Update Bullet to version 2.80 (bullet svn revision 2537)

Remove Jamfiles and other unused files that stuck around during previous updates.

Add patches for local changes to the patches directory.

Update readme.txt, it had outdated infromation.

44 files changed, 883 insertions, 122 deletions

diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
index fc032069c03..f4a9ca03e5c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef OBB_BOX_2D_SHAPE_H
-#define OBB_BOX_2D_SHAPE_H
+#ifndef BT_OBB_BOX_2D_SHAPE_H
+#define BT_OBB_BOX_2D_SHAPE_H
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -83,6 +83,7 @@ public:
 	}
 
 
+	///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
 	btBox2dShape( const btVector3& boxHalfExtents) 
 		: btPolyhedralConvexShape(),
 		m_centroid(0,0,0)
@@ -97,6 +98,11 @@ public:
 		m_normals[2].setValue(0,1,0);
 		m_normals[3].setValue(-1,0,0);
 
+		btScalar minDimension = boxHalfExtents.getX();
+		if (minDimension>boxHalfExtents.getY())
+			minDimension = boxHalfExtents.getY();
+		setSafeMargin(minDimension);
+
 		m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
 		btVector3 margin(getMargin(),getMargin(),getMargin());
 		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
@@ -358,6 +364,6 @@ public:
 
 };
 
-#endif //OBB_BOX_2D_SHAPE_H
+#endif //BT_OBB_BOX_2D_SHAPE_H
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp
index c6644efbef3..3859138f18a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp
@@ -14,8 +14,18 @@ subject to the following restrictions:
 */
 #include "btBoxShape.h"
 
+btBoxShape::btBoxShape( const btVector3& boxHalfExtents) 
+: btPolyhedralConvexShape()
+{
+	m_shapeType = BOX_SHAPE_PROXYTYPE;
+
+	setSafeMargin(boxHalfExtents);
+
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
+};
+
 
-//{ 
 
 
 void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index b405efc8e3c..0c5857dae62 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef OBB_BOX_MINKOWSKI_H
-#define OBB_BOX_MINKOWSKI_H
+#ifndef BT_OBB_BOX_MINKOWSKI_H
+#define BT_OBB_BOX_MINKOWSKI_H
 
 #include "btPolyhedralConvexShape.h"
 #include "btCollisionMargin.h"
@@ -80,13 +80,7 @@ public:
 	}
 
 
-	btBoxShape( const btVector3& boxHalfExtents) 
-		: btPolyhedralConvexShape()
-	{
-		m_shapeType = BOX_SHAPE_PROXYTYPE;
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
-	};
+	btBoxShape( const btVector3& boxHalfExtents);
 
 	virtual void setMargin(btScalar collisionMargin)
 	{
@@ -145,7 +139,7 @@ public:
 
 	virtual void getVertex(int i,btVector3& vtx) const
 	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 halfExtents = getHalfExtentsWithMargin();
 
 		vtx = btVector3(
 				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
@@ -313,6 +307,6 @@ public:
 };
 
 
-#endif //OBB_BOX_MINKOWSKI_H
+#endif //BT_OBB_BOX_MINKOWSKI_H
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
index c269ef27bdb..d1c21629873 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef BVH_TRIANGLE_MESH_SHAPE_H
-#define BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MESH_SHAPE_H
 
 #include "btTriangleMeshShape.h"
 #include "btOptimizedBvh.h"
@@ -136,4 +136,4 @@ SIMD_FORCE_INLINE	int	btBvhTriangleMeshShape::calculateSerializeBufferSize() con
 
 
 
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
index 2faa11d4360..864df26e931 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -55,7 +55,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btVector3 pos(0,0,0);
 		pos[getUpAxis()] = getHalfHeight();
 
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius) - vec * getMargin();
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -67,7 +67,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btVector3 pos(0,0,0);
 		pos[getUpAxis()] = -getHalfHeight();
 
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius) - vec * getMargin();
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -96,7 +96,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		{
 			btVector3 pos(0,0,0);
 			pos[getUpAxis()] = getHalfHeight();
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+			vtx = pos +vec*(radius) - vec * getMargin();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
@@ -107,7 +107,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		{
 			btVector3 pos(0,0,0);
 			pos[getUpAxis()] = -getHalfHeight();
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+			vtx = pos +vec*(radius) - vec * getMargin();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h
index 18fd026041f..474bf1fb499 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h
@@ -13,14 +13,15 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
-
-//used by Gjk and some other algorithms
+#ifndef BT_COLLISION_MARGIN_H
+#define BT_COLLISION_MARGIN_H
 
+///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
+///This collision margin is used by Gjk and some other algorithms
+///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
 #define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
 
 
 
-#endif //COLLISION_MARGIN_H
+#endif //BT_COLLISION_MARGIN_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
index f32bd736a99..865c1067744 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef COLLISION_SHAPE_H
-#define COLLISION_SHAPE_H
+#ifndef BT_COLLISION_SHAPE_H
+#define BT_COLLISION_SHAPE_H
 
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
@@ -146,5 +146,5 @@ SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize() const
 
 
 
-#endif //COLLISION_SHAPE_H
+#endif //BT_COLLISION_SHAPE_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
index 7f41dd4517b..141034a8e8c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef COMPOUND_SHAPE_H
-#define COMPOUND_SHAPE_H
+#ifndef BT_COMPOUND_SHAPE_H
+#define BT_COMPOUND_SHAPE_H
 
 #include "btCollisionShape.h"
 
@@ -209,4 +209,4 @@ SIMD_FORCE_INLINE	int	btCompoundShape::calculateSerializeBufferSize() const
 
 
 
-#endif //COMPOUND_SHAPE_H
+#endif //BT_COMPOUND_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index 2a370a47c75..2a03241c9d7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONCAVE_SHAPE_H
-#define CONCAVE_SHAPE_H
+#ifndef BT_CONCAVE_SHAPE_H
+#define BT_CONCAVE_SHAPE_H
 
 #include "btCollisionShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -57,4 +57,4 @@ public:
 
 };
 
-#endif //CONCAVE_SHAPE_H
+#endif //BT_CONCAVE_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
index bd7d1443ac2..b69b5c5b0c8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONE_MINKOWSKI_H
-#define CONE_MINKOWSKI_H
+#ifndef BT_CONE_MINKOWSKI_H
+#define BT_CONE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -99,5 +99,5 @@ class btConeShapeZ : public btConeShape
 	public:
 		btConeShapeZ(btScalar radius,btScalar height);
 };
-#endif //CONE_MINKOWSKI_H
+#endif //BT_CONE_MINKOWSKI_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 69bc67cafab..226245979ab 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -208,4 +208,48 @@ const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
 	return "btConvexHullShapeData";
 }
 
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+#if 1
+	min = FLT_MAX;
+	max = -FLT_MAX;
+	btVector3 witnesPtMin;
+	btVector3 witnesPtMax;
+
+	int numVerts = m_unscaledPoints.size();
+	for(int i=0;i<numVerts;i++)
+	{
+		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+		btVector3 pt = trans * vtx;
+		btScalar dp = pt.dot(dir);
+		if(dp < min)	
+		{
+			min = dp;
+			witnesPtMin = pt;
+		}
+		if(dp > max)	
+		{
+			max = dp;
+			witnesPtMax=pt;
+		}
+	}
+#else
+	btVector3 localAxis = dir*trans.getBasis();
+	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
+	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+
+	min = vtx1.dot(dir);
+	max = vtx2.dot(dir);
+#endif
+
+	if(min>max)
+	{
+		btScalar tmp = min;
+		min = max;
+		max = tmp;
+	}
+
+
+}
+
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index bf960f4df92..95a2af6a3a0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONVEX_HULL_SHAPE_H
-#define CONVEX_HULL_SHAPE_H
+#ifndef BT_CONVEX_HULL_SHAPE_H
+#define BT_CONVEX_HULL_SHAPE_H
 
 #include "btPolyhedralConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -73,6 +73,8 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
 
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+
 
 	//debugging
 	virtual const char*	getName()const {return "Convex";}
@@ -116,5 +118,5 @@ SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize() const
 }
 
 
-#endif //CONVEX_HULL_SHAPE_H
+#endif //BT_CONVEX_HULL_SHAPE_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 12527731804..85cd9ef90c7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -21,6 +21,11 @@ subject to the following restrictions:
 
 
 ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
+///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
+///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
+///Note that when creating small shapes (derived from btConvexInternalShape), 
+///you need to make sure to set a smaller collision margin, using the 'setMargin' API
+///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
 class btConvexInternalShape : public btConvexShape
 {
 
@@ -62,6 +67,23 @@ public:
 		m_implicitShapeDimensions = dimensions;
 	}
 
+	void	setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
+	{
+		btScalar safeMargin = defaultMarginMultiplier*minDimension;
+		if (safeMargin < getMargin())
+		{
+			setMargin(safeMargin);
+		}
+	}
+	void	setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
+	{
+		//see http://code.google.com/p/bullet/issues/detail?id=349
+		//this margin check could could be added to other collision shapes too,
+		//or add some assert/warning somewhere
+		btScalar minDimension=halfExtents[halfExtents.minAxis()]; 		
+		setSafeMargin(minDimension, defaultMarginMultiplier);
+	}
+
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
new file mode 100644
index 00000000000..1e26be531c2
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -0,0 +1,296 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+///This file was written by Erwin Coumans
+///Separating axis rest based on work from Pierre Terdiman, see
+///And contact clipping based on work from Simon Hobbs
+
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btHashMap.h"
+
+btConvexPolyhedron::btConvexPolyhedron()
+{
+
+}
+btConvexPolyhedron::~btConvexPolyhedron()
+{
+
+}
+
+
+inline bool IsAlmostZero(const btVector3& v)
+{
+	if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6)	return false;
+	return true;
+}
+
+struct btInternalVertexPair
+{
+	btInternalVertexPair(short int v0,short int v1)
+		:m_v0(v0),
+		m_v1(v1)
+	{
+		if (m_v1>m_v0)
+			btSwap(m_v0,m_v1);
+	}
+	short int m_v0;
+	short int m_v1;
+	int getHash() const
+	{
+		return m_v0+(m_v1<<16);
+	}
+	bool equals(const btInternalVertexPair& other) const
+	{
+		return m_v0==other.m_v0 && m_v1==other.m_v1;
+	}
+};
+
+struct btInternalEdge
+{
+	btInternalEdge()
+		:m_face0(-1),
+		m_face1(-1)
+	{
+	}
+	short int m_face0;
+	short int m_face1;
+};
+
+//
+
+#ifdef TEST_INTERNAL_OBJECTS
+bool btConvexPolyhedron::testContainment() const
+{
+	for(int p=0;p<8;p++)
+	{
+		btVector3 LocalPt;
+		if(p==0)		LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
+		else if(p==1)	LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
+		else if(p==2)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
+		else if(p==3)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
+		else if(p==4)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
+		else if(p==5)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
+		else if(p==6)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
+		else if(p==7)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+		for(int i=0;i<m_faces.size();i++)
+		{
+			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+			const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
+			if(d>0.0f)
+				return false;
+		}
+	}
+	return true;
+}
+#endif
+
+void	btConvexPolyhedron::initialize()
+{
+
+	btHashMap<btInternalVertexPair,btInternalEdge> edges;
+
+	btScalar TotalArea = 0.0f;
+	
+	m_localCenter.setValue(0, 0, 0);
+	for(int i=0;i<m_faces.size();i++)
+	{
+		int numVertices = m_faces[i].m_indices.size();
+		int NbTris = numVertices;
+		for(int j=0;j<NbTris;j++)
+		{
+			int k = (j+1)%numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			btInternalEdge* edptr = edges.find(vp);
+			btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+			edge.normalize();
+
+			bool found = false;
+
+			for (int p=0;p<m_uniqueEdges.size();p++)
+			{
+				
+				if (IsAlmostZero(m_uniqueEdges[p]-edge) || 
+					IsAlmostZero(m_uniqueEdges[p]+edge))
+				{
+					found = true;
+					break;
+				}
+			}
+
+			if (!found)
+			{
+				m_uniqueEdges.push_back(edge);
+			}
+
+			if (edptr)
+			{
+				btAssert(edptr->m_face0>=0);
+				btAssert(edptr->m_face1<0);
+				edptr->m_face1 = i;
+			} else
+			{
+				btInternalEdge ed;
+				ed.m_face0 = i;
+				edges.insert(vp,ed);
+			}
+		}
+	}
+
+#ifdef USE_CONNECTED_FACES
+	for(int i=0;i<m_faces.size();i++)
+	{
+		int numVertices = m_faces[i].m_indices.size();
+		m_faces[i].m_connectedFaces.resize(numVertices);
+
+		for(int j=0;j<numVertices;j++)
+		{
+			int k = (j+1)%numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			btInternalEdge* edptr = edges.find(vp);
+			btAssert(edptr);
+			btAssert(edptr->m_face0>=0);
+			btAssert(edptr->m_face1>=0);
+
+			int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+			m_faces[i].m_connectedFaces[j] = connectedFace;
+		}
+	}
+#endif//USE_CONNECTED_FACES
+
+	for(int i=0;i<m_faces.size();i++)
+	{
+		int numVertices = m_faces[i].m_indices.size();
+		int NbTris = numVertices-2;
+		
+		const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
+		for(int j=1;j<=NbTris;j++)
+		{
+			int k = (j+1)%numVertices;
+			const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
+			const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
+			btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
+			btVector3 Center = (p0+p1+p2)/3.0f;
+			m_localCenter += Area * Center;
+			TotalArea += Area;
+		}
+	}
+	m_localCenter /= TotalArea;
+
+
+
+
+#ifdef TEST_INTERNAL_OBJECTS
+	if(1)
+	{
+		m_radius = FLT_MAX;
+		for(int i=0;i<m_faces.size();i++)
+		{
+			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+			const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
+			if(dist<m_radius)
+				m_radius = dist;
+		}
+
+	
+		btScalar MinX = FLT_MAX;
+		btScalar MinY = FLT_MAX;
+		btScalar MinZ = FLT_MAX;
+		btScalar MaxX = -FLT_MAX;
+		btScalar MaxY = -FLT_MAX;
+		btScalar MaxZ = -FLT_MAX;
+		for(int i=0; i<m_vertices.size(); i++)
+		{
+			const btVector3& pt = m_vertices[i];
+			if(pt.x()<MinX)	MinX = pt.x();
+			if(pt.x()>MaxX)	MaxX = pt.x();
+			if(pt.y()<MinY)	MinY = pt.y();
+			if(pt.y()>MaxY)	MaxY = pt.y();
+			if(pt.z()<MinZ)	MinZ = pt.z();
+			if(pt.z()>MaxZ)	MaxZ = pt.z();
+		}
+		mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
+		mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
+
+
+
+//		const btScalar r = m_radius / sqrtf(2.0f);
+		const btScalar r = m_radius / sqrtf(3.0f);
+		const int LargestExtent = mE.maxAxis();
+		const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+		m_extents[0] = m_extents[1] = m_extents[2] = r;
+		m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+		bool FoundBox = false;
+		for(int j=0;j<1024;j++)
+		{
+			if(testContainment())
+			{
+				FoundBox = true;
+				break;
+			}
+
+			m_extents[LargestExtent] -= Step;
+		}
+		if(!FoundBox)
+		{
+			m_extents[0] = m_extents[1] = m_extents[2] = r;
+		}
+		else
+		{
+			// Refine the box
+			const btScalar Step = (m_radius - r)/1024.0f;
+			const int e0 = (1<<LargestExtent) & 3;
+			const int e1 = (1<<e0) & 3;
+
+			for(int j=0;j<1024;j++)
+			{
+				const btScalar Saved0 = m_extents[e0];
+				const btScalar Saved1 = m_extents[e1];
+				m_extents[e0] += Step;
+				m_extents[e1] += Step;
+
+				if(!testContainment())
+				{
+					m_extents[e0] = Saved0;
+					m_extents[e1] = Saved1;
+					break;
+				}
+			}
+		}
+	}
+#endif
+}
+
+
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+	min = FLT_MAX;
+	max = -FLT_MAX;
+	int numVerts = m_vertices.size();
+	for(int i=0;i<numVerts;i++)
+	{
+		btVector3 pt = trans * m_vertices[i];
+		btScalar dp = pt.dot(dir);
+		if(dp < min)	min = dp;
+		if(dp > max)	max = dp;
+	}
+	if(min>max)
+	{
+		btScalar tmp = min;
+		min = max;
+		max = tmp;
+	}
+}
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
new file mode 100644
index 00000000000..08db39a33c8
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+///This file was written by Erwin Coumans
+
+
+#ifndef _BT_POLYHEDRAL_FEATURES_H
+#define _BT_POLYHEDRAL_FEATURES_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#define TEST_INTERNAL_OBJECTS 1
+
+
+struct btFace
+{
+	btAlignedObjectArray<int>	m_indices;
+//	btAlignedObjectArray<int>	m_connectedFaces;
+	btScalar	m_plane[4];
+};
+
+
+class btConvexPolyhedron
+{
+	public:
+	btConvexPolyhedron();
+	virtual	~btConvexPolyhedron();
+
+	btAlignedObjectArray<btVector3>	m_vertices;
+	btAlignedObjectArray<btFace>	m_faces;
+	btAlignedObjectArray<btVector3> m_uniqueEdges;
+
+	btVector3		m_localCenter;
+	btVector3		m_extents;
+	btScalar		m_radius;
+	btVector3		mC;
+	btVector3		mE;
+
+	void	initialize();
+	bool testContainment() const;
+
+	void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+};
+
+	
+#endif //_BT_POLYHEDRAL_FEATURES_H
+
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index f5f3aa58aa4..8c67d8ebef1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -43,6 +43,23 @@ btConvexShape::~btConvexShape()
 }
 
 
+void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+	btVector3 localAxis = dir*trans.getBasis();
+	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
+	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+
+	min = vtx1.dot(dir);
+	max = vtx2.dot(dir);
+
+	if(min>max)
+	{
+		btScalar tmp = min;
+		min = max;
+		max = tmp;
+	}
+}
+
 
 static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
 {	
@@ -227,7 +244,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 			pos[capsuleUpAxis] = halfHeight;
 
 			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
 			newDot = vec.dot(vtx);
 			
 
@@ -242,7 +259,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 			pos[capsuleUpAxis] = -halfHeight;
 
 			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
index 9c158259c1c..290cd9fd13c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONVEX_SHAPE_INTERFACE1
-#define CONVEX_SHAPE_INTERFACE1
+#ifndef BT_CONVEX_SHAPE_INTERFACE1
+#define BT_CONVEX_SHAPE_INTERFACE1
 
 #include "btCollisionShape.h"
 
@@ -52,6 +52,8 @@ public:
 	btScalar getMarginNonVirtual () const;
 	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+
 	
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
@@ -79,4 +81,4 @@ public:
 
 
 
-#endif //CONVEX_SHAPE_INTERFACE1
+#endif //BT_CONVEX_SHAPE_INTERFACE1
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
index f5167e74b80..af5d00388e8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -12,8 +12,8 @@ subject to the following restrictions:
 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 CONVEX_TRIANGLEMESH_SHAPE_H
-#define CONVEX_TRIANGLEMESH_SHAPE_H
+#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
+#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
 
 
 #include "btPolyhedralConvexShape.h"
@@ -69,7 +69,7 @@ public:
 
 
 
-#endif //CONVEX_TRIANGLEMESH_SHAPE_H
+#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
index c2e534b0b46..6cfe43be4da 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
@@ -19,6 +19,8 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents)
 :btConvexInternalShape(),
 m_upAxis(1)
 {
+	setSafeMargin(halfExtents);
+
 	btVector3 margin(getMargin(),getMargin(),getMargin());
 	m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
 	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
index f7899265d31..125bfc78a77 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CYLINDER_MINKOWSKI_H
-#define CYLINDER_MINKOWSKI_H
+#ifndef BT_CYLINDER_MINKOWSKI_H
+#define BT_CYLINDER_MINKOWSKI_H
 
 #include "btBoxShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -196,5 +196,5 @@ SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSer
 
 
 
-#endif //CYLINDER_MINKOWSKI_H
+#endif //BT_CYLINDER_MINKOWSKI_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index 9f6b4435c29..87b7b66d1e1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef EMPTY_SHAPE_H
-#define EMPTY_SHAPE_H
+#ifndef BT_EMPTY_SHAPE_H
+#define BT_EMPTY_SHAPE_H
 
 #include "btConcaveShape.h"
 
@@ -67,4 +67,4 @@ protected:
 
 
 
-#endif //EMPTY_SHAPE_H
+#endif //BT_EMPTY_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 3a1e6f4a2b9..95631c30190 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 btHeightfieldTerrainShape::btHeightfieldTerrainShape
 (
-int heightStickWidth, int heightStickLength, void* heightfieldData,
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
 btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
 PHY_ScalarType hdt, bool flipQuadEdges
 )
@@ -33,7 +33,7 @@ PHY_ScalarType hdt, bool flipQuadEdges
 
 
 
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
 {
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
@@ -53,7 +53,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
 
 void btHeightfieldTerrainShape::initialize
 (
-int heightStickWidth, int heightStickLength, void* heightfieldData,
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
 btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
 PHY_ScalarType hdt, bool flipQuadEdges
 )
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 4f5d1e35bf3..78e231e08e6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
-#define HEIGHTFIELD_TERRAIN_SHAPE_H
+#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
 
 #include "btConcaveShape.h"
 
@@ -85,10 +85,10 @@ protected:
 	btScalar m_heightScale;
 	union
 	{
-		unsigned char*	m_heightfieldDataUnsignedChar;
-		short*		m_heightfieldDataShort;
-		btScalar*			m_heightfieldDataFloat;
-		void*			m_heightfieldDataUnknown;
+		const unsigned char*	m_heightfieldDataUnsignedChar;
+		const short*		m_heightfieldDataShort;
+		const btScalar*			m_heightfieldDataFloat;
+		const void*	m_heightfieldDataUnknown;
 	};
 
 	PHY_ScalarType	m_heightDataType;	
@@ -111,7 +111,7 @@ protected:
 	  backwards-compatible without a lot of copy/paste.
 	 */
 	void initialize(int heightStickWidth, int heightStickLength,
-	                void* heightfieldData, btScalar heightScale,
+	                const void* heightfieldData, btScalar heightScale,
 	                btScalar minHeight, btScalar maxHeight, int upAxis,
 	                PHY_ScalarType heightDataType, bool flipQuadEdges);
 
@@ -123,7 +123,7 @@ public:
 	  heightScale is needed for any integer-based heightfield data types.
 	 */
 	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
-	                          void* heightfieldData, btScalar heightScale,
+	                          const void* heightfieldData, btScalar heightScale,
 	                          btScalar minHeight, btScalar maxHeight,
 	                          int upAxis, PHY_ScalarType heightDataType,
 	                          bool flipQuadEdges);
@@ -135,7 +135,7 @@ public:
 	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
 	  (and is only used when useFloatData = false).
  	 */
-	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
 
 	virtual ~btHeightfieldTerrainShape();
 
@@ -158,4 +158,4 @@ public:
 
 };
 
-#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
+#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMaterial.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMaterial.h
index 030e167da50..866f9b4da4d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMaterial.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMaterial.h
@@ -15,8 +15,8 @@ subject to the following restrictions:
 
 /// This file was created by Alex Silverman
 
-#ifndef MATERIAL_H
-#define MATERIAL_H
+#ifndef BT_MATERIAL_H
+#define BT_MATERIAL_H
 
 // Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
 class btMaterial
@@ -31,5 +31,5 @@ public:
     btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
 };
 
-#endif // MATERIAL_H
+#endif // BT_MATERIAL_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index d6fd040213b..6c844e8c0af 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef MINKOWSKI_SUM_SHAPE_H
-#define MINKOWSKI_SUM_SHAPE_H
+#ifndef BT_MINKOWSKI_SUM_SHAPE_H
+#define BT_MINKOWSKI_SUM_SHAPE_H
 
 #include "btConvexInternalShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -57,4 +57,4 @@ public:
 	}
 };
 
-#endif //MINKOWSKI_SUM_SHAPE_H
+#endif //BT_MINKOWSKI_SUM_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 3db7e320889..06c5d16d941 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef MULTI_SPHERE_MINKOWSKI_H
-#define MULTI_SPHERE_MINKOWSKI_H
+#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
+#define BT_MULTI_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -96,4 +96,4 @@ SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize() const
 
 
 
-#endif //MULTI_SPHERE_MINKOWSKI_H
+#endif //BT_MULTI_SPHERE_MINKOWSKI_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
index 96b2ad95b6d..2b92ab7d1b7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
@@ -15,8 +15,8 @@ subject to the following restrictions:
 
 /// This file was created by Alex Silverman
 
-#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
-#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
 
 #include "btBvhTriangleMeshShape.h"
 #include "btMaterial.h"
@@ -117,4 +117,4 @@ public:
 }
 ;
 
-#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index 981b8a2652c..6f36775f7c9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -43,7 +43,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 
 		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
 		{
-			m_triangleNodes = other.m_triangleNodes;
+			m_triangleNodes.copyFromArray(other.m_triangleNodes);
 			return *this;
 		}
 		
@@ -84,7 +84,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
 
 		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
 		{
-			m_triangleNodes = other.m_triangleNodes;
+			m_triangleNodes.copyFromArray(other.m_triangleNodes);
 			m_optimizedTree = other.m_optimizedTree;
 			return *this;
 		}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
index 749fe6005dd..715961f5528 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h
@@ -15,8 +15,8 @@ subject to the following restrictions:
 
 ///Contains contributions from Disney Studio's
 
-#ifndef OPTIMIZED_BVH_H
-#define OPTIMIZED_BVH_H
+#ifndef BT_OPTIMIZED_BVH_H
+#define BT_OPTIMIZED_BVH_H
 
 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
 
@@ -60,6 +60,6 @@ public:
 };
 
 
-#endif //OPTIMIZED_BVH_H
+#endif //BT_OPTIMIZED_BVH_H
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index b1ecb3e432c..82def79cf55 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -14,10 +14,289 @@ subject to the following restrictions:
 */
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+#include <new>
+#include "LinearMath/btGeometryUtil.h"
+#include "LinearMath/btGrahamScan2dConvexHull.h"
 
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
+
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_polyhedron(0)
+{
+
+}
+
+btPolyhedralConvexShape::~btPolyhedralConvexShape()
+{
+	if (m_polyhedron)
+	{
+		btAlignedFree(m_polyhedron);
+	}
+}
+
+
+bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 {
 
+	if (m_polyhedron)
+		btAlignedFree(m_polyhedron);
+	
+	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+	m_polyhedron = new (mem) btConvexPolyhedron;
+
+		btAlignedObjectArray<btVector3> orgVertices;
+
+	for (int i=0;i<getNumVertices();i++)
+	{
+		btVector3& newVertex = orgVertices.expand();
+		getVertex(i,newVertex);
+	}
+
+#if 0
+	btAlignedObjectArray<btVector3> planeEquations;
+	btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
+
+	btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+	for (int p=0;p<planeEquations.size();p++)
+	{
+		   btVector3 plane = planeEquations[p];
+		   plane[3] -= getMargin();
+		   shiftedPlaneEquations.push_back(plane);
+	}
+
+	btAlignedObjectArray<btVector3> tmpVertices;
+
+	btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
+	btConvexHullComputer conv;
+	conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+
+#else
+	btConvexHullComputer conv;
+	conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+
+#endif
+
+
+
+	btAlignedObjectArray<btVector3> faceNormals;
+	int numFaces = conv.faces.size();
+	faceNormals.resize(numFaces);
+	btConvexHullComputer* convexUtil = &conv;
+
+	
+	btAlignedObjectArray<btFace>	tmpFaces;
+	tmpFaces.resize(numFaces);
+
+	int numVertices = convexUtil->vertices.size();
+	m_polyhedron->m_vertices.resize(numVertices);
+	for (int p=0;p<numVertices;p++)
+	{
+		m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
+	}
+
+
+	for (int i=0;i<numFaces;i++)
+	{
+		int face = convexUtil->faces[i];
+		//printf("face=%d\n",face);
+		const btConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
+		const btConvexHullComputer::Edge*  edge = firstEdge;
+
+		btVector3 edges[3];
+		int numEdges = 0;
+		//compute face normals
+
+		btScalar maxCross2 = 0.f;
+		int chosenEdge = -1;
+
+		do
+		{
+			
+			int src = edge->getSourceVertex();
+			tmpFaces[i].m_indices.push_back(src);
+			int targ = edge->getTargetVertex();
+			btVector3 wa = convexUtil->vertices[src];
+
+			btVector3 wb = convexUtil->vertices[targ];
+			btVector3 newEdge = wb-wa;
+			newEdge.normalize();
+			if (numEdges<2)
+				edges[numEdges++] = newEdge;
+
+			edge = edge->getNextEdgeOfFace();
+		} while (edge!=firstEdge);
+
+		btScalar planeEq = 1e30f;
+
+		
+		if (numEdges==2)
+		{
+			faceNormals[i] = edges[0].cross(edges[1]);
+			faceNormals[i].normalize();
+			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
+			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
+			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
+			tmpFaces[i].m_plane[3] = planeEq;
+
+		}
+		else
+		{
+			btAssert(0);//degenerate?
+			faceNormals[i].setZero();
+		}
+
+		for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+		{
+			btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
+			if (planeEq>eq)
+			{
+				planeEq=eq;
+			}
+		}
+		tmpFaces[i].m_plane[3] = -planeEq;
+	}
+
+	//merge coplanar faces and copy them to m_polyhedron
+
+	btScalar faceWeldThreshold= 0.999f;
+	btAlignedObjectArray<int> todoFaces;
+	for (int i=0;i<tmpFaces.size();i++)
+		todoFaces.push_back(i);
+
+	while (todoFaces.size())
+	{
+		btAlignedObjectArray<int> coplanarFaceGroup;
+		int refFace = todoFaces[todoFaces.size()-1];
+
+		coplanarFaceGroup.push_back(refFace);
+		btFace& faceA = tmpFaces[refFace];
+		todoFaces.pop_back();
+
+		btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
+		for (int j=todoFaces.size()-1;j>=0;j--)
+		{
+			int i = todoFaces[j];
+			btFace& faceB = tmpFaces[i];
+			btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
+			if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+			{
+				coplanarFaceGroup.push_back(i);
+				todoFaces.remove(i);
+			}
+		}
+
+
+		bool did_merge = false;
+		if (coplanarFaceGroup.size()>1)
+		{
+			//do the merge: use Graham Scan 2d convex hull
+
+			btAlignedObjectArray<GrahamVector2> orgpoints;
+
+			for (int i=0;i<coplanarFaceGroup.size();i++)
+			{
+//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+
+				btFace& face = tmpFaces[coplanarFaceGroup[i]];
+				btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
+				btVector3 xyPlaneNormal(0,0,1);
+
+				btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
+				
+				for (int f=0;f<face.m_indices.size();f++)
+				{
+					int orgIndex = face.m_indices[f];
+					btVector3 pt = m_polyhedron->m_vertices[orgIndex];
+					btVector3 rotatedPt =  quatRotate(rotationArc,pt);
+					rotatedPt.setZ(0);
+					bool found = false;
+
+					for (int i=0;i<orgpoints.size();i++)
+					{
+						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
+						if (orgpoints[i].m_orgIndex == orgIndex)
+						{
+							found=true;
+							break;
+						}
+					}
+					if (!found)
+						orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
+				}
+			}
+
+			btFace combinedFace;
+			for (int i=0;i<4;i++)
+				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
+
+			btAlignedObjectArray<GrahamVector2> hull;
+			GrahamScanConvexHull2D(orgpoints,hull);
+
+			for (int i=0;i<hull.size();i++)
+			{
+				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
+				for(int k = 0; k < orgpoints.size(); k++) {
+					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) {
+						orgpoints[k].m_orgIndex = -1; // invalidate...
+						break;
+			}
+				}
+			}
+			// are there rejected vertices?
+			bool reject_merge = false;
+			for(int i = 0; i < orgpoints.size(); i++) {
+				if(orgpoints[i].m_orgIndex == -1)
+					continue; // this is in the hull...
+				// this vertex is rejected -- is anybody else using this vertex?
+				for(int j = 0; j < tmpFaces.size(); j++) {
+					btFace& face = tmpFaces[j];
+					// is this a face of the current coplanar group?
+					bool is_in_current_group = false;
+					for(int k = 0; k < coplanarFaceGroup.size(); k++) {
+						if(coplanarFaceGroup[k] == j) {
+							is_in_current_group = true;
+							break;
+						}
+					}
+					if(is_in_current_group) // ignore this face...
+						continue;
+					// does this face use this rejected vertex?
+					for(int v = 0; v < face.m_indices.size(); v++) {
+						if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+							// this rejected vertex is used in another face -- reject merge
+							reject_merge = true;
+							break;
+						}
+					}
+					if(reject_merge)
+						break;
+				}
+				if(reject_merge)
+					break;
+			}
+			if(!reject_merge) {
+				// do this merge!
+				did_merge = true;
+			m_polyhedron->m_faces.push_back(combinedFace);
+			}
+		}
+		if(!did_merge)
+		{
+			for (int i=0;i<coplanarFaceGroup.size();i++)
+			{
+				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+			}
+
+		}
+
+
+
+	}
+	
+	m_polyhedron->initialize();
+
+	return true;
 }
 
 
@@ -183,11 +462,14 @@ void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
 		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
 		vec[i] = btScalar(1.);
 		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		m_localAabbMax[i] = tmp[i];
 		vec[i] = btScalar(-1.);
 		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+		m_localAabbMin[i] = tmp[i];
 	}
 	#endif
 }
 
+
+
+
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index 2c691b95652..ee2e1e28277 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -13,23 +13,37 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef BU_SHAPE
-#define BU_SHAPE
+#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
+#define BT_POLYHEDRAL_CONVEX_SHAPE_H
 
 #include "LinearMath/btMatrix3x3.h"
 #include "btConvexInternalShape.h"
+class btConvexPolyhedron;
 
 
 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
 class btPolyhedralConvexShape : public btConvexInternalShape
 {
+	
 
 protected:
 	
+	btConvexPolyhedron* m_polyhedron;
+
 public:
 
 	btPolyhedralConvexShape();
 
+	virtual ~btPolyhedralConvexShape();
+
+	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
+	virtual bool	initializePolyhedralFeatures();
+
+	const btConvexPolyhedron*	getConvexPolyhedron() const
+	{
+		return m_polyhedron;
+	}
+
 	//brute force implementations
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -95,4 +109,4 @@ public:
 
 };
 
-#endif //BU_SHAPE
+#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
index 4ab28555ba8..ff86ef319e9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H
-#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
 
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 
@@ -90,4 +90,4 @@ SIMD_FORCE_INLINE	const char*	btScaledBvhTriangleMeshShape::serialize(void* data
 }
 
 
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
index 07b3500f994..642a2887435 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
@@ -15,8 +15,8 @@ subject to the following restrictions:
 
 ///btShapeHull implemented by John McCutchan.
 
-#ifndef _SHAPE_HULL_H
-#define _SHAPE_HULL_H
+#ifndef BT_SHAPE_HULL_H
+#define BT_SHAPE_HULL_H
 
 #include "LinearMath/btAlignedObjectArray.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
@@ -56,4 +56,4 @@ public:
 	}
 };
 
-#endif //_SHAPE_HULL_H
+#endif //BT_SHAPE_HULL_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
index f98372442ba..b192efeeb8d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h
@@ -12,8 +12,8 @@ subject to the following restrictions:
 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_MINKOWSKI_H
-#define SPHERE_MINKOWSKI_H
+#ifndef BT_SPHERE_MINKOWSKI_H
+#define BT_SPHERE_MINKOWSKI_H
 
 #include "btConvexInternalShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@@ -70,4 +70,4 @@ public:
 };
 
 
-#endif //SPHERE_MINKOWSKI_H
+#endif //BT_SPHERE_MINKOWSKI_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index beb53ef33a1..b13825e610d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef STATIC_PLANE_SHAPE_H
-#define STATIC_PLANE_SHAPE_H
+#ifndef BT_STATIC_PLANE_SHAPE_H
+#define BT_STATIC_PLANE_SHAPE_H
 
 #include "btConcaveShape.h"
 
@@ -97,7 +97,7 @@ SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, bt
 }
 
 
-#endif //STATIC_PLANE_SHAPE_H
+#endif //BT_STATIC_PLANE_SHAPE_H
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index bc2f9f21448..dd22fc5635a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -253,9 +253,11 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 			memPtr->m_indices16 = 0;
 			memPtr->m_indices32 = 0;
 			memPtr->m_3indices16 = 0;
+			memPtr->m_3indices8 = 0;
 			memPtr->m_vertices3f = 0;
 			memPtr->m_vertices3d = 0;
 
+
 			switch (gfxindextype)
 			{
 			case PHY_INTEGER:
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index 9e3e2ab0f59..f2b27ade8e8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef STRIDING_MESHINTERFACE_H
-#define STRIDING_MESHINTERFACE_H
+#ifndef BT_STRIDING_MESHINTERFACE_H
+#define BT_STRIDING_MESHINTERFACE_H
 
 #include "LinearMath/btVector3.h"
 #include "btTriangleCallback.h"
@@ -159,4 +159,4 @@ SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize() co
 
 
 
-#endif //STRIDING_MESHINTERFACE_H
+#endif //BT_STRIDING_MESHINTERFACE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
index 72e9f232876..6b7128efc8e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef BU_SIMPLEX_1TO4_SHAPE
-#define BU_SIMPLEX_1TO4_SHAPE
+#ifndef BT_SIMPLEX_1TO4_SHAPE
+#define BT_SIMPLEX_1TO4_SHAPE
 
 
 #include "btPolyhedralConvexShape.h"
@@ -71,4 +71,4 @@ public:
 
 };
 
-#endif //BU_SIMPLEX_1TO4_SHAPE
+#endif //BT_SIMPLEX_1TO4_SHAPE
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h
index 0499702b05b..461c57f8773 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef TRIANGLE_CALLBACK_H
-#define TRIANGLE_CALLBACK_H
+#ifndef BT_TRIANGLE_CALLBACK_H
+#define BT_TRIANGLE_CALLBACK_H
 
 #include "LinearMath/btVector3.h"
 
@@ -39,4 +39,4 @@ public:
 
 
 
-#endif //TRIANGLE_CALLBACK_H
+#endif //BT_TRIANGLE_CALLBACK_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index c64ea6e7043..9e1544e87a4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -29,9 +29,11 @@ ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
 
    int                     m_numTriangles;
    const unsigned char *   m_triangleIndexBase;
+   // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
    int                     m_triangleIndexStride;
    int                     m_numVertices;
    const unsigned char *   m_vertexBase;
+   // Size of a vertex, in bytes
    int                     m_vertexStride;
 
    // The index type is set when adding an indexed mesh to the
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 282a7702e80..1cea7045f20 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -61,6 +61,7 @@ struct	btTriangleInfoMap : public btInternalTriangleInfoMap
 	btScalar	m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
 	btScalar	m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
 	btScalar	m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+	btScalar	m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
 	btScalar	m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
 	
 	
@@ -71,6 +72,7 @@ struct	btTriangleInfoMap : public btInternalTriangleInfoMap
 		m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
 		m_edgeDistanceThreshold = btScalar(0.1);
 		m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+		m_maxEdgeAngleThreshold = SIMD_2_PI;
 	}
 	virtual ~btTriangleInfoMap() {}
 
@@ -83,6 +85,7 @@ struct	btTriangleInfoMap : public btInternalTriangleInfoMap
 
 };
 
+///those fields have to be float and not btScalar for the serialization to work properly
 struct	btTriangleInfoData
 {
 	int			m_flags;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index d2624fe18e1..f623157fac1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef TRIANGLE_MESH_H
-#define TRIANGLE_MESH_H
+#ifndef BT_TRIANGLE_MESH_H
+#define BT_TRIANGLE_MESH_H
 
 #include "btTriangleIndexVertexArray.h"
 #include "LinearMath/btVector3.h"
@@ -65,5 +65,5 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 		
 };
 
-#endif //TRIANGLE_MESH_H
+#endif //BT_TRIANGLE_MESH_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index 2216698d275..c8caf8fe696 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef TRIANGLE_MESH_SHAPE_H
-#define TRIANGLE_MESH_SHAPE_H
+#ifndef BT_TRIANGLE_MESH_SHAPE_H
+#define BT_TRIANGLE_MESH_SHAPE_H
 
 #include "btConcaveShape.h"
 #include "btStridingMeshInterface.h"
@@ -86,4 +86,4 @@ public:
 
 
 
-#endif //TRIANGLE_MESH_SHAPE_H
+#endif //BT_TRIANGLE_MESH_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 847147cf6b4..71b0557384e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef OBB_TRIANGLE_MINKOWSKI_H
-#define OBB_TRIANGLE_MINKOWSKI_H
+#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
+#define BT_OBB_TRIANGLE_MINKOWSKI_H
 
 #include "btConvexShape.h"
 #include "btBoxShape.h"
@@ -178,5 +178,5 @@ public:
 
 };
 
-#endif //OBB_TRIANGLE_MINKOWSKI_H
+#endif //BT_OBB_TRIANGLE_MINKOWSKI_H