_ccdSquareMotionTreshold;
+	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
+	float			m_ccdSquareMotionThreshold;
 
 	inline bool mergesSimulationIslands() const
 	{
 		///static objects, kinematic and object without contact response don't merge islands
-		return  !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) );
+		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) )==0);
 	}
 
 
 	inline bool		isStaticObject() const {
-		return m_collisionFlags & CF_STATIC_OBJECT;
+		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
 	}
 
 	inline bool		isKinematicObject() const
 	{
-		return m_collisionFlags & CF_KINEMATIC_OJBECT;
+		return (m_collisionFlags & CF_KINEMATIC_OJBECT) != 0;
 	}
 
 	inline bool		isStaticOrKinematicObject() const
 	{
-		return m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT);
+		return (m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT)) != 0 ;
 	}
 
 	inline bool		hasContactResponse() const {
-		return !(m_collisionFlags & CF_NO_CONTACT_RESPONSE);
+		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
 	}
 
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 2280399b2c8..a1cf3a0e5fd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -205,7 +205,7 @@ public:
 
 	int	getNumCollisionObjects() const
 	{
-		return m_collisionObjects.size();
+		return int(m_collisionObjects.size());
 	}
 
 	/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index d7d0055f714..7cb0bba6206 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -17,7 +17,6 @@ subject to the following restrictions:
 #include "btConvexConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "btConvexConvexAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionShapes/btConcaveShape.h"
 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
@@ -115,10 +114,16 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 		btCollisionShape* tmpShape = ob->m_collisionShape;
 		ob->m_collisionShape = &tm;
 		
+
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
 		///this should use the btDispatcher, so the actual registered algorithm is used
-		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
-		cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
+
+		m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
+	//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
+//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		delete colAlgo;
 		ob->m_collisionShape = tmpShape;
 
 	}
@@ -200,10 +205,10 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 
 	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
 
-	//only perform CCD above a certain treshold, this prevents blocking on the long run
+	//only perform CCD above a certain threshold, this prevents blocking on the long run
 	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
 	float squareMot0 = (convexbody->m_interpolationWorldTransform.getOrigin() - convexbody->m_worldTransform.getOrigin()).length2();
-	if (squareMot0 < convexbody->m_ccdSquareMotionTreshold)
+	if (squareMot0 < convexbody->m_ccdSquareMotionThreshold)
 	{
 		return 1.f;
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index 54b8bc06aaa..5347ef05bef 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -165,14 +165,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	//TODO: if (dispatchInfo.m_useContinuous)
 	m_gjkPairDetector.setMinkowskiA(min0);
 	m_gjkPairDetector.setMinkowskiB(min1);
-	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingTreshold();
+	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
 	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 	
 //	input.m_maximumDistanceSquared = 1e30f;
 	
 	input.m_transformA = body0->m_worldTransform;
 	input.m_transformB = body1->m_worldTransform;
-    
+	
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
@@ -183,17 +183,17 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 bool disableCcd = false;
 float	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	///Rather then checking ALL pairs, only calculate TOI when motion exceeds treshold
+	///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
     
-	///Linear motion for one of objects needs to exceed m_ccdSquareMotionTreshold
+	///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
 	///col0->m_worldTransform,
 	float resultFraction = 1.f;
 
 
 	float squareMot0 = (col0->m_interpolationWorldTransform.getOrigin() - col0->m_worldTransform.getOrigin()).length2();
     
-	if (squareMot0 < col0->m_ccdSquareMotionTreshold &&
-		squareMot0 < col0->m_ccdSquareMotionTreshold)
+	if (squareMot0 < col0->m_ccdSquareMotionThreshold &&
+		squareMot0 < col0->m_ccdSquareMotionThreshold)
 		return resultFraction;
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index b8e121714ad..1cd94408f1f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -54,13 +54,6 @@ public:
 
 	void	setLowLevelOfDetail(bool useLowLevel);
 
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-			m_gjkPairDetector.m_partId0=partId0;
-			m_gjkPairDetector.m_partId1=partId1;
-			m_gjkPairDetector.m_index0=index0;
-			m_gjkPairDetector.m_index1=index1;		
-	}
 
 	const btPersistentManifold*	getManifold()
 	{
@@ -71,7 +64,7 @@ public:
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
-			return new btConvexConvexAlgorithm(0,ci,body0,body1);
+			return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 7031521f66b..1d3941101b2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -58,7 +58,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	assert(m_manifoldPtr);
 	//order in manifold needs to match
 	
-	if (depth > m_manifoldPtr->getContactBreakingTreshold())
+	if (depth > m_manifoldPtr->getContactBreakingThreshold())
 		return;
 
 	bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
@@ -74,33 +74,28 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	
 
 	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
-	if (insertIndex >= 0)
-	{
 
-// This is not needed, just use the old info!
-//		const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
-//		newPt.CopyPersistentInformation(oldPoint);
-//		m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
+	newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
+	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
 
+	//User can override friction and/or restitution
+	if (gContactAddedCallback &&
+		//and if either of the two bodies requires custom material
+		 ((m_body0->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+		   (m_body1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+	{
+		//experimental feature info, for per-triangle material etc.
+		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
+		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
+		(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
+	}
 
+	if (insertIndex >= 0)
+	{
+		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
+		m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
 	} else
 	{
-
-		newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
-		newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
-
-		//User can override friction and/or restitution
-		if (gContactAddedCallback &&
-			//and if either of the two bodies requires custom material
-			 ((m_body0->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-			   (m_body1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
-		{
-			//experimental feature info, for per-triangle material etc.
-			btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
-			btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-			(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
-		}
-
 		m_manifoldPtr->AddManifoldPoint(newPt);
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index fa52d7e055a..d6ac86d19bd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -1,4 +1,6 @@
 
+
+#include "LinearMath/btScalar.h"
 #include "btSimulationIslandManager.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -51,7 +53,7 @@ void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
 void	btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
 {
 	
-	initUnionFind(colWorld->getCollisionObjectArray().size());
+	initUnionFind( int (colWorld->getCollisionObjectArray().size()));
 	
 	// put the index into m_controllers into m_tag	
 	{
@@ -253,7 +255,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 		}
 	}
 
-	int numManifolds = islandmanifold.size();
+	int numManifolds = int (islandmanifold.size());
 
 	// Sort manifolds, based on islands
 	// Sort the vector using predicate and std::sort
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
new file mode 100644
index 00000000000..ca589ef8629
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -0,0 +1,71 @@
+/*
+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 "btSphereTriangleCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "SphereTriangleDetector.h"
+
+
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
+: btCollisionAlgorithm(ci),
+m_ownManifold(false),
+m_manifoldPtr(mf),
+m_swapped(swapped)
+{
+	if (!m_manifoldPtr)
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_ownManifold = true;
+	}
+}
+
+btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	if (!m_manifoldPtr)
+		return;
+
+	btSphereShape* sphere = (btSphereShape*)col0->m_collisionShape;
+	btTriangleShape* triangle = (btTriangleShape*)col1->m_collisionShape;
+	
+	/// report a contact. internally this will be kept persistent, and contact reduction is done
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	SphereTriangleDetector detector(sphere,triangle);
+	
+	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
+	input.m_maximumDistanceSquared = 1e30f;//todo: tighter bounds
+	input.m_transformA = col0->m_worldTransform;
+	input.m_transformB = col1->m_worldTransform;
+
+	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
+}
+
+float btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	//not yet
+	return 1.f;
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
new file mode 100644
index 00000000000..82e4c5b37f1
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -0,0 +1,59 @@
+/*
+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 SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+class btPersistentManifold;
+
+/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
+/// Other features are frame-coherency (persistent data) and collision response.
+/// Also provides the most basic sample for custom/user btCollisionAlgorithm
+class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	bool	m_swapped;
+	
+public:
+	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
+
+	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btCollisionAlgorithm(ci) {}
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	
+	virtual ~btSphereTriangleCollisionAlgorithm();
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			
+				return new btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
+		}
+	};
+
+};
+
+#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
index 8db1580e41e..b1baca9ff15 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h
@@ -45,7 +45,7 @@ class btUnionFind
 
 	  inline int	getNumElements() const
 	  {
-		  return m_elements.size();
+		  return int(m_elements.size());
 	  }
 	  inline bool  isRoot(int x) const
 	  {