bullet: Update to current svn, r2636

Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.

Fixes [#32233] exporting bullet format results in corrupt files.

101 files changed, 1876 insertions, 1388 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index 4f4d94b3cc7..cd6e1a8929e 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -615,7 +615,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*/)
 {
 	if (m_numHandles == 0)
 	{
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 36eec97174f..405656236bd 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -23,6 +23,7 @@ struct btBroadphaseProxy;
 class btDispatcher;
 class btManifoldResult;
 class btCollisionObject;
+struct btCollisionObjectWrapper;
 struct btDispatcherInfo;
 class	btPersistentManifold;
 
@@ -69,7 +70,7 @@ public:
 
 	virtual ~btCollisionAlgorithm() {};
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
index 409da80ae1b..b64936844d5 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -57,7 +57,7 @@ subject to the following restrictions:
 // Specific methods implementation
 
 //SSE gives errors on a MSVC 7.1
-#if defined (BT_USE_SSE) && defined (_WIN32)
+#if defined (BT_USE_SSE) //&& defined (_WIN32)
 #define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
 #define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
 #define DBVT_INT0_IMPL			DBVT_IMPL_SSE
@@ -160,6 +160,10 @@ struct	btDbvtAabbMm
 		btDbvtAabbMm& r);
 	DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
 		const btDbvtAabbMm& b);
+    
+    DBVT_INLINE btVector3&	tMins()	{ return(mi); }
+	DBVT_INLINE btVector3&	tMaxs()	{ return(mx); }
+    
 private:
 	DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
 private:
@@ -320,7 +324,7 @@ struct	btDbvt
 	DBVT_PREFIX
 		void		collideTV(	const btDbvtNode* root,
 		const btDbvtVolume& volume,
-		DBVT_IPOLICY);
+		DBVT_IPOLICY) const;
 	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
 	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	DBVT_PREFIX
@@ -519,7 +523,11 @@ DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
 #if	DBVT_INT0_IMPL == DBVT_IMPL_SSE
 	const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
 		_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
+#if defined (_WIN32)
 	const __int32*	pu((const __int32*)&rt);
+#else
+    const int*	pu((const int*)&rt);
+#endif
 	return((pu[0]|pu[1]|pu[2])==0);
 #else
 	return(	(a.mi.x()<=b.mx.x())&&
@@ -568,7 +576,12 @@ DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
 							   const btDbvtAabbMm& b)
 {
 #if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
+    
+#if defined (_WIN32)
 	static ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+#else
+    static ATTRIBUTE_ALIGNED16(const unsigned int)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
+#endif
 	///@todo: the intrinsic version is 11% slower
 #if DBVT_USE_INTRINSIC_SSE
 
@@ -908,7 +921,7 @@ inline void		btDbvt::collideTT(	const btDbvtNode* root0,
 DBVT_PREFIX
 inline void		btDbvt::collideTV(	const btDbvtNode* root,
 								  const btDbvtVolume& vol,
-								  DBVT_IPOLICY)
+								  DBVT_IPOLICY) const
 {
 	DBVT_CHECKTYPE
 		if(root)
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index a79cf9402b1..1ebb37797d9 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -22,7 +22,7 @@ struct btBroadphaseProxy;
 class btRigidBody;
 class	btCollisionObject;
 class btOverlappingPairCache;
-
+struct btCollisionObjectWrapper;
 
 class btPersistentManifold;
 class btStackAlloc;
@@ -76,17 +76,17 @@ class btDispatcher
 public:
 	virtual ~btDispatcher() ;
 
-	virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
+	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
 
-	virtual btPersistentManifold*	getNewManifold(void* body0,void* body1)=0;
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
 
 	virtual void releaseManifold(btPersistentManifold* manifold)=0;
 
 	virtual void clearManifold(btPersistentManifold* manifold)=0;
 
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
 
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
 
 	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index c911435a946..889216df509 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -96,7 +96,25 @@ void	btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
 	m_bvhAabbMax = bvhAabbMax + clampValue;
 	btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
 	m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+
 	m_useQuantization = true;
+
+	{
+		unsigned short vecIn[3];
+		btVector3 v;
+		{
+			quantize(vecIn,m_bvhAabbMin,false);
+			v = unQuantize(vecIn);
+			m_bvhAabbMin.setMin(v-clampValue);
+		}
+		{
+			quantize(vecIn,m_bvhAabbMax,true);
+			v = unQuantize(vecIn);
+			m_bvhAabbMax.setMax(v+clampValue);
+		}
+		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
+		m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+	}
 }
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index 23a5c7526b4..63401780970 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -158,7 +158,6 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 				depth = -(radius-distance);
 			} else
 			{
-				btScalar distance = 0.f;
 				resultNormal = normal;
 				point = contactPoint;
 				depth = -radius;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
index 7e5da6c5872..57f14649353 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
@@ -24,7 +24,7 @@ btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisio
 //m_colObj1(0)
 {
 }
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
 :btCollisionAlgorithm(ci)
 //,
 //m_colObj0(0),
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
index 25fe088942d..489812b9663 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
@@ -28,7 +28,7 @@ public:
 
 	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
 
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btActivatingCollisionAlgorithm();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
index 2182d0d7e49..2c362778210 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
@@ -22,17 +22,18 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
 #include "BulletCollision/CollisionShapes/btBox2dShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
+: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -52,19 +53,18 @@ btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
 void b2CollidePolygons(btManifoldResult* manifold,  const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
 
 //#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject*	col0 = body0;
-	btCollisionObject*	col1 = body1;
-	btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
-	btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
+	
+	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
+	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
+	b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
 
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
 	if (m_ownManifold)
@@ -151,15 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 	int index = 0;
 	btScalar minDot = BT_LARGE_FLOAT;
 
-	for (int i = 0; i < count2; ++i)
-	{
-		btScalar dot = b2Dot(vertices2[i], normal1);
-		if (dot < minDot)
-		{
-			minDot = dot;
-			index = i;
-		}
-	}
+    if( count2 > 0 )
+        index = (int) normal1.minDot( vertices2, count2, minDot);
 
 	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
 	btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -181,16 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 
 	// Find edge normal on poly1 that has the largest projection onto d.
 	int edge = 0;
-	btScalar maxDot = -BT_LARGE_FLOAT;
-	for (int i = 0; i < count1; ++i)
-	{
-		btScalar dot = b2Dot(normals1[i], dLocal1);
-		if (dot > maxDot)
-		{
-			maxDot = dot;
-			edge = i;
-		}
-	}
+    btScalar maxDot;
+    if( count1 > 0 )
+        edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
 
 	// Get the separation for the edge normal.
 	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@@ -368,7 +354,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	btVector3 v11 = vertices1[edge1];
 	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
 
-	btVector3 dv = v12 - v11;
+	//btVector3 dv = v12 - v11;
 	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
 	sideNormal.normalize();
 	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
index 97c5be77003..6ea6e89bda6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
@@ -33,11 +33,11 @@ public:
 	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBox2dBox2dCollisionAlgorithm();
 
@@ -52,11 +52,11 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
+			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
index 49628853493..ac68968f590 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -18,17 +18,17 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "btBoxBoxDetector.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 #define USE_PERSISTENT_CONTACTS 1
 
-btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -42,15 +42,14 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
 	}
 }
 
-void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject*	col0 = body0;
-	btCollisionObject*	col1 = body1;
-	btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
-	btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
+	
+	const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
+	const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
 
 
 
@@ -62,8 +61,8 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
 
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
-	input.m_transformA = body0->getWorldTransform();
-	input.m_transformB = body1->getWorldTransform();
+	input.m_transformA = body0Wrap->getWorldTransform();
+	input.m_transformB = body1Wrap->getWorldTransform();
 
 	btBoxBoxDetector detector(box0,box1);
 	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index f0bbae61e3b..59808df5a9d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -33,11 +33,11 @@ public:
 	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBoxBoxCollisionAlgorithm();
 
@@ -52,11 +52,11 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
+			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index a7c8cf140ce..7043bde34f5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include <float.h>
 #include <string.h>
 
-btBoxBoxDetector::btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2)
+btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
 : m_box1(box1),
 m_box2(box2)
 {
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
index 3c941f7deb2..39243777051 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
@@ -28,12 +28,12 @@ class btBoxShape;
 /// re-distributed under the Zlib license with permission from Russell L. Smith
 struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
 {
-	btBoxShape* m_box1;
-	btBoxShape* m_box2;
+	const btBoxShape* m_box1;
+	const btBoxShape* m_box2;
 
 public:
 
-	btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
+	btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
 
 	virtual ~btBoxBoxDetector() {};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index 1d7e74401dd..62ee66c4e9a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 class btCollisionAlgorithm;
 class btCollisionObject;
-
+struct btCollisionObjectWrapper;
 struct btCollisionAlgorithmConstructionInfo;
 
 ///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
@@ -33,11 +33,11 @@ struct btCollisionAlgorithmCreateFunc
 	}
 	virtual ~btCollisionAlgorithmCreateFunc(){};
 
-	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
+	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		
-		(void)body0;
-		(void)body1;
+		(void)body0Wrap;
+		(void)body1Wrap;
 		return 0;
 	}
 };
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 29674f3be46..669d0b6b55e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -25,6 +25,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "LinearMath/btPoolAllocator.h"
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 int gNumManifold = 0;
 
@@ -67,15 +68,13 @@ btCollisionDispatcher::~btCollisionDispatcher()
 {
 }
 
-btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1) 
+btPersistentManifold*	btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) 
 { 
 	gNumManifold++;
 	
 	//btAssert(gNumManifold < 65535);
 	
 
-	btCollisionObject* body0 = (btCollisionObject*)b0;
-	btCollisionObject* body1 = (btCollisionObject*)b1;
 
 	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
 	
@@ -85,7 +84,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 
 	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
 		
-	void* mem = 0;
+ 	void* mem = 0;
 	
 	if (m_persistentManifoldPoolAllocator->getFreeCount())
 	{
@@ -143,14 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 
 	
 
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold)
 {
 	
 	btCollisionAlgorithmConstructionInfo ci;
 
 	ci.m_dispatcher1 = this;
 	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
+	btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap);
 
 	return algo;
 }
@@ -158,7 +157,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 
 
 
-bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
+bool	btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	//here you can do filtering
 	bool hasResponse = 
@@ -169,7 +168,7 @@ bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
 	return hasResponse;
 }
 
-bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
+bool	btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	btAssert(body0);
 	btAssert(body1);
@@ -259,20 +258,25 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
 
 		if (dispatcher.needsCollision(colObj0,colObj1))
 		{
+			btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
+
+
 			//dispatcher will keep algorithms persistent in the collision pair
 			if (!collisionPair.m_algorithm)
 			{
-				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
+				collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap);
 			}
 
 			if (collisionPair.m_algorithm)
 			{
-				btManifoldResult contactPointResult(colObj0,colObj1);
+				btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
 				
 				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
 				{
 					//discrete collision detection query
-					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
+					
+					collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
 				} else
 				{
 					//continuous collision detection query, time of impact (toi)
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index 5accad9a993..92696ee5429 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -108,19 +108,18 @@ public:
 
 	virtual ~btCollisionDispatcher();
 
-	virtual btPersistentManifold*	getNewManifold(void* b0,void* b1);
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
 	
 	virtual void releaseManifold(btPersistentManifold* manifold);
 
 
 	virtual void clearManifold(btPersistentManifold* manifold);
 
-			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
+	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0);
 		
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
 	
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1);
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
 	
 	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 580ea345860..cf8ed59a541 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -31,6 +31,7 @@ btCollisionObject::btCollisionObject()
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
 		m_friction(btScalar(0.5)),
+		m_rollingFriction(0.0f),
 		m_restitution(btScalar(0.)),
 		m_internalType(CO_COLLISION_OBJECT),
 		m_userObjectPointer(0),
@@ -46,18 +47,18 @@ btCollisionObject::~btCollisionObject()
 {
 }
 
-void btCollisionObject::setActivationState(int newState) 
+void btCollisionObject::setActivationState(int newState) const
 { 
 	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 		m_activationState1 = newState;
 }
 
-void btCollisionObject::forceActivationState(int newState)
+void btCollisionObject::forceActivationState(int newState) const
 {
 	m_activationState1 = newState;
 }
 
-void btCollisionObject::activate(bool forceActivation)
+void btCollisionObject::activate(bool forceActivation) const
 {
 	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
 	{
@@ -85,9 +86,9 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_islandTag1 = m_islandTag1;
 	dataOut->m_companionId = m_companionId;
 	dataOut->m_activationState1 = m_activationState1;
-	dataOut->m_activationState1 = m_activationState1;
 	dataOut->m_deactivationTime = m_deactivationTime;
 	dataOut->m_friction = m_friction;
+	dataOut->m_rollingFriction = m_rollingFriction;
 	dataOut->m_restitution = m_restitution;
 	dataOut->m_internalType = m_internalType;
 	
@@ -100,7 +101,6 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_hitFraction = m_hitFraction;
 	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
 	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
-	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 	dataOut->m_checkCollideWith = m_checkCollideWith;
 
 	return btCollisionObjectDataName;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 3a11c967ac9..2f17967fe0f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -80,11 +80,12 @@ protected:
 	int				m_islandTag1;
 	int				m_companionId;
 
-	int				m_activationState1;
-	btScalar			m_deactivationTime;
+	mutable int				m_activationState1;
+	mutable btScalar			m_deactivationTime;
 
 	btScalar		m_friction;
 	btScalar		m_restitution;
+	btScalar		m_rollingFriction;
 
 	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
@@ -105,7 +106,7 @@ protected:
 	/// If some object should have elaborate collision filtering by sub-classes
 	int			m_checkCollideWith;
 
-	virtual bool	checkCollideWithOverride(btCollisionObject* /* co */)
+	virtual bool	checkCollideWithOverride(const btCollisionObject* /* co */) const
 	{
 		return true;
 	}
@@ -137,6 +138,13 @@ public:
 		CO_USER_TYPE=32
 	};
 
+	enum AnisotropicFrictionFlags
+	{
+		CF_ANISOTROPIC_FRICTION_DISABLED=0,
+		CF_ANISOTROPIC_FRICTION = 1,
+		CF_ANISOTROPIC_ROLLING_FRICTION = 2
+	};
+
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
 	{
 		///static objects, kinematic and object without contact response don't merge islands
@@ -147,14 +155,15 @@ public:
 	{
 		return m_anisotropicFriction;
 	}
-	void	setAnisotropicFriction(const btVector3& anisotropicFriction)
+	void	setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
 	{
 		m_anisotropicFriction = anisotropicFriction;
-		m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+		bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+		m_hasAnisotropicFriction = isUnity?frictionMode : 0;
 	}
-	bool	hasAnisotropicFriction() const
+	bool	hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
 	{
-		return m_hasAnisotropicFriction!=0;
+		return (m_hasAnisotropicFriction&frictionMode)!=0;
 	}
 
 	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@@ -207,22 +216,9 @@ public:
 		return m_collisionShape;
 	}
 
-	SIMD_FORCE_INLINE const btCollisionShape*	getRootCollisionShape() const
-	{
-		return m_rootCollisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getRootCollisionShape()
-	{
-		return m_rootCollisionShape;
-	}
+	
 
-	///Avoid using this internal API call
-	///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
-	void	internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-	}
+	
 
 	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
 	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
@@ -239,7 +235,7 @@ public:
 
 	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
 	
-	void setActivationState(int newState);
+	void setActivationState(int newState) const;
 
 	void	setDeactivationTime(btScalar time)
 	{
@@ -250,9 +246,9 @@ public:
 		return m_deactivationTime;
 	}
 
-	void forceActivationState(int newState);
+	void forceActivationState(int newState) const;
 
-	void	activate(bool forceActivation = false);
+	void	activate(bool forceActivation = false) const;
 
 	SIMD_FORCE_INLINE bool isActive() const
 	{
@@ -276,6 +272,16 @@ public:
 		return m_friction;
 	}
 
+	void	setRollingFriction(btScalar frict)
+	{
+		m_rollingFriction = frict;
+	}
+	btScalar	getRollingFriction() const
+	{
+		return m_rollingFriction;
+	}
+
+
 	///reserved for Bullet internal usage
 	int	getInternalType() const
 	{
@@ -433,7 +439,7 @@ public:
 	}
 
 
-	inline bool checkCollideWith(btCollisionObject* co)
+	inline bool checkCollideWith(const btCollisionObject* co) const
 	{
 		if (m_checkCollideWith)
 			return checkCollideWithOverride(co);
@@ -466,6 +472,7 @@ struct	btCollisionObjectDoubleData
 	double					m_contactProcessingThreshold;	
 	double					m_deactivationTime;
 	double					m_friction;
+	double					m_rollingFriction;
 	double					m_restitution;
 	double					m_hitFraction; 
 	double					m_ccdSweptSphereRadius;
@@ -498,6 +505,8 @@ struct	btCollisionObjectFloatData
 	float					m_contactProcessingThreshold;	
 	float					m_deactivationTime;
 	float					m_friction;
+	float					m_rollingFriction;
+
 	float					m_restitution;
 	float					m_hitFraction; 
 	float					m_ccdSweptSphereRadius;
@@ -510,6 +519,7 @@ struct	btCollisionObjectFloatData
 	int						m_activationState1;
 	int						m_internalType;
 	int						m_checkCollideWith;
+	char					m_padding[4];
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
new file mode 100644
index 00000000000..952440b7dee
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
@@ -0,0 +1,43 @@
+#ifndef BT_COLLISION_OBJECT_WRAPPER_H
+#define BT_COLLISION_OBJECT_WRAPPER_H
+
+///btCollisionObjectWrapperis an internal data structure. 
+///Most users can ignore this and use btCollisionObject and btCollisionShape instead
+class btCollisionShape;
+class btCollisionObject;
+class btTransform;
+#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
+
+#define BT_DECLARE_STACK_ONLY_OBJECT \
+	private: \
+		void* operator new(size_t size); \
+		void operator delete(void*);
+
+struct btCollisionObjectWrapper;
+struct btCollisionObjectWrapper
+{
+BT_DECLARE_STACK_ONLY_OBJECT
+
+private:
+	btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
+	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
+
+public:
+	const btCollisionObjectWrapper* m_parent;
+	const btCollisionShape* m_shape;
+	const btCollisionObject* m_collisionObject;
+	const btTransform& m_worldTransform;
+	int		m_partId;
+	int		m_index;
+
+	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
+	: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
+	m_partId(partId), m_index(index)
+	{}
+
+	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
+	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
+	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
+};
+
+#endif //BT_COLLISION_OBJECT_WRAPPER_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 66b93b88efa..4c09291692d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -34,6 +34,7 @@ subject to the following restrictions:
 #include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btSerializer.h"
 #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 
@@ -207,6 +208,11 @@ void	btCollisionWorld::updateAabbs()
 }
 
 
+void	btCollisionWorld::computeOverlappingPairs()
+{
+	BT_PROFILE("calculateOverlappingPairs");
+	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
+}
 
 void	btCollisionWorld::performDiscreteCollisionDetection()
 {
@@ -216,11 +222,7 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 
 	updateAabbs();
 
-	{
-		BT_PROFILE("calculateOverlappingPairs");
-		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	}
-
+	computeOverlappingPairs();
 
 	btDispatcher* dispatcher = getDispatcher();
 	{
@@ -260,16 +262,25 @@ void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 }
 
 
-
 void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
 										btCollisionObject* collisionObject,
 										const btCollisionShape* collisionShape,
 										const btTransform& colObjWorldTransform,
 										RayResultCallback& resultCallback)
 {
+	btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
+	btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
+}
+
+void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+										const btCollisionObjectWrapper* collisionObjectWrap,
+										RayResultCallback& resultCallback)
+{
 	btSphereShape pointShape(btScalar(0.0));
 	pointShape.setMargin(0.f);
 	const btConvexShape* castShape = &pointShape;
+	const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
+	const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
 
 	if (collisionShape->isConvex())
 	{
@@ -302,7 +313,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 					castResult.m_normal.normalize();
 					btCollisionWorld::LocalRayResult localRayResult
 						(
-						collisionObject,
+						collisionObjectWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
 						castResult.m_fraction
@@ -330,13 +341,13 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btTriangleMeshShape*	m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
+						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
 					//@BP Mod
 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 						m_resultCallback(resultCallback),
@@ -367,7 +378,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 				};
 
-				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
+				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
 			} else
@@ -385,13 +396,13 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btConcaveShape*	m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
+						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
 					//@BP Mod
 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 						m_resultCallback(resultCallback),
@@ -423,7 +434,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				};
 
 
-				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 
 				btVector3 rayAabbMinLocal = rayFromLocal;
@@ -446,6 +457,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 						: m_userCallback(user), m_i(i)
 					{ 
 						m_closestHitFraction = m_userCallback->m_closestHitFraction;
+						m_flags = m_userCallback->m_flags;
 					}
 					virtual bool needsCollision(btBroadphaseProxy* p) const
 					{
@@ -468,14 +480,14 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				
 				struct RayTester : btDbvt::ICollide
 				{
-					btCollisionObject* m_collisionObject;
+					const btCollisionObject* m_collisionObject;
 					const btCompoundShape* m_compoundShape;
 					const btTransform& m_colObjWorldTransform;
 					const btTransform& m_rayFromTrans;
 					const btTransform& m_rayToTrans;
 					RayResultCallback& m_resultCallback;
 					
-					RayTester(btCollisionObject* collisionObject,
+					RayTester(const btCollisionObject* collisionObject,
 							const btCompoundShape* compoundShape,
 							const btTransform& colObjWorldTransform,
 							const btTransform& rayFromTrans,
@@ -491,33 +503,30 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 						
 					}
 					
-					void Process(int i)
+					void ProcessLeaf(int i)
 					{
 						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
 						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
 						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
 						
+						btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i);
 						// replace collision shape so that callback can determine the triangle
-						btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
-						m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+
+						
 
 						LocalInfoAdder2 my_cb(i, &m_resultCallback);
 
-						rayTestSingle(
+						rayTestSingleInternal(
 							m_rayFromTrans,
 							m_rayToTrans,
-							m_collisionObject,
-							childCollisionShape,
-							childWorldTrans,
+							&tmpOb,
 							my_cb);
 						
-						// restore
-						m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
 					}
-					
+				
 					void Process(const btDbvtNode* leaf)
 					{
-						Process(leaf->dataAsInt);
+						ProcessLeaf(leaf->dataAsInt);
 					}
 				};
 				
@@ -526,7 +535,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 
 				RayTester rayCB(
-					collisionObject,
+					collisionObjectWrap->getCollisionObject(),
 					compoundShape,
 					colObjWorldTransform,
 					rayFromTrans,
@@ -544,7 +553,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				{
 					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
 					{
-						rayCB.Process(i);
+						rayCB.ProcessLeaf(i);
 					}	
 				}
 			}
@@ -558,6 +567,17 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 											const btTransform& colObjWorldTransform,
 											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
 {
+	btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
+	btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
+}
+
+void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
+											const btCollisionObjectWrapper* colObjWrap,
+											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+{
+	const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
+	const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
+
 	if (collisionShape->isConvex())
 	{
 		//BT_PROFILE("convexSweepConvex");
@@ -587,7 +607,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					castResult.m_normal.normalize();
 					btCollisionWorld::LocalConvexResult localConvexResult
 						(
-						collisionObject,
+						colObjWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
 						castResult.m_hitPoint,
@@ -617,11 +637,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 				{
 					btCollisionWorld::ConvexResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btTriangleMeshShape*	m_triangleMesh;
 
 					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
+						btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
 					btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 						m_resultCallback(resultCallback),
 						m_collisionObject(collisionObject),
@@ -655,7 +675,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 				};
 
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 				tccb.m_allowedPenetration = allowedPenetration;
 				btVector3 boxMinLocal, boxMaxLocal;
@@ -682,7 +702,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 								castResult.m_normal.normalize();
 								btCollisionWorld::LocalConvexResult localConvexResult
 									(
-									collisionObject,
+									colObjWrap->getCollisionObject(),
 									0,
 									castResult.m_normal,
 									castResult.m_hitPoint,
@@ -709,11 +729,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 					{
 						btCollisionWorld::ConvexResultCallback* m_resultCallback;
-						btCollisionObject*	m_collisionObject;
+						const btCollisionObject*	m_collisionObject;
 						btConcaveShape*	m_triangleMesh;
 
 						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-							btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
+							btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
 						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
@@ -746,7 +766,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 					};
 
-					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
 					tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 					tccb.m_allowedPenetration = allowedPenetration;
 					btVector3 boxMinLocal, boxMaxLocal;
@@ -773,9 +793,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					btTransform childTrans = compoundShape->getChildTransform(i);
 					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
 					btTransform childWorldTrans = colObjWorldTransform * childTrans;
-					// replace collision shape so that callback can determine the triangle
-					btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
-					collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+					
                     struct	LocalInfoAdder : public ConvexResultCallback {
                             ConvexResultCallback* m_userCallback;
 							int m_i;
@@ -805,14 +823,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
                     LocalInfoAdder my_cb(i, &resultCallback);
 					
+					btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
 
-					objectQuerySingle(castShape, convexFromTrans,convexToTrans,
-						collisionObject,
-						childCollisionShape,
-						childWorldTrans,
-						my_cb, allowedPenetration);
-					// restore
-					collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
+					objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
+						&tmpObj,my_cb, allowedPenetration);
+					
 				}
 			}
 		}
@@ -993,13 +1008,13 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 	/* Compute AABB that encompasses angular movement */
 	{
 		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
+		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
 		btVector3 zeroLinVel;
 		zeroLinVel.setValue(0,0,0);
 		btTransform R;
 		R.setIdentity ();
 		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
 	}
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
@@ -1044,26 +1059,26 @@ struct btBridgedManifoldResult : public btManifoldResult
 
 	btCollisionWorld::ContactResultCallback&	m_resultCallback;
 
-	btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
-		:btManifoldResult(obj0,obj1),
+	btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
+		:btManifoldResult(obj0Wrap,obj1Wrap),
 		m_resultCallback(resultCallback)
 	{
 	}
 
 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 	{
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
 		btVector3 localA;
 		btVector3 localB;
 		if (isSwapped)
 		{
-			localA = m_rootTransB.invXform(pointA );
-			localB = m_rootTransA.invXform(pointInWorld);
+			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		} else
 		{
-			localA = m_rootTransA.invXform(pointA );
-			localB = m_rootTransB.invXform(pointInWorld);
+			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		}
 		
 		btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -1086,9 +1101,9 @@ struct btBridgedManifoldResult : public btManifoldResult
 		}
 
 		//experimental feature info, for per-triangle material etc.
-		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
-		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-		m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
+		m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
 
 	}
 	
@@ -1120,12 +1135,16 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
 		//only perform raycast if filterMask matches
 		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
 		{
-			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
+			btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);
+
+			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
 			if (algorithm)
 			{
-				btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
+				btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
 				//discrete collision detection query
-				algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
+				
+				algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);
 
 				algorithm->~btCollisionAlgorithm();
 				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1152,12 +1171,15 @@ void	btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
 ///it reports one or more contact points (including the one with deepest penetration)
 void	btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
 {
-	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
+	btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1);
+	btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1);
+
+	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
 	if (algorithm)
 	{
-		btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
+		btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
 		//discrete collision detection query
-		algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
+		algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);
 
 		algorithm->~btCollisionAlgorithm();
 		getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1231,163 +1253,162 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
 	} else
 	{
 
-		/// for polyhedral shapes
-		if (shape->isPolyhedral())
-		{
-			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
-
-			int i;
-			if (polyshape->getConvexPolyhedron())
-			{
-				const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
-				for (i=0;i<poly->m_faces.size();i++)
-				{
-					btVector3 centroid(0,0,0);
-					int numVerts = poly->m_faces[i].m_indices.size();
-					if (numVerts)
-					{
-						int lastV = poly->m_faces[i].m_indices[numVerts-1];
-						for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
-						{
-							int curVert = poly->m_faces[i].m_indices[v];
-							centroid+=poly->m_vertices[curVert];
-							getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
-							lastV = curVert;
-						}
-					}
-					centroid*= btScalar(1.f)/btScalar(numVerts);
-                    if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+        switch (shape->getShapeType())
+        {
+
+        case BOX_SHAPE_PROXYTYPE:
+            {
+                const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+                btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
+                getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
+                break;
+            }
+
+        case SPHERE_SHAPE_PROXYTYPE:
+            {
+                const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+                btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+
+                getDebugDrawer()->drawSphere(radius, worldTransform, color);
+                break;
+            }
+        case MULTI_SPHERE_SHAPE_PROXYTYPE:
+            {
+                const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+                btTransform childTransform;
+                childTransform.setIdentity();
+
+                for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+                {
+                    childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+                    getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
+                }
+
+                break;
+            }
+        case CAPSULE_SHAPE_PROXYTYPE:
+            {
+                const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
+
+                btScalar radius = capsuleShape->getRadius();
+                btScalar halfHeight = capsuleShape->getHalfHeight();
+
+                int upAxis = capsuleShape->getUpAxis();
+                getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
+                break;
+            }
+        case CONE_SHAPE_PROXYTYPE:
+            {
+                const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+                btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
+                btScalar height = coneShape->getHeight();//+coneShape->getMargin();
+
+                int upAxis= coneShape->getConeUpIndex();
+                getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
+                break;
+
+            }
+        case CYLINDER_SHAPE_PROXYTYPE:
+            {
+                const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+                int upAxis = cylinder->getUpAxis();
+                btScalar radius = cylinder->getRadius();
+                btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+                getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
+                break;
+            }
+
+        case STATIC_PLANE_PROXYTYPE:
+            {
+                const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+                btScalar planeConst = staticPlaneShape->getPlaneConstant();
+                const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+                getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
+                break;
+
+            }
+        default:
+            {
+
+                /// for polyhedral shapes
+                if (shape->isPolyhedral())
+                {
+                    btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+                    
+                    int i;
+                    if (polyshape->getConvexPolyhedron())
+                    {
+                        const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
+                        for (i=0;i<poly->m_faces.size();i++)
+                        {
+                            btVector3 centroid(0,0,0);
+                            int numVerts = poly->m_faces[i].m_indices.size();
+                            if (numVerts)
+                            {
+                                int lastV = poly->m_faces[i].m_indices[numVerts-1];
+                                for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
+                                {
+                                    int curVert = poly->m_faces[i].m_indices[v];
+                                    centroid+=poly->m_vertices[curVert];
+                                    getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
+                                    lastV = curVert;
+                                }
+                            }
+                            centroid*= btScalar(1.f)/btScalar(numVerts);
+                            if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+                            {
+                                btVector3 normalColor(1,1,0);
+                                btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
+                                getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+                            }
+                            
+                        }
+                        
+                        
+                    } else
                     {
-					  btVector3 normalColor(1,1,0);
-					  btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
-					  getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+                        for (i=0;i<polyshape->getNumEdges();i++)
+                        {
+                            btVector3 a,b;
+                            polyshape->getEdge(i,a,b);
+                            btVector3 wa = worldTransform * a;
+                            btVector3 wb = worldTransform * b;
+                            getDebugDrawer()->drawLine(wa,wb,color);
+                        }
                     }
-					
-				}
-
-				
-			} else
-			{
-				for (i=0;i<polyshape->getNumEdges();i++)
-				{
-					btVector3 a,b;
-					polyshape->getEdge(i,a,b);
-					btVector3 wa = worldTransform * a;
-					btVector3 wb = worldTransform * b;
-					getDebugDrawer()->drawLine(wa,wb,color);
-				}
-			}
-
-
-		}
-		else
-		{
-			switch (shape->getShapeType())
-			{
-
-			case BOX_SHAPE_PROXYTYPE:
-				{
-					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
-					btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
-					getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
-					break;
-				}
-
-			case SPHERE_SHAPE_PROXYTYPE:
-				{
-					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
-					btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
-
-					getDebugDrawer()->drawSphere(radius, worldTransform, color);
-					break;
-				}
-			case MULTI_SPHERE_SHAPE_PROXYTYPE:
-				{
-					const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
-					btTransform childTransform;
-					childTransform.setIdentity();
-
-					for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
-					{
-						childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
-						getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
-					}
-
-					break;
-				}
-			case CAPSULE_SHAPE_PROXYTYPE:
-				{
-					const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
-
-					btScalar radius = capsuleShape->getRadius();
-					btScalar halfHeight = capsuleShape->getHalfHeight();
-
-					int upAxis = capsuleShape->getUpAxis();
-					getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
-					break;
-				}
-			case CONE_SHAPE_PROXYTYPE:
-				{
-					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
-					btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
-					btScalar height = coneShape->getHeight();//+coneShape->getMargin();
-
-					int upAxis= coneShape->getConeUpIndex();
-					getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
-					break;
-
-				}
-			case CYLINDER_SHAPE_PROXYTYPE:
-				{
-					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
-					int upAxis = cylinder->getUpAxis();
-					btScalar radius = cylinder->getRadius();
-					btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
-					getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
-					break;
-				}
-
-			case STATIC_PLANE_PROXYTYPE:
-				{
-					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
-					btScalar planeConst = staticPlaneShape->getPlaneConstant();
-					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
-					getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
-					break;
-
-				}
-			default:
-				{
-
-					if (shape->isConcave())
-					{
-						btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-
-						///@todo pass camera, for some culling? no -> we are not a graphics lib
-						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-
-						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-						concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
-
-					}
-
-					if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
-					{
-						btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
-						//todo: pass camera for some culling			
-						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-						//DebugDrawcallback drawCallback;
-						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-						convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
-					}
-
-
-					
-				}
-			}
+                    
+                    
+                }
+                    
+                if (shape->isConcave())
+                {
+                    btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+                    ///@todo pass camera, for some culling? no -> we are not a graphics lib
+                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+                    concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+                }
+
+                if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+                {
+                    btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+                    //todo: pass camera for some culling			
+                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+                    //DebugDrawcallback drawCallback;
+                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+                    convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+                }
+
+
+                
+            }
+       
 		}
 	}
 }
@@ -1398,7 +1419,7 @@ void	btCollisionWorld::debugDrawWorld()
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
 	{
 		int numManifolds = getDispatcher()->getNumManifolds();
-		btVector3 color(1,0.65,0);
+		btVector3 color(1,1,0);
 		for (int i=0;i<numManifolds;i++)
 		{
 			btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 0a92d2d6e15..9412242e8a3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -144,6 +144,11 @@ public:
 	void	updateSingleAabb(btCollisionObject* colObj);
 
 	virtual void	updateAabbs();
+
+	///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
+	///it can be useful to use if you perform ray tests without collision detection/simulation
+	virtual void	computeOverlappingPairs();
+
 	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{
@@ -173,7 +178,7 @@ public:
 
 	struct	LocalRayResult
 	{
-		LocalRayResult(btCollisionObject*	collisionObject, 
+		LocalRayResult(const btCollisionObject*	collisionObject, 
 			LocalShapeInfo*	localShapeInfo,
 			const btVector3&		hitNormalLocal,
 			btScalar hitFraction)
@@ -184,7 +189,7 @@ public:
 		{
 		}
 
-		btCollisionObject*		m_collisionObject;
+		const btCollisionObject*		m_collisionObject;
 		LocalShapeInfo*			m_localShapeInfo;
 		btVector3				m_hitNormalLocal;
 		btScalar				m_hitFraction;
@@ -195,11 +200,11 @@ public:
 	struct	RayResultCallback
 	{
 		btScalar	m_closestHitFraction;
-		btCollisionObject*		m_collisionObject;
+		const btCollisionObject*		m_collisionObject;
 		short int	m_collisionFilterGroup;
 		short int	m_collisionFilterMask;
-      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
-      unsigned int m_flags;
+		//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
+		unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
@@ -214,8 +219,8 @@ public:
 			m_collisionObject(0),
 			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
 			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-         //@BP Mod
-         m_flags(0)
+			//@BP Mod
+			m_flags(0)
 		{
 		}
 
@@ -272,7 +277,7 @@ public:
 		{
 		}
 
-		btAlignedObjectArray<btCollisionObject*>		m_collisionObjects;
+		btAlignedObjectArray<const btCollisionObject*>		m_collisionObjects;
 
 		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
 		btVector3	m_rayToWorld;
@@ -306,7 +311,7 @@ public:
 
 	struct LocalConvexResult
 	{
-		LocalConvexResult(btCollisionObject*	hitCollisionObject, 
+		LocalConvexResult(const btCollisionObject*	hitCollisionObject, 
 			LocalShapeInfo*	localShapeInfo,
 			const btVector3&		hitNormalLocal,
 			const btVector3&		hitPointLocal,
@@ -320,7 +325,7 @@ public:
 		{
 		}
 
-		btCollisionObject*		m_hitCollisionObject;
+		const btCollisionObject*		m_hitCollisionObject;
 		LocalShapeInfo*			m_localShapeInfo;
 		btVector3				m_hitNormalLocal;
 		btVector3				m_hitPointLocal;
@@ -376,7 +381,7 @@ public:
 
 		btVector3	m_hitNormalWorld;
 		btVector3	m_hitPointWorld;
-		btCollisionObject*	m_hitCollisionObject;
+		const btCollisionObject*	m_hitCollisionObject;
 		
 		virtual	btScalar	addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
 		{
@@ -421,7 +426,7 @@ public:
 			return collides;
 		}
 
-		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
+		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0;
 	};
 
 
@@ -457,6 +462,10 @@ public:
 					  const btTransform& colObjWorldTransform,
 					  RayResultCallback& resultCallback);
 
+	static void	rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+					  const btCollisionObjectWrapper* collisionObjectWrap,
+					  RayResultCallback& resultCallback);
+
 	/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
 	static void	objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
 					  btCollisionObject* collisionObject,
@@ -464,6 +473,10 @@ public:
 					  const btTransform& colObjWorldTransform,
 					  ConvexResultCallback& resultCallback, btScalar	allowedPenetration);
 
+	static void	objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
+											const btCollisionObjectWrapper* colObjWrap,
+											ConvexResultCallback& resultCallback, btScalar allowedPenetration);
+
 	virtual void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
 
 	btCollisionObjectArray& getCollisionObjectArray()
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 54889a6375d..39b86a28918 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -20,30 +20,32 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "btManifoldResult.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-:btActivatingCollisionAlgorithm(ci,body0,body1),
+btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
+:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_isSwapped(isSwapped),
 m_sharedManifold(ci.m_manifold)
 {
 	m_ownsManifold = false;
 
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btAssert (colObj->getCollisionShape()->isCompound());
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 	m_compoundShapeRevision = compoundShape->getUpdateRevision();
 	
-	preallocateChildAlgorithms(body0,body1);
+	
+	preallocateChildAlgorithms(body0Wrap,body1Wrap);
 }
 
-void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
+void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 {
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	btAssert (colObj->getCollisionShape()->isCompound());
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
@@ -56,11 +58,11 @@ void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
 			m_childCollisionAlgorithms[i] = 0;
 		} else
 		{
-			btCollisionShape* tmpShape = colObj->getCollisionShape();
-			btCollisionShape* childShape = compoundShape->getChildShape(i);
-			colObj->internalSetTemporaryCollisionShape( childShape );
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
-			colObj->internalSetTemporaryCollisionShape( tmpShape );
+			
+			const btCollisionShape* childShape = compoundShape->getChildShape(i);
+
+			btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
+			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold);
 		}
 	}
 }
@@ -92,19 +94,16 @@ struct	btCompoundLeafCallback : btDbvt::ICollide
 
 public:
 
-	btCollisionObject* m_compoundColObj;
-	btCollisionObject* m_otherObj;
+	const btCollisionObjectWrapper* m_compoundColObjWrap;
+	const btCollisionObjectWrapper* m_otherObjWrap;
 	btDispatcher* m_dispatcher;
 	const btDispatcherInfo& m_dispatchInfo;
 	btManifoldResult*	m_resultOut;
 	btCollisionAlgorithm**	m_childCollisionAlgorithms;
 	btPersistentManifold*	m_sharedManifold;
-
-
-
-
-	btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult*	resultOut,btCollisionAlgorithm**	childCollisionAlgorithms,btPersistentManifold*	sharedManifold)
-		:m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
+	
+	btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult*	resultOut,btCollisionAlgorithm**	childCollisionAlgorithms,btPersistentManifold*	sharedManifold)
+		:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
 		m_childCollisionAlgorithms(childCollisionAlgorithms),
 		m_sharedManifold(sharedManifold)
 	{
@@ -112,73 +111,89 @@ public:
 	}
 
 
-	void	ProcessChildShape(btCollisionShape* childShape,int index)
+	void	ProcessChildShape(const btCollisionShape* childShape,int index)
 	{
 		btAssert(index>=0);
-		btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
 		btAssert(index<compoundShape->getNumChildShapes());
 
 
 		//backup
-		btTransform	orgTrans = m_compoundColObj->getWorldTransform();
-		btTransform	orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
+		btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
+		btTransform	orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
 		const btTransform& childTrans = compoundShape->getChildTransform(index);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
 
 		//perform an AABB check first
 		btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
 		childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
-		m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
+		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
 
 		if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
 		{
 
-			m_compoundColObj->setWorldTransform( newChildWorldTrans);
-			m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
 
-			//the contactpoint is still projected back using the original inverted worldtrans
-			btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
-			m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
 
+			//the contactpoint is still projected back using the original inverted worldtrans
 			if (!m_childCollisionAlgorithms[index])
-				m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
+				m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap,m_otherObjWrap,m_sharedManifold);
+
+			
+			const btCollisionObjectWrapper* tmpWrap = 0;
 
 			///detect swapping case
-			if (m_resultOut->getBody0Internal() == m_compoundColObj)
+			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
 			{
+				tmpWrap = m_resultOut->getBody0Wrap();
+				m_resultOut->setBody0Wrap(&compoundWrap);
 				m_resultOut->setShapeIdentifiersA(-1,index);
 			} else
 			{
+				tmpWrap = m_resultOut->getBody1Wrap();
+				m_resultOut->setBody1Wrap(&compoundWrap);
 				m_resultOut->setShapeIdentifiersB(-1,index);
 			}
 
-			m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
+
+			m_childCollisionAlgorithms[index]->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
+
+#if 0
 			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{
 				btVector3 worldAabbMin,worldAabbMax;
 				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
 				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
 			}
+#endif
+
+			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
+			{
+				m_resultOut->setBody0Wrap(tmpWrap);
+			} else
+			{
+				m_resultOut->setBody1Wrap(tmpWrap);
+			}
 			
-			//revert back transform
-			m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
-			m_compoundColObj->setWorldTransform(  orgTrans );
-			m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
 		}
 	}
 	void		Process(const btDbvtNode* leaf)
 	{
 		int index = leaf->dataAsInt;
 
-		btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
-		btCollisionShape* childShape = compoundShape->getChildShape(index);
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
+		const btCollisionShape* childShape = compoundShape->getChildShape(index);
+
+#if 0
 		if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 		{
 			btVector3 worldAabbMin,worldAabbMax;
-			btTransform	orgTrans = m_compoundColObj->getWorldTransform();
+			btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
 			btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
 			m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
 		}
+#endif
+
 		ProcessChildShape(childShape,index);
 
 	}
@@ -189,15 +204,13 @@ public:
 
 
 
-void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-
-	
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
 
-	btAssert (colObj->getCollisionShape()->isCompound());
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	///btCompoundShape might have changed:
 	////make sure the internal child collision algorithm caches are still valid
@@ -206,13 +219,13 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 		///clear and update all
 		removeChildAlgorithms();
 		
-		preallocateChildAlgorithms(body0,body1);
+		preallocateChildAlgorithms(body0Wrap,body1Wrap);
 	}
 
 
-	btDbvt* tree = compoundShape->getDynamicAabbTree();
+	const btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
-	btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
+	btCompoundLeafCallback  callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
 	///we need to refresh all contact manifolds
 	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
@@ -244,8 +257,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 
 		btVector3 localAabbMin,localAabbMax;
 		btTransform otherInCompoundSpace;
-		otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
-		otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
+		otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
+		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
 
 		const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
 		//process all children, that overlap with  the given AABB bounds
@@ -267,7 +280,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
 		btManifoldArray	manifoldArray;
-        btCollisionShape* childShape = 0;
+        const btCollisionShape* childShape = 0;
         btTransform	orgTrans;
         btTransform	orgInterpolationTrans;
         btTransform	newChildWorldTrans;
@@ -279,14 +292,14 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 			{
 				childShape = compoundShape->getChildShape(i);
 			//if not longer overlapping, remove the algorithm
-                orgTrans = colObj->getWorldTransform();
-                orgInterpolationTrans = colObj->getInterpolationWorldTransform();
+                orgTrans = colObjWrap->getWorldTransform();
+                orgInterpolationTrans = colObjWrap->getWorldTransform();
 				const btTransform& childTrans = compoundShape->getChildTransform(i);
                 newChildWorldTrans = orgTrans*childTrans ;
 
 				//perform an AABB check first
 				childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
-				otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
+				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
 
 				if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
 				{
@@ -301,7 +314,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 
 btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-
+	btAssert(0);
+	//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
@@ -324,8 +338,7 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
     btScalar frac;
 	for (i=0;i<numChildren;i++)
 	{
-		//temporarily exchange parent btCollisionShape with childShape, and recurse
-		btCollisionShape* childShape = compoundShape->getChildShape(i);
+		//btCollisionShape* childShape = compoundShape->getChildShape(i);
 
 		//backup
         orgTrans = colObj->getWorldTransform();
@@ -334,15 +347,15 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
 		colObj->setWorldTransform( orgTrans*childTrans );
 
-		btCollisionShape* tmpShape = colObj->getCollisionShape();
-		colObj->internalSetTemporaryCollisionShape( childShape );
+		//btCollisionShape* tmpShape = colObj->getCollisionShape();
+		//colObj->internalSetTemporaryCollisionShape( childShape );
         frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
 		if (frac<hitFraction)
 		{
 			hitFraction = frac;
 		}
 		//revert back
-		colObj->internalSetTemporaryCollisionShape( tmpShape);
+		//colObj->internalSetTemporaryCollisionShape( tmpShape);
 		colObj->setWorldTransform( orgTrans);
 	}
 	return hitFraction;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 404574989ab..b16fc524672 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -41,15 +41,15 @@ class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 	
 	void	removeChildAlgorithms();
 	
-	void	preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
+	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 public:
 
-	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
 	virtual ~btCompoundCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -65,19 +65,19 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 		}
 	};
 
 	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
index db7f884ac82..3e1afede1bf 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
@@ -43,7 +43,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
@@ -57,8 +57,8 @@ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_simplexSolver(simplexSolver),
 m_pdSolver(pdSolver),
 m_ownManifold (false),
@@ -67,8 +67,8 @@ m_lowLevelOfDetail(false),
  m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	(void)body0;
-	(void)body1;
+	(void)body0Wrap;
+	(void)body1Wrap;
 }
 
 
@@ -96,13 +96,13 @@ extern btScalar gContactBreakingThreshold;
 //
 // Convex-Convex collision algorithm
 //
-void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -111,8 +111,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
 	//resultOut->getPersistentManifold()->clearManifold();
 
 
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
+	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
 	btVector3  normalOnB;
 	btVector3  pointOnBWorld;
@@ -133,8 +133,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
 		}
 
 		input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-		input.m_transformA = body0->getWorldTransform();
-		input.m_transformB = body1->getWorldTransform();
+		input.m_transformA = body0Wrap->getWorldTransform();
+		input.m_transformB = body1Wrap->getWorldTransform();
 
 		gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
index 53d13b87151..18d9385a180 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@@ -45,12 +45,12 @@ class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 
 	virtual ~btConvex2dConvex2dAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -82,10 +82,10 @@ public:
 		
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
-			return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index d2b2c221426..18fde771b14 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -25,11 +25,12 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_isSwapped(isSwapped),
-m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
+m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
 {
 }
 
@@ -46,17 +47,17 @@ void	btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
 }
 
 
-btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
+btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
 	  m_dispatcher(dispatcher),
 	m_dispatchInfoPtr(0)
 {
-	m_convexBody = isSwapped? body1:body0;
-	m_triBody = isSwapped? body0:body1;
+	m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
+	m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
 	
 	  //
 	  // create the manifold from the dispatcher 'manifold pool'
 	  //
-	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
+	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
 
   	  clearCache();
 }
@@ -88,7 +89,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+	//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 
 
 #if 0	
@@ -103,46 +104,63 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	}
 #endif
 	
-	if (m_convexBody->getCollisionShape()->isConvex())
+	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
 		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
 		tm.setMargin(m_collisionMarginTriangle);
 		
-		btCollisionShape* tmpShape = ob->getCollisionShape();
-		ob->internalSetTemporaryCollisionShape( &tm );
+		
+		btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
 
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
+		const btCollisionObjectWrapper* tmpWrap = 0;
 
-		if (m_resultOut->getBody0Internal() == m_triBody)
+		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
 		{
+			tmpWrap = m_resultOut->getBody0Wrap();
+			m_resultOut->setBody0Wrap(&triObWrap);
 			m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
 		}
 		else
 		{
+			tmpWrap = m_resultOut->getBody1Wrap();
+			m_resultOut->setBody1Wrap(&triObWrap);
 			m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
 		}
 	
-		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
+
+		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(tmpWrap);
+		} else
+		{
+			m_resultOut->setBody1Wrap(tmpWrap);
+		}
+		
+
+
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		ob->internalSetTemporaryCollisionShape( tmpShape);
 	}
 
-
 }
 
 
 
-void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
 {
+	m_convexBodyWrap = convexBodyWrap;
+	m_triBodyWrap = triBodyWrap;
+
 	m_dispatchInfoPtr = &dispatchInfo;
 	m_collisionMarginTriangle = collisionMarginTriangle;
 	m_resultOut = resultOut;
 
 	//recalc aabbs
 	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
-	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
+	convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
+	const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
 	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
 	convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
 	btScalar extraMargin = collisionMarginTriangle;
@@ -159,35 +177,34 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
 
 }
 
-void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	
 	
-	btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
+	const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
-	if (triBody->getCollisionShape()->isConcave())
+	if (triBodyWrap->getCollisionShape()->isConcave())
 	{
 
 
-		btCollisionObject*	triOb = triBody;
-		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
 		
-		if (convexBody->getCollisionShape()->isConvex())
+		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
+		
+		if (convexBodyWrap->getCollisionShape()->isConvex())
 		{
 			btScalar collisionMarginTriangle = concaveShape->getMargin();
 					
 			resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
-
-			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
-			//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
 
-			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
+			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
 
 			concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
 			
 			resultOut->refreshContactPoints();
+
+			m_btConvexTriangleCallback.clearWrapperData();
 	
 		}
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index f718d1dec25..e90d06eb191 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -28,8 +28,8 @@ class btDispatcher;
 ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
 class btConvexTriangleCallback : public btTriangleCallback
 {
-	btCollisionObject* m_convexBody;
-	btCollisionObject* m_triBody;
+	const btCollisionObjectWrapper* m_convexBodyWrap;
+	const btCollisionObjectWrapper* m_triBodyWrap;
 
 	btVector3	m_aabbMin;
 	btVector3	m_aabbMax ;
@@ -45,10 +45,15 @@ int	m_triangleCount;
 	
 	btPersistentManifold*	m_manifoldPtr;
 
-	btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
 
+	void	clearWrapperData()
+	{
+		m_convexBodyWrap = 0;
+		m_triBodyWrap = 0;
+	}
 	virtual ~btConvexTriangleCallback();
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
@@ -81,11 +86,11 @@ class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
 	virtual ~btConvexConcaveCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -95,19 +100,19 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
+			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 		}
 	};
 
 	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
+			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index dd1f3e2490f..62f98a846f4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -52,7 +52,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 ///////////
 
@@ -191,8 +191,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_simplexSolver(simplexSolver),
 m_pdSolver(pdSolver),
 m_ownManifold (false),
@@ -205,8 +205,8 @@ m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngu
 m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	(void)body0;
-	(void)body1;
+	(void)body0Wrap;
+	(void)body1Wrap;
 }
 
 
@@ -289,13 +289,13 @@ extern btScalar gContactBreakingThreshold;
 //
 // Convex-Convex collision algorithm
 //
-void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -304,8 +304,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	//resultOut->getPersistentManifold()->clearManifold();
 	
 
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
+	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
 	btVector3  normalOnB;
 		btVector3  pointOnBWorld;
@@ -314,14 +314,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	{
 		btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
 		btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
-		btVector3 localScalingA = capsuleA->getLocalScaling();
-		btVector3 localScalingB = capsuleB->getLocalScaling();
+	//	btVector3 localScalingA = capsuleA->getLocalScaling();
+	//	btVector3 localScalingB = capsuleB->getLocalScaling();
 		
 		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
 
 		btScalar dist = capsuleCapsuleDistance(normalOnB,	pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
 			capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
-			body0->getWorldTransform(),body1->getWorldTransform(),threshold);
+			body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
 
 		if (dist<threshold)
 		{
@@ -374,8 +374,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 
 	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-	input.m_transformA = body0->getWorldTransform();
-	input.m_transformB = body1->getWorldTransform();
+	input.m_transformA = body0Wrap->getWorldTransform();
+	input.m_transformB = body1Wrap->getWorldTransform();
 
 
 
@@ -407,9 +407,51 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			{
 			}
 		};
+
+		
+		struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
+		{
+			btDiscreteCollisionDetectorInterface::Result* m_originalResult;
+			btVector3	m_reportedNormalOnWorld;
+			btScalar m_marginOnA;
+			btScalar m_marginOnB;
+			btScalar	m_reportedDistance;
+			
+			bool		m_foundResult;
+			btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
+			:m_originalResult(result),
+			m_marginOnA(marginOnA),
+			m_marginOnB(marginOnB),
+			m_foundResult(false)
+			{
+			}
+			
+			virtual void setShapeIdentifiersA(int partId0,int index0){}
+			virtual void setShapeIdentifiersB(int partId1,int index1){}
+			virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg) 
+			{
+				m_reportedDistance = depthOrg;
+				m_reportedNormalOnWorld = normalOnBInWorld;
+				
+				btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
+				m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
+				if (m_reportedDistance<0.f)
+				{
+					m_foundResult = true;					
+				}
+				m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
+			}
+		};
+
 		
 		btDummyResult dummy;
 
+///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
+
+		btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
+		btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
+
+		btWithoutMarginResult	withoutMargin(resultOut, min0Margin,min1Margin);
 
 		btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
 		btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
@@ -429,39 +471,42 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			{
 				foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
 					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(),
-					sepNormalWorldSpace);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(),
+					sepNormalWorldSpace,*resultOut);
 			} else
 			{
 #ifdef ZERO_MARGIN
 				gjkPairDetector.setIgnoreMargin(true);
 				gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 #else
-				//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-				gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+
+
+				gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
+				//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
 #endif //ZERO_MARGIN
-				btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-				if (l2>SIMD_EPSILON)
+				//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
+				//if (l2>SIMD_EPSILON)
 				{
-					sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+					sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
 					//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
-					minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
+					minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
 	
 #ifdef ZERO_MARGIN
 					foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
 #else
-					foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
+					foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
 #endif
 				}
 			}
 			if (foundSepAxis)
 			{
+				
 //				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
 				btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
  				
 			}
 			if (m_ownManifold)
@@ -478,9 +523,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 
 				btVertexArray vertices;
 				btTriangleShape* tri = (btTriangleShape*)polyhedronB;
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[0]);
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[1]);
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[2]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
 				
 				//tri->initializePolyhedralFeatures();
 
@@ -496,9 +541,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 					polyhedronB->initializePolyhedralFeatures();
 					 foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
 					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(),
-					sepNormalWorldSpace);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(),
+					sepNormalWorldSpace,*resultOut);
 				//	 printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
 				} else
@@ -525,7 +570,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			if (foundSepAxis)
 			{
 				btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), 
-					body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
+					body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
 			}
 				
 				
@@ -599,15 +644,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 				
 				if (perturbeA)
 				{
-					input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
-					input.m_transformB = body1->getWorldTransform();
+					input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
+					input.m_transformB = body1Wrap->getWorldTransform();
 	#ifdef DEBUG_CONTACTS
 					dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
 	#endif //DEBUG_CONTACTS
 				} else
 				{
-					input.m_transformA = body0->getWorldTransform();
-					input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
+					input.m_transformA = body0Wrap->getWorldTransform();
+					input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
 	#ifdef DEBUG_CONTACTS
 					dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
 	#endif
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index 4380b80eb4d..51db0c6548d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -59,12 +59,11 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexConvexAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -96,10 +95,10 @@ public:
 		
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index b2e9bfaf593..cce2d95bcf9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -19,10 +19,11 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
@@ -30,12 +31,12 @@ m_isSwapped(isSwapped),
 m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
-	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
 
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
+		m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -50,25 +51,25 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+    const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
 
     bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
 	
-	btTransform convexWorldTransform = convexObj->getWorldTransform();
+	btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
+	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
 	//now perturbe the convex-world transform
 	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
 	btTransform planeInConvex;
-	planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
+	planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
 	
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 
@@ -76,53 +77,53 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
 	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
-	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
 	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	if (hasCollision)
 	{
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
 }
 
 
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
 
 	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
 	btTransform planeInConvex;
-	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
 
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
 	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
-	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
 	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	if (hasCollision)
 	{
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
@@ -148,7 +149,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 		{
 			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
 			btQuaternion rotq(planeNormal,iterationAngle);
-			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
+			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
 		}
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index b9494f5ad3b..d28c430c4c1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -36,13 +36,13 @@ class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 
 public:
 
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexPlaneCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -65,15 +65,15 @@ public:
 		{
 		}
 		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			} else
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index 81ed424a3db..474785bfc7d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -78,10 +78,8 @@ protected:
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
 	btCollisionAlgorithmCreateFunc* m_boxBoxCF;
 	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
index 936054387c4..5fa1c8be5e4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
@@ -22,7 +22,7 @@ btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& c
 {
 }
 
-void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
+void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* )
 {
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
index f03c9dc3833..cb0f152183c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -30,7 +30,7 @@ public:
 	
 	btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -40,10 +40,10 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			(void)body0;
-			(void)body1;
+        virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+        {
+			(void)body0Wrap;
+			(void)body1Wrap;
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
 			return new(mem) btEmptyAlgorithm(ci);
 		}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index 4353cdac0b1..73fa4e87ea4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -6,7 +6,7 @@
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 #include "LinearMath/btIDebugDraw.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#define DEBUG_INTERNAL_EDGE
 
@@ -450,18 +450,18 @@ bool	btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b
 
 
 /// Changes a btManifoldPoint collision normal to the normal from the mesh.
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
 {
 	//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
-	if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
+	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
 		return;
 
 	btBvhTriangleMeshShape* trimesh = 0;
 	
-	if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
-	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
+	if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
+	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
    else	   
-	   trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
+	   trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
 	   
    	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
 	if (!triangleInfoMapPtr)
@@ -476,13 +476,13 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 
 	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
 	
-	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
+	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
 	btVector3 v0,v1,v2;
 	tri_shape->getVertex(0,v0);
 	tri_shape->getVertex(1,v1);
 	tri_shape->getVertex(2,v2);
 
-	btVector3 center = (v0+v1+v2)*btScalar(1./3.);
+	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
 
 	btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
 	btVector3 tri_normal;
@@ -505,7 +505,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 	int numConcaveEdgeHits = 0;
 	int numConvexEdgeHits = 0;
 
-	btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+	btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 	localContactNormalOnB.normalize();//is this necessary?
 	
 	// Get closest edge
@@ -613,12 +613,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal. (what about cp.m_distance1?)
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 							
 						}
 					}
@@ -694,19 +694,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 				else
 				{
 					numConvexEdgeHits++;
-					btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 					btVector3 clampedLocalNormal;
 					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
 					if (isClamped)
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal.
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 						}
 					}
 				}
@@ -779,19 +779,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					//				printf("hitting convex edge\n");
 
 
-					btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 					btVector3 clampedLocalNormal;
 					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
 					if (isClamped)
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal.
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 						}
 					}
 				} 
@@ -820,7 +820,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 				{
 					tri_normal *= -1;
 				}
-				cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
 			} else
 			{
 				btVector3 newNormal = tri_normal *frontFacing;
@@ -831,12 +831,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					return;
 				}
 				//modify the normal to be the triangle normal (or backfacing normal)
-				cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
 			}
 						
 			// Reproject collision point along normal.
 			cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-			cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+			cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 		}
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
index 9efb0122bb8..7d9aafeee69 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
@@ -12,6 +12,7 @@
 
 class btBvhTriangleMeshShape;
 class btCollisionObject;
+struct btCollisionObjectWrapper;
 class btManifoldPoint;
 class btIDebugDraw;
 
@@ -31,7 +32,7 @@ void	btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangle
 
 ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
 ///If this info map is missing, or the triangle is not store in this map, nothing will be done
-void	btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
+void	btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
 
 ///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
 ///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index bf24246ea2f..4b2986a0087 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -17,13 +17,30 @@ subject to the following restrictions:
 #include "btManifoldResult.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 ///This is to allow MaterialCombiner/Custom Friction/Restitution values
 ContactAddedCallback		gContactAddedCallback=0;
 
+
+
+///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+inline btScalar	calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+{
+	btScalar friction = body0->getRollingFriction() * body1->getRollingFriction();
+
+	const btScalar MAX_FRICTION  = btScalar(10.);
+	if (friction < -MAX_FRICTION)
+		friction = -MAX_FRICTION;
+	if (friction > MAX_FRICTION)
+		friction = MAX_FRICTION;
+	return friction;
+
+}
+
+
 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-inline btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar	btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	btScalar friction = body0->getFriction() * body1->getFriction();
 
@@ -36,17 +53,17 @@ inline btScalar	calculateCombinedFriction(const btCollisionObject* body0,const b
 
 }
 
-inline btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar	btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	return body0->getRestitution() * body1->getRestitution();
 }
 
 
 
-btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
+btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		:m_manifoldPtr(0),
-		m_body0(body0),
-		m_body1(body1)
+		m_body0Wrap(body0Wrap),
+		m_body1Wrap(body1Wrap)
 #ifdef DEBUG_PART_INDEX
 		,m_partId0(-1),
 	m_partId1(-1),
@@ -54,8 +71,6 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 	m_index1(-1)
 #endif //DEBUG_PART_INDEX
 {
-	m_rootTransA = body0->getWorldTransform();
-	m_rootTransB = body1->getWorldTransform();
 }
 
 
@@ -68,7 +83,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 //	if (depth > m_manifoldPtr->getContactProcessingThreshold())
 		return;
 
-	bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+	bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 
 	btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
 
@@ -77,12 +92,12 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	
 	if (isSwapped)
 	{
-		localA = m_rootTransB.invXform(pointA );
-		localB = m_rootTransA.invXform(pointInWorld);
+		localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 	} else
 	{
-		localA = m_rootTransA.invXform(pointA );
-		localB = m_rootTransB.invXform(pointInWorld);
+		localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 	}
 
 	btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -91,9 +106,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	
 	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
 
-	newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
-	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
+	newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);
+	
 
+	
    //BP mod, store contact triangles.
 	if (isSwapped)
 	{
@@ -122,13 +141,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	//User can override friction and/or restitution
 	if (gContactAddedCallback &&
 		//and if either of the two bodies requires custom material
-		 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+		 ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+		   (m_body1Wrap->getCollisionObject()->getCollisionFlags() & 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)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
+		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
 	}
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index 18199b49752..977b9a02fc5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -18,14 +18,18 @@ subject to the following restrictions:
 #define BT_MANIFOLD_RESULT_H
 
 class btCollisionObject;
+struct btCollisionObjectWrapper;
+
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 class btManifoldPoint;
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 
 #include "LinearMath/btTransform.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
+typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
 extern ContactAddedCallback		gContactAddedCallback;
 
 //#define DEBUG_PART_INDEX 1
@@ -38,12 +42,8 @@ protected:
 
 	btPersistentManifold* m_manifoldPtr;
 
-	//we need this for compounds
-	btTransform	m_rootTransA;
-	btTransform	m_rootTransB;
-
-	btCollisionObject* m_body0;
-	btCollisionObject* m_body1;
+	const btCollisionObjectWrapper* m_body0Wrap;
+	const btCollisionObjectWrapper* m_body1Wrap;
 	int	m_partId0;
 	int m_partId1;
 	int m_index0;
@@ -63,7 +63,7 @@ public:
 	{
 	}
 
-	btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
+	btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btManifoldResult() {};
 
@@ -102,27 +102,49 @@ public:
 		if (!m_manifoldPtr->getNumContacts())
 			return;
 
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 
 		if (isSwapped)
 		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
+			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
 		} else
 		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
+			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
 		}
 	}
 
+	const btCollisionObjectWrapper* getBody0Wrap() const
+	{
+		return m_body0Wrap;
+	}
+	const btCollisionObjectWrapper* getBody1Wrap() const
+	{
+		return m_body1Wrap;
+	}
+
+	void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
+	{
+		m_body0Wrap = obj0Wrap;
+	}
+
+	void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
+	{
+		m_body1Wrap = obj1Wrap;
+	}
+
 	const btCollisionObject* getBody0Internal() const
 	{
-		return m_body0;
+		return m_body0Wrap->getCollisionObject();
 	}
 
 	const btCollisionObject* getBody1Internal() const
 	{
-		return m_body1;
+		return m_body1Wrap->getCollisionObject();
 	}
-	
+
+	/// in the future we can let the user override the methods to combine restitution and friction
+	static btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
+	static btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
 };
 
 #endif //BT_MANIFOLD_RESULT_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 871c64415a2..13447822571 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -319,8 +319,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 	{
 		 btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
 		 
-		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
-		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
+		 const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+		 const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
 		
 		 ///@todo: check sleeping conditions!
 		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index 8df876928c1..e8b567e0efc 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -18,20 +18,21 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 //#include <stdio.h>
 
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
+: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_isSwapped(isSwapped)
 {
-	btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
-	btCollisionObject* boxObj = m_isSwapped? col0 : col1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
 	
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
+		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -48,36 +49,31 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
 
 
 
-void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
-	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
 
-
-	btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
+	btVector3 pOnBox;
 
 	btVector3 normalOnSurfaceB;
-	btVector3 pOnBox,pOnSphere;
-	btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
+	btScalar penetrationDepth;
+	btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
+	const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
 	btScalar radius = sphere0->getRadius();
-	
-	btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
+	btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	if (dist < SIMD_EPSILON)
+	if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
 	{
-		btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
-
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-
-		resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
-		
+		resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
 	}
 
 	if (m_ownManifold)
@@ -102,159 +98,117 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
-btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius ) 
+bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance ) 
 {
-
-	btScalar margins;
-	btVector3 bounds[2];
-	btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
+	const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
+	btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
+	btScalar boxMargin = boxShape->getMargin();
+	penetrationDepth = 1.0f;
+
+	// convert the sphere position to the box's local space
+	btTransform const &m44T = boxObjWrap->getWorldTransform();
+	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
+
+	// Determine the closest point to the sphere center in the box
+	btVector3 closestPoint = sphereRelPos;
+	closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
+	closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
 	
-	bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
-	bounds[1] = boxShape->getHalfExtentsWithoutMargin();
-
-	margins = boxShape->getMargin();//also add sphereShape margin?
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	btVector3	boundsVec[2];
-	btScalar	fPenetration;
-
-	boundsVec[0] = bounds[0];
-	boundsVec[1] = bounds[1];
-
-	btVector3	marginsVec( margins, margins, margins );
-
-	// add margins
-	bounds[0] += marginsVec;
-	bounds[1] -= marginsVec;
-
-	/////////////////////////////////////////////////
-
-	btVector3	tmp, prel, n[6], normal, v3P;
-	btScalar   fSep = btScalar(10000000.0), fSepThis;
+	btScalar intersectionDist = fRadius + boxMargin;
+	btScalar contactDist = intersectionDist + maxContactDistance;
+	normal = sphereRelPos - closestPoint;
 
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-	
-	bool	bFound = false;
+	//if there is no penetration, we are done
+	btScalar dist2 = normal.length2();
+	if (dist2 > contactDist * contactDist)
+	{
+		return false;
+	}
 
-	v3P = prel;
+	btScalar distance;
 
-	for (int i=0;i<6;i++)
+	//special case if the sphere center is inside the box
+	if (dist2 <= SIMD_EPSILON)
 	{
-		int j = i<3? 0:1;
-		if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
-		{
-			v3P = v3P - n[i]*fSepThis;		
-			bFound = true;
-		}
+		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
 	}
-	
-	//
-
-	if ( bFound )
+	else //compute the penetration details
 	{
-		bounds[0] = boundsVec[0];
-		bounds[1] = boundsVec[1];
-
-		normal = (prel - v3P).normalize();
-		pointOnBox = v3P + normal*margins;
-		v3PointOnSphere = prel - normal*fRadius;
-
-		if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
-		{
-			return btScalar(1.0);
-		}
-
-		// transform back in world space
-		tmp = m44T( pointOnBox);
-		pointOnBox    = tmp;
-		tmp  = m44T( v3PointOnSphere);		
-		v3PointOnSphere = tmp;
-		btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
-		
-		//if this fails, fallback into deeper penetration case, below
-		if (fSeps2 > SIMD_EPSILON)
-		{
-			fSep = - btSqrt(fSeps2);
-			normal = (pointOnBox-v3PointOnSphere);
-			normal *= btScalar(1.)/fSep;
-		}
-
-		return fSep;
+		distance = normal.length();
+		normal /= distance;
 	}
 
-	//////////////////////////////////////////////////
-	// Deep penetration case
-
-	fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
+	pointOnBox = closestPoint + normal * boxMargin;
+//	v3PointOnSphere = sphereRelPos - (normal * fRadius);	
+	penetrationDepth = distance - intersectionDist;
 
-	bounds[0] = boundsVec[0];
-	bounds[1] = boundsVec[1];
-
-	if ( fPenetration <= btScalar(0.0) )
-		return (fPenetration-margins);
-	else
-		return btScalar(1.0);
+	// transform back in world space
+	btVector3 tmp = m44T(pointOnBox);
+	pointOnBox = tmp;
+//	tmp = m44T(v3PointOnSphere);
+//	v3PointOnSphere = tmp;
+	tmp = m44T.getBasis() * normal;
+	normal = tmp;
+
+	return true;
 }
 
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) 
+btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) 
 {
+	//project the center of the sphere on the closest face of the box
+	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
+	btScalar minDist = faceDist;
+	closestPoint.setX( boxHalfExtent.getX() );
+	normal.setValue(btScalar(1.0f),  btScalar(0.0f),  btScalar(0.0f));
+
+	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setX( -boxHalfExtent.getX() );
+		normal.setValue(btScalar(-1.0f),  btScalar(0.0f),  btScalar(0.0f));
+	}
 
-	btVector3 bounds[2];
-
-	bounds[0] = aabbMin;
-	bounds[1] = aabbMax;
-
-	btVector3	p0, tmp, prel, n[6], normal;
-	btScalar   fSep = btScalar(-10000000.0), fSepThis;
-
-	// set p0 and normal to a default value to shup up GCC
-	p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-
-	///////////
-
-	for (int i=0;i<6;i++)
+	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
+	if (faceDist < minDist)
 	{
-		int j = i<3 ? 0:1;
-		if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) )	return btScalar(1.0);
-		if ( fSepThis > fSep )
-		{
-			p0 = bounds[j];	normal = (btVector3&)n[i];
-			fSep = fSepThis;
-		}
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(1.0f),  btScalar(0.0f));
 	}
 
-	pointOnBox = prel - normal*(normal.dot((prel-p0)));
-	v3PointOnSphere = pointOnBox + normal*fSep;
+	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( -boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(-1.0f),  btScalar(0.0f));
+	}
 
-	// transform back in world space
-	tmp  = m44T( pointOnBox);		
-	pointOnBox    = tmp;
-	tmp  = m44T( v3PointOnSphere);		v3PointOnSphere = tmp;
-	normal = (pointOnBox-v3PointOnSphere).normalize();
+	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(1.0f));
+	}
 
-	return fSep;
+	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( -boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(-1.0f));
+	}
 
+	return minDist;
 }
-
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index 60286ae0aa4..eefaedc9e7e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -34,11 +34,11 @@ class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	
 public:
 
-	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btSphereBoxCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -50,21 +50,21 @@ public:
 		}
 	}
 
-	btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
+	bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
 
-	btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
+	btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
 	
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
+				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
 			} else
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
+				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 5c4e78fe518..36ba21f5bb0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -17,15 +17,16 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
+: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -39,7 +40,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
 	}
 }
 
-void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 
@@ -48,10 +49,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
-	btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
+	btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
+	btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
 
-	btVector3 diff = col0->getWorldTransform().getOrigin()-  col1->getWorldTransform().getOrigin();
+	btVector3 diff = col0Wrap->getWorldTransform().getOrigin()-  col1Wrap->getWorldTransform().getOrigin();
 	btScalar len = diff.length();
 	btScalar radius0 = sphere0->getRadius();
 	btScalar radius1 = sphere1->getRadius();
@@ -80,7 +81,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	///point on A (worldspace)
 	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
-	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
+	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index e55acf277e6..3517a568a99 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -32,12 +32,12 @@ class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	btPersistentManifold*	m_manifoldPtr;
 	
 public:
-	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap);
 
 	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -53,10 +53,10 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
-			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
+			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index c327c3ff72a..280a4d355fd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -19,17 +19,17 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "SphereTriangleDetector.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_swapped(swapped)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -43,16 +43,16 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
 	}
 }
 
-void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* sphereObj = m_swapped? col1 : col0;
-	btCollisionObject* triObj = m_swapped? col0 : col1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
 
-	btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
-	btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
+	btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
+	btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -60,8 +60,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
-	input.m_transformA = sphereObj->getWorldTransform();
-	input.m_transformB = triObj->getWorldTransform();
+	input.m_transformA = sphereObjWrap->getWorldTransform();
+	input.m_transformB = triObjWrap->getWorldTransform();
 
 	bool swapResults = m_swapped;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index 7c6c4d8f8d5..6b6e39a72b6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -32,12 +32,12 @@ class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	bool	m_swapped;
 	
 public:
-	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
+	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped);
 
 	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -54,12 +54,12 @@ public:
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
 
-			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
+			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_swapped);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
index f4a9ca03e5c..ce333783e44 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBox2dShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
 {
 
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -34,6 +34,8 @@ class btBox2dShape: public btPolyhedralConvexShape
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index 0c5857dae62..715e3f2ab98 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBoxShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
 {
 
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -31,6 +31,8 @@ class btBoxShape: public btPolyhedralConvexShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
index d1c21629873..493d635539e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -21,7 +21,13 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedAllocator.h"
 #include "btTriangleInfoMap.h"
 
-///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage.
+///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
+///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
+///using HACD, see Bullet/Demos/ConvexDecompositionDemo. 
+///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
+///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and 
+///cache friendly traversal for PlayStation 3 Cell SPU. 
+///It is recommended to enable useQuantizedAabbCompression for better memory usage.
 ///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
 ///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
 ///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index ab763abf808..7578bb258df 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
 ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
-class btCapsuleShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
 {
 protected:
 	int	m_upAxis;
@@ -33,6 +33,9 @@ protected:
 	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCapsuleShape(btScalar radius,btScalar height);
 
 	///CollisionShape Interface
@@ -62,8 +65,8 @@ public:
 			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
 			btVector3 center = t.getOrigin();
-			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
-			
+            btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+        
 			aabbMin = center - extent;
 			aabbMax = center + extent;
 	}
@@ -101,6 +104,14 @@ public:
 
 	}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
index 865c1067744..ff017a20671 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -24,7 +24,7 @@ class btSerializer;
 
 
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
-class btCollisionShape
+ATTRIBUTE_ALIGNED16(class) btCollisionShape
 {
 protected:
 	int m_shapeType;
@@ -32,6 +32,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
 	{
 	}
@@ -107,6 +109,13 @@ public:
 
 	
 	int		getShapeType() const { return m_shapeType; }
+
+	///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
+	///See Bullet/Demos/RollingFrictionDemo for an example
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3(1,1,1);
+	}
 	virtual void	setMargin(btScalar margin) = 0;
 	virtual btScalar	getMargin() const = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
index 4eb860c57f1..12f422f193f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -182,9 +182,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		abs_b[1].dot(localHalfExtents),
-		abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center-extent;
 	aabbMax = center+extent;
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index 2a03241c9d7..2917cc5b60f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -33,12 +33,14 @@ typedef enum PHY_ScalarType {
 
 ///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
 ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
-class btConcaveShape : public btCollisionShape
+ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape
 {
 protected:
 	btScalar m_collisionMargin;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConcaveShape();
 
 	virtual ~btConcaveShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
index b69b5c5b0c8..5966ae48f11 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
 ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
-class btConeShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
 
 {
 
@@ -32,6 +32,8 @@ class btConeShape : public btConvexInternalShape
 
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConeShape (btScalar radius,btScalar height);
 	
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const;
@@ -82,6 +84,11 @@ public:
 			return m_coneIndices[1];
 		}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,1,0);
+	}
+
 	virtual void	setLocalScaling(const btVector3& scaling);
 
 };
@@ -91,6 +98,12 @@ class btConeShapeX : public btConeShape
 {
 	public:
 		btConeShapeX(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (1,0,0);
+	}
+
 };
 
 ///btConeShapeZ implements a Cone shape, around the Z axis
@@ -98,6 +111,12 @@ class btConeShapeZ : public btConeShape
 {
 	public:
 		btConeShapeZ(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,0,1);
+	}
+
 };
 #endif //BT_CONE_MINKOWSKI_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
index caf54329da9..bbd1caf42fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
@@ -21,12 +21,14 @@ subject to the following restrictions:
 
 ///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
 ///For 2d boxes, the btBox2dShape is recommended.
-class btConvex2dShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape
 {
 	btConvexShape*	m_childConvexShape;
 
 	public:
 	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConvex2dShape(	btConvexShape* convexChildShape);
 	
 	virtual ~btConvex2dShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 226245979ab..0623e351a97 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -13,6 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
 #include "btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
@@ -45,30 +49,28 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
 	recalcLocalAabb();
 }
 
-void btConvexHullShape::addPoint(const btVector3& point)
+void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
 {
 	m_unscaledPoints.push_back(point);
-	recalcLocalAabb();
+	if (recalculateLocalAabb)
+		recalcLocalAabb();
 
 }
 
 btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
-	for (int i=0;i<m_unscaledPoints.size();i++)
-	{
-		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+    // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically. 
+    if( 0 < m_unscaledPoints.size() )
+    {
+        btVector3 scaled = vec * m_localScaling;
+        int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
+        return m_unscaledPoints[index] * m_localScaling;
+    }
 
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return supVec;
+    return supVec;
 }
 
 void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
@@ -81,23 +83,19 @@ void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
 			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 		}
 	}
-	for (int i=0;i<m_unscaledPoints.size();i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
 
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& vec = vectors[j];
-			
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
+    for (int j=0;j<numVectors;j++)
+    {
+        btVector3 vec = vectors[j] * m_localScaling;        // dot(a*b,c) = dot(a,b*c)
+        if( 0 <  m_unscaledPoints.size() )
+        {
+            int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
+            supportVerticesOut[j] = getScaledPoint(i);
+            supportVerticesOut[j][3] = newDot;        
+        }
+        else
+            supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
+    }
 
 
 
@@ -208,13 +206,11 @@ const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
 	return "btConvexHullShapeData";
 }
 
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
 #if 1
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	btVector3 witnesPtMin;
-	btVector3 witnesPtMax;
+	minProj = FLT_MAX;
+	maxProj = -FLT_MAX;
 
 	int numVerts = m_unscaledPoints.size();
 	for(int i=0;i<numVerts;i++)
@@ -222,31 +218,30 @@ void btConvexHullShape::project(const btTransform& trans, const btVector3& dir,
 		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
 		btVector3 pt = trans * vtx;
 		btScalar dp = pt.dot(dir);
-		if(dp < min)	
+		if(dp < minProj)	
 		{
-			min = dp;
+			minProj = dp;
 			witnesPtMin = pt;
 		}
-		if(dp > max)	
+		if(dp > maxProj)	
 		{
-			max = dp;
+			maxProj = dp;
 			witnesPtMax=pt;
 		}
 	}
 #else
 	btVector3 localAxis = dir*trans.getBasis();
-	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
-	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+	witnesPtMin  = trans(localGetSupportingVertex(localAxis));
+	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
 
-	min = vtx1.dot(dir);
-	max = vtx2.dot(dir);
+	minProj = witnesPtMin.dot(dir);
+	maxProj = witnesPtMax.dot(dir);
 #endif
 
-	if(min>max)
+	if(minProj>maxProj)
 	{
-		btScalar tmp = min;
-		min = max;
-		max = tmp;
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
 	}
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index 95a2af6a3a0..3bd598ec4e9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -36,7 +36,7 @@ public:
 	///btConvexHullShape make an internal copy of the points.
 	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
 
-	void addPoint(const btVector3& point);
+	void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
 
 	
 	btVector3* getUnscaledPoints()
@@ -73,7 +73,7 @@ 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;
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
 
 
 	//debugging
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 85cd9ef90c7..37e04f5fc81 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -26,7 +26,7 @@ subject to the following restrictions:
 ///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
+ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
 {
 
 	protected:
@@ -44,7 +44,7 @@ class btConvexInternalShape : public btConvexShape
 
 public:
 
-	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	virtual ~btConvexInternalShape()
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
index c1b155aef45..ad1d1bf78f8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
 btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
@@ -40,51 +40,33 @@ btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
 		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
 		vec *= rlen;
 	}
+    
+    if( m_numPoints > 0 )
+    {
+        // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
+    //    btVector3 scaled = vec * m_localScaling;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
+        return getScaledPoint(index);
+    }
 
-
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
 	return supVec;
 }
 
 void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& vec = vectors[j];
-			
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
-
-
+    for( int j = 0; j < numVectors; j++ )
+    {
+        const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
+        btScalar maxDot;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
+        supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
+        if( 0 <= index )
+        {
+            //WARNING: don't swap next lines, the w component would get overwritten!
+            supportVerticesOut[j] = getScaledPoint(index);
+            supportVerticesOut[j][3] = maxDot;
+        }
+    }
 
 }
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
index 1e26be531c2..f4324c1f401 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -274,23 +274,29 @@ void	btConvexPolyhedron::initialize()
 #endif
 }
 
-
-void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
-	min = FLT_MAX;
-	max = -FLT_MAX;
+	minProj = FLT_MAX;
+	maxProj = -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(dp < minProj)
+		{
+			minProj = dp;
+			witnesPtMin = pt;
+		}
+		if(dp > maxProj)
+		{
+			maxProj = dp;
+			witnesPtMax = pt;
+		}
 	}
-	if(min>max)
+	if(minProj>maxProj)
 	{
-		btScalar tmp = min;
-		min = max;
-		max = tmp;
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
 	}
-}
\ No newline at end of file
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
index 08db39a33c8..d3cd066ac8d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -34,9 +34,12 @@ struct btFace
 };
 
 
-class btConvexPolyhedron
+ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
 {
 	public:
+		
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+		
 	btConvexPolyhedron();
 	virtual	~btConvexPolyhedron();
 
@@ -53,7 +56,7 @@ class btConvexPolyhedron
 	void	initialize();
 	bool testContainment() const;
 
-	void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
 };
 
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8c67d8ebef1..4b16130211f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -13,6 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
 #include "btConvexShape.h"
 #include "btTriangleShape.h"
 #include "btSphereShape.h"
@@ -109,19 +113,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
 	return supVec;
 #else
 
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
-	int ptIndex = -1;
-
-	for (int i=0;i<numPoints;i++)
-	{
-
-		newDot = vec.dot(points[i]);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			ptIndex = i;
-		}
-	}
+    btScalar maxDot;
+    long ptIndex = vec.maxDot( points, numPoints, maxDot);
 	btAssert(ptIndex >= 0);
 	btVector3 supVec = points[ptIndex] * localScaling;
 	return supVec;
@@ -141,16 +134,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		btBoxShape* convexShape = (btBoxShape*)this;
 		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
 
+#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
+    #if defined( BT_USE_SSE )
+            return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
+    #elif defined( BT_USE_NEON )
+            return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
+    #else
+        #error unknown vector arch
+    #endif
+#else
 		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
 			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
 			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
+#endif
 	}
 	case TRIANGLE_SHAPE_PROXYTYPE:
 	{
 		btTriangleShape* triangleShape = (btTriangleShape*)this;
 		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
 		btVector3* vertices = &triangleShape->m_vertices1[0];
-		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
+        btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
 		btVector3 sup = vertices[dots.maxAxis()];
 		return btVector3(sup.getX(),sup.getY(),sup.getZ());
 	}
@@ -383,8 +386,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 		halfExtents += btVector3(margin,margin,margin);
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
 		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
-		
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
+        
 		aabbMin = center - extent;
 		aabbMax = center + extent;
 		break;
@@ -417,7 +420,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
 		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  	
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
 		aabbMin = center - extent;
 		aabbMax = center + extent;
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
index af5d00388e8..f338865ca13 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -22,12 +22,14 @@ subject to the following restrictions:
 
 /// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
 /// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
-class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
 {
 
 	class btStridingMeshInterface*	m_stridingMesh;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
 
 	class btStridingMeshInterface*	getMeshInterface()
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
index 125bfc78a77..6f796950e1d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 
 /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
-class btCylinderShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
 
 {
 
@@ -31,6 +31,8 @@ protected:
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -95,6 +97,13 @@ public:
 		return m_upAxis;
 	}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
 	virtual btScalar getRadius() const
 	{
 		return getHalfExtentsWithMargin().getX();
@@ -128,6 +137,8 @@ public:
 class btCylinderShapeX : public btCylinderShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCylinderShapeX (const btVector3& halfExtents);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -149,6 +160,8 @@ public:
 class btCylinderShapeZ : public btCylinderShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCylinderShapeZ (const btVector3& halfExtents);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index 87b7b66d1e1..069a79402bf 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -28,9 +28,11 @@ subject to the following restrictions:
 
 /// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
 /// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
-class btEmptyShape	: public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btEmptyShape	: public btConcaveShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btEmptyShape();
 
 	virtual ~btEmptyShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 95631c30190..8d4080a63a6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -38,7 +38,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
 	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
-	btScalar minHeight = 0.0;
+	btScalar minHeight = 0.0f;
 
 	// previously, height = uchar * maxHeight / 65535.
 	// So to preserve legacy behavior, heightScale = maxHeight / 65535
@@ -82,6 +82,7 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	m_heightDataType = hdt;
 	m_flipQuadEdges = flipQuadEdges;
 	m_useDiamondSubdivision = false;
+	m_useZigzagSubdivision = false;
 	m_upAxis = upAxis;
 	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
 
@@ -135,9 +136,7 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,
 
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
 	btVector3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
-		   abs_b[1].dot(halfExtents),
-		  abs_b[2].dot(halfExtents));
+    btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	extent += btVector3(getMargin(),getMargin(),getMargin());
 
 	aabbMin = center - extent;
@@ -362,7 +361,7 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		for(int x=startX; x<endX; x++)
 		{
 			btVector3 vertices[3];
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
+			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision  && !(j & 1)))
 			{
         //first triangle
         getVertex(x,j,vertices[0]);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 78e231e08e6..4a7a4a4bda4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -68,7 +68,7 @@ subject to the following restrictions:
 
   For usage and testing see the TerrainDemo.
  */
-class btHeightfieldTerrainShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
@@ -93,7 +93,8 @@ protected:
 
 	PHY_ScalarType	m_heightDataType;	
 	bool	m_flipQuadEdges;
-  bool  m_useDiamondSubdivision;
+  	bool  m_useDiamondSubdivision;
+	bool m_useZigzagSubdivision;
 
 	int	m_upAxis;
 	
@@ -116,6 +117,9 @@ protected:
 	                PHY_ScalarType heightDataType, bool flipQuadEdges);
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	/// preferred constructor
 	/**
 	  This constructor supports a range of heightfield
@@ -142,6 +146,8 @@ public:
 
 	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
 
+	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625	
+	void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index 6c844e8c0af..a3f9a472394 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
 /// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
-class btMinkowskiSumShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
 {
 
 	btTransform	m_transA;
@@ -30,6 +30,8 @@ class btMinkowskiSumShape : public btConvexInternalShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index c996bfcdaba..a7362ea01f4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -13,7 +13,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
 
 #include "btMultiSphereShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -39,10 +41,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 
 }
 
- 
+#ifndef MIN
+	#define MIN( _a, _b)    ((_a) < (_b) ? (_a) : (_b))
+#endif
  btVector3	btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
-	int i;
 	btVector3 supVec(0,0,0);
 
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -66,18 +69,23 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 	const btScalar* rad = &m_radiArray[0];
 	int numSpheres = m_localPositionArray.size();
 
-	for (i=0;i<numSpheres;i++)
+	for( int k = 0; k < numSpheres; k+= 128 )
 	{
-		vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
-		pos++;
-		rad++;
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
+		btVector3 temp[128];
+		int inner_count = MIN( numSpheres - k, 128 );
+        for( long i = 0; i < inner_count; i++ )
+        {
+            temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
+            pos++;
+            rad++;
+        }
+        long i = vec.maxDot( temp, inner_count, newDot);
+        if( newDot > maxDot )
 		{
 			maxDot = newDot;
-			supVec = vtx;
+			supVec = temp[i];
 		}
-	}
+    }
 
 	return supVec;
 
@@ -98,18 +106,25 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 		const btVector3* pos = &m_localPositionArray[0];
 		const btScalar* rad = &m_radiArray[0];
 		int numSpheres = m_localPositionArray.size();
-		for (int i=0;i<numSpheres;i++)
-		{
-			vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
-			pos++;
-			rad++;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
+
+        for( int k = 0; k < numSpheres; k+= 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN( numSpheres - k, 128 );
+            for( long i = 0; i < inner_count; i++ )
+            {
+                temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
+                pos++;
+                rad++;
+            }
+            long i = vec.maxDot( temp, inner_count, newDot);
+            if( newDot > maxDot )
+            {
+                maxDot = newDot;
+                supportVerticesOut[j] = temp[i];
+            }
+        }
+        
 	}
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 06c5d16d941..5d3b4026848 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -25,13 +25,15 @@ subject to the following restrictions:
 
 ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
 ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
-class btMultiSphereShape : public btConvexInternalAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
 {
 	
 	btAlignedObjectArray<btVector3> m_localPositionArray;
 	btAlignedObjectArray<btScalar>  m_radiArray;
 	
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
 
 	///CollisionShape Interface
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 82def79cf55..4854f370f73 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,6 +12,9 @@ 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.
 */
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 #include "btConvexPolyhedron.h"
@@ -31,51 +34,58 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
 {
 	if (m_polyhedron)
 	{
+		m_polyhedron->~btConvexPolyhedron();
 		btAlignedFree(m_polyhedron);
 	}
 }
 
 
-bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
+bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
 {
 
 	if (m_polyhedron)
+	{
+		m_polyhedron->~btConvexPolyhedron();
 		btAlignedFree(m_polyhedron);
+	}
 	
 	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
 	m_polyhedron = new (mem) btConvexPolyhedron;
 
-		btAlignedObjectArray<btVector3> orgVertices;
+	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++)
+	
+	btConvexHullComputer conv;
+	
+	if (shiftVerticesByMargin)
 	{
-		   btVector3 plane = planeEquations[p];
-		   plane[3] -= getMargin();
-		   shiftedPlaneEquations.push_back(plane);
-	}
+		btAlignedObjectArray<btVector3> planeEquations;
+		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
 
-	btAlignedObjectArray<btVector3> tmpVertices;
+		btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+		for (int p=0;p<planeEquations.size();p++)
+		{
+			   btVector3 plane = planeEquations[p];
+		//	   btScalar margin = getMargin();
+			   plane[3] -= getMargin();
+			   shiftedPlaneEquations.push_back(plane);
+		}
 
-	btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
-	btConvexHullComputer conv;
-	conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+		btAlignedObjectArray<btVector3> tmpVertices;
 
-#else
-	btConvexHullComputer conv;
-	conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
-
-#endif
+		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
+	
+		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+	} else
+	{
+		
+		conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+	}
 
 
 
@@ -107,9 +117,6 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 		int numEdges = 0;
 		//compute face normals
 
-		btScalar maxCross2 = 0.f;
-		int chosenEdge = -1;
-
 		do
 		{
 			
@@ -192,7 +199,8 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 		{
 			//do the merge: use Graham Scan 2d convex hull
 
-			btAlignedObjectArray<GrahamVector2> orgpoints;
+			btAlignedObjectArray<GrahamVector3> orgpoints;
+			btVector3 averageFaceNormal(0,0,0);
 
 			for (int i=0;i<coplanarFaceGroup.size();i++)
 			{
@@ -200,16 +208,12 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 
 				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);
-				
+				averageFaceNormal+=faceNormal;
 				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++)
@@ -222,34 +226,45 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 						}
 					}
 					if (!found)
-						orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
+						orgpoints.push_back(GrahamVector3(pt,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);
+			btAlignedObjectArray<GrahamVector3> hull;
+
+			averageFaceNormal.normalize();
+			GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
 
 			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) {
+				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;
@@ -275,20 +290,23 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 				if(reject_merge)
 					break;
 			}
-			if(!reject_merge) {
+
+			if (!reject_merge)
+			{
 				// do this merge!
 				did_merge = true;
-			m_polyhedron->m_faces.push_back(combinedFace);
+				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]]);
+				btFace face = tmpFaces[coplanarFaceGroup[i]];
+				m_polyhedron->m_faces.push_back(face);
 			}
 
-		}
+		} 
 
 
 
@@ -299,6 +317,9 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 	return true;
 }
 
+#ifndef MIN
+    #define MIN(_a, _b)     ((_a) < (_b) ? (_a) : (_b))
+#endif
 
 btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
@@ -323,17 +344,19 @@ btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
 	btVector3 vtx;
 	btScalar newDot;
 
-	for (i=0;i<getNumVertices();i++)
-	{
-		getVertex(i,vtx);
-		newDot = vec.dot(vtx);
+    for( int k = 0; k < getNumVertices(); k += 128 )
+    {
+        btVector3 temp[128];
+        int inner_count = MIN(getNumVertices() - k, 128);
+        for( i = 0; i < inner_count; i++ )
+            getVertex(i,temp[i]); 
+        i = (int) vec.maxDot( temp, inner_count, newDot);
 		if (newDot > maxDot)
 		{
 			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
+			supVec = temp[i];
+		}        
+    }
 	
 #endif //__SPU__
 	return supVec;
@@ -356,21 +379,23 @@ void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
 
 	for (int j=0;j<numVectors;j++)
 	{
-	
-		const btVector3& vec = vectors[j];
-
-		for (i=0;i<getNumVertices();i++)
-		{
-			getVertex(i,vtx);
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
+        const btVector3& vec = vectors[j];
+        
+        for( int k = 0; k < getNumVertices(); k += 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN(getNumVertices() - k, 128);
+            for( i = 0; i < inner_count; i++ )
+                getVertex(i,temp[i]); 
+            i = (int) vec.maxDot( temp, inner_count, newDot);
+            if (newDot > supportVerticesOut[j][3])
+            {
+				supportVerticesOut[j] = temp[i];
 				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
+            }        
+        }
+    }
+
 #endif //__SPU__
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index ee2e1e28277..961d001a9dd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -22,7 +22,7 @@ class btConvexPolyhedron;
 
 
 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
-class btPolyhedralConvexShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
 {
 	
 
@@ -31,13 +31,17 @@ protected:
 	btConvexPolyhedron* m_polyhedron;
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 
 	btPolyhedralConvexShape();
 
 	virtual ~btPolyhedralConvexShape();
 
 	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
-	virtual bool	initializePolyhedralFeatures();
+	///experimental/work-in-progress
+	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
 
 	const btConvexPolyhedron*	getConvexPolyhedron() const
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
index 25d58d61bb1..6a337c786c4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@@ -98,9 +98,7 @@ void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
index ff86ef319e9..39049eaf083 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -31,6 +31,8 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 
 	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
index 642a2887435..e959f198b69 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 ///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
 ///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
 ///It approximates the convex hull using the supporting vertex of 42 directions.
-class btShapeHull
+ATTRIBUTE_ALIGNED16(class) btShapeHull
 {
 protected:
 
@@ -37,6 +37,8 @@ protected:
 	static btVector3* getUnitSpherePoints();
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btShapeHull (const btConvexShape* shape);
 	~btShapeHull ();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index b13825e610d..e6e32883959 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -31,6 +31,8 @@ protected:
 	btVector3	m_localScaling;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
 
 	virtual ~btStaticPlaneShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index dd22fc5635a..b3d449676b9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -242,7 +242,7 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 		int gfxindex;
 	//	btVector3 triangle[3];
 
-		btVector3 meshScaling = getScaling();
+	//	btVector3 meshScaling = getScaling();
 
 		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
 		for (part=0;part<graphicssubparts ;part++,memPtr++)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index f2b27ade8e8..9fbe139768d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -27,13 +27,15 @@ subject to the following restrictions:
 ///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
 /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-class  btStridingMeshInterface
+ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
 {
 	protected:
 	
 		btVector3 m_scaling;
 
 	public:
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+		
 		btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
 		{
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
index 6b7128efc8e..b69209835ef 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 
 ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
-class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
 {
 protected:
 
@@ -30,6 +30,8 @@ protected:
 	btVector3	m_vertices[4];
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btBU_Simplex1to4();
 
 	btBU_Simplex1to4(const btVector3& pt0);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 1cea7045f20..17deef89d37 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -123,11 +123,11 @@ SIMD_FORCE_INLINE	int	btTriangleInfoMap::calculateSerializeBufferSize() const
 SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
-	tmapData->m_convexEpsilon = m_convexEpsilon;
-	tmapData->m_planarEpsilon = m_planarEpsilon;
-	tmapData->m_equalVertexThreshold = m_equalVertexThreshold;
-	tmapData->m_edgeDistanceThreshold = m_edgeDistanceThreshold;
-	tmapData->m_zeroAreaThreshold = m_zeroAreaThreshold;
+	tmapData->m_convexEpsilon = (float)m_convexEpsilon;
+	tmapData->m_planarEpsilon = (float)m_planarEpsilon;
+	tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
+	tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
+	tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
 	
 	tmapData->m_hashTableSize = m_hashTable.size();
 
@@ -172,9 +172,9 @@ SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btS
 		btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
 		for (int i=0;i<numElem;i++,memPtr++)
 		{
-			memPtr->m_edgeV0V1Angle = m_valueArray[i].m_edgeV0V1Angle;
-			memPtr->m_edgeV1V2Angle = m_valueArray[i].m_edgeV1V2Angle;
-			memPtr->m_edgeV2V0Angle = m_valueArray[i].m_edgeV2V0Angle;
+			memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
+			memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
+			memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
 			memPtr->m_flags = m_valueArray[i].m_flags;
 		}
 		serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
index b29e0f71e62..51a2f8a0739 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -138,3 +138,25 @@ int btTriangleMesh::getNumTriangles() const
 	}
 	return m_16bitIndices.size() / 3;
 }
+
+void btTriangleMesh::preallocateVertices(int numverts)
+{
+	if (m_use4componentVertices)
+	{
+		m_4componentVertices.reserve(numverts);
+	} else
+	{
+		m_3componentVertices.reserve(numverts);
+	}
+}
+
+void btTriangleMesh::preallocateIndices(int numindices)
+{
+	if (m_use32bitIndices)
+	{
+		m_32bitIndices.reserve(numindices);
+	} else
+	{
+		m_16bitIndices.reserve(numindices);
+	}
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index f623157fac1..29d1b5cdaa4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -55,8 +55,8 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 		
 		int getNumTriangles() const;
 
-		virtual void	preallocateVertices(int numverts){(void) numverts;}
-		virtual void	preallocateIndices(int numindices){(void) numindices;}
+		virtual void	preallocateVertices(int numverts);
+		virtual void	preallocateIndices(int numindices);
 
 		///findOrAddVertex is an internal method, use addTriangle instead
 		int		findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
index 683684da770..0e17951405c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -55,13 +55,9 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
-
-
 }
 
 void	btTriangleMeshShape::recalcLocalAabb()
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index c8caf8fe696..453e58005a4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 
 ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
-class btTriangleMeshShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
@@ -33,6 +33,7 @@ protected:
 	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	virtual ~btTriangleMeshShape();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 71b0557384e..a8a80f82fe2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3	m_vertices1[3];
 
 	virtual int getNumVertices() const
@@ -66,7 +68,7 @@ public:
 
 	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const 
 	{
-		btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+        btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
 	  	return m_vertices1[dots.maxAxis()];
 
 	}
@@ -76,7 +78,7 @@ public:
 		for (int i=0;i<numVectors;i++)
 		{
 			const btVector3& dir = vectors[i];
-			btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+            btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
   			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
 		}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
index cbf7e6fd3ed..a10f58d2429 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
 ///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
-class btUniformScalingShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
 {
 	btConvexShape*	m_childConvexShape;
 
@@ -29,6 +29,8 @@ class btUniformScalingShape : public btConvexShape
 	
 	public:
 	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btUniformScalingShape(	btConvexShape* convexChildShape, btScalar uniformScalingFactor);
 	
 	virtual ~btUniformScalingShape();
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
index d5676aaa80e..0a0357e5a81 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
@@ -218,9 +218,7 @@ public:
 
 	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
 	{
-		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
-			m_R1to0[1].dot(point) + m_T1to0.y(),
-			m_R1to0[2].dot(point) + m_T1to0.z());
+        return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0;
 	}
 };
 
@@ -364,9 +362,9 @@ public:
 		// Compute new center
 		center = trans(center);
 
-		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
- 				 extends.dot(trans.getBasis().getRow(1).absolute()),
-				 extends.dot(trans.getBasis().getRow(2).absolute()));
+        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
+                                          trans.getBasis().getRow(1).absolute(), 
+                                          trans.getBasis().getRow(2).absolute());
 
 		m_min = center - textends;
 		m_max = center + textends;
@@ -381,10 +379,10 @@ public:
 		// Compute new center
 		center = trans.transform(center);
 
-		btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()),
- 				 extends.dot(trans.m_R1to0.getRow(1).absolute()),
-				 extends.dot(trans.m_R1to0.getRow(2).absolute()));
-
+        btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(), 
+                                          trans.m_R1to0.getRow(1).absolute(), 
+                                          trans.m_R1to0.getRow(2).absolute());
+        
 		m_min = center - textends;
 		m_max = center + textends;
 	}
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
index 8d4c35515b1..02f8b678a45 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
@@ -67,13 +67,8 @@ struct MyCallback : public btTriangleRaycastCallback
 				}
 				
 
-
 				
-				btConvexHullShape* tet = new btConvexHullShape();
-				tet->addPoint(v0);
-				tet->addPoint(v1);
-				tet->addPoint(v2);
-				tet->addPoint(rayTo);
+				btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
 				btTransform ident;
 				ident.setIdentity();
 				m_colShape->addChildShape(ident,tet);
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
index 2f2c09ffc03..2e87475e393 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
@@ -51,7 +51,7 @@ public:
 	}
 
 
-	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
+	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const 
 	{
 		equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
 		equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
@@ -89,7 +89,7 @@ Declared here due of insuficent space on Pool allocators
 class GIM_ShapeRetriever
 {
 public:
-	btGImpactShapeInterface * m_gim_shape;
+	const btGImpactShapeInterface * m_gim_shape;
 	btTriangleShapeEx m_trishape;
 	btTetrahedronShapeEx m_tetrashape;
 
@@ -98,7 +98,7 @@ public:
 	{
 	public:
 		GIM_ShapeRetriever * m_parent;
-		virtual btCollisionShape * getChildShape(int index)
+		virtual const btCollisionShape * getChildShape(int index)
 		{
 			return m_parent->m_gim_shape->getChildShape(index);
 		}
@@ -133,7 +133,7 @@ public:
 	TetraShapeRetriever  m_tetra_retriever;
 	ChildShapeRetriever * m_current_retriever;
 
-	GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
+	GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape)
 	{
 		m_gim_shape = gim_shape;
 		//select retriever
@@ -153,7 +153,7 @@ public:
 		m_current_retriever->m_parent = this;
 	}
 
-	btCollisionShape * getChildShape(int index)
+	const btCollisionShape * getChildShape(int index)
 	{
 		return m_current_retriever->getChildShape(index);
 	}
@@ -193,8 +193,8 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
 
 
 
-btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-: btActivatingCollisionAlgorithm(ci,body0,body1)
+btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap)
 {
 	m_manifoldPtr = NULL;
 	m_convex_algorithm = NULL;
@@ -209,71 +209,58 @@ btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
 
 
 
-void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
-				btCollisionObject * body1,
+void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap,
+				const btCollisionObjectWrapper * body1Wrap,
 				const btVector3 & point,
 				const btVector3 & normal,
 				btScalar distance)
 {
 	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-	checkManifold(body0,body1);
+	checkManifold(body0Wrap,body1Wrap);
 	m_resultOut->addContactPoint(normal,point,distance);
 }
 
 
 void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1)
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape * shape0,
+					  const btCollisionShape * shape1)
 {
 
-	btCollisionShape* tmpShape0 = body0->getCollisionShape();
-	btCollisionShape* tmpShape1 = body1->getCollisionShape();
-	
-	body0->internalSetTemporaryCollisionShape(shape0);
-	body1->internalSetTemporaryCollisionShape(shape1);
 
 	{
-		btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
+		
+		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap);
 		// post :	checkManifold is called
 
 		m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 		m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-
-		algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
-
+		
+		algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut);
+		
 		algor->~btCollisionAlgorithm();
 		m_dispatcher->freeCollisionAlgorithm(algor);
 	}
 
-	body0->internalSetTemporaryCollisionShape(tmpShape0);
-	body1->internalSetTemporaryCollisionShape(tmpShape1);
 }
 
 void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1)
+					  const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape* shape0,
+					  const btCollisionShape* shape1)
 {
 
-	btCollisionShape* tmpShape0 = body0->getCollisionShape();
-	btCollisionShape* tmpShape1 = body1->getCollisionShape();
-	
-	body0->internalSetTemporaryCollisionShape(shape0);
-	body1->internalSetTemporaryCollisionShape(shape1);
-
-
 	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
 
-	checkConvexAlgorithm(body0,body1);
-	m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
+	btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
+	btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1);
+	checkConvexAlgorithm(&ob0,&ob1);
+	m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
 
-	body0->internalSetTemporaryCollisionShape(tmpShape0);
-	body1->internalSetTemporaryCollisionShape(tmpShape1);
 
 }
 
@@ -283,8 +270,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1,btPairSet & pairset)
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1,btPairSet & pairset)
 {
 	if(shape0->hasBoxSet() && shape1->hasBoxSet())
 	{
@@ -320,8 +307,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
 void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,
 					  btAlignedObjectArray<int> & collided_primitives)
 {
 
@@ -359,10 +346,10 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
 }
 
 
-void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactMeshShapePart * shape0,
-				  btGImpactMeshShapePart * shape1,
+void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactMeshShapePart * shape0,
+				  const btGImpactMeshShapePart * shape1,
 				  const int * pairs, int pair_count)
 {
 	btTriangleShapeEx tri0;
@@ -389,7 +376,7 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
 		//collide two convex shapes
 		if(tri0.overlap_test_conservative(tri1))
 		{
-			convex_vs_convex_collision(body0,body1,&tri0,&tri1);
+			convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1);
 		}
 
 	}
@@ -398,14 +385,14 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
 	shape1->unlockChildShapes();
 }
 
-void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btGImpactMeshShapePart * shape1,
+void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btGImpactMeshShapePart * shape1,
 					  const int * pairs, int pair_count)
 {
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btPrimitiveTriangle ptri0;
 	btPrimitiveTriangle ptri1;
@@ -451,7 +438,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 				while(j--)
 				{
 
-					addContactPoint(body0, body1,
+					addContactPoint(body0Wrap, body1Wrap,
 								contact_data.m_points[j],
 								contact_data.m_separating_normal,
 								-contact_data.m_penetration_depth);
@@ -472,20 +459,20 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 
 
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
-						btCollisionObject * body0,
-					   	btCollisionObject * body1,
-					  	btGImpactShapeInterface * shape0,
-					  	btGImpactShapeInterface * shape1)
+						const btCollisionObjectWrapper* body0Wrap,
+					   	const btCollisionObjectWrapper * body1Wrap,
+					  	const btGImpactShapeInterface * shape0,
+					  	const btGImpactShapeInterface * shape1)
 {
 
 	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
 		m_part0 = meshshape0->getMeshPartCount();
 
 		while(m_part0--)
 		{
-			gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1);
 		}
 
 		return;
@@ -493,13 +480,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 
 	if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
+		const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1);
 		m_part1 = meshshape1->getMeshPartCount();
 
 		while(m_part1--)
 		{
 
-			gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1));
 
 		}
 
@@ -507,8 +494,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	}
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btPairSet pairset;
 
@@ -519,13 +506,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
 	{
-		btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
-		btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
+		const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0);
+		const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1);
 		//specialized function
 		#ifdef BULLET_TRIANGLE_COLLISION
-		collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
 		#else
-		collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
 		#endif
 
 		return;
@@ -548,55 +535,49 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 		GIM_PAIR * pair = &pairset[i];
 		m_triface0 = pair->m_index1;
 		m_triface1 = pair->m_index2;
-		btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
-		btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
-
-		if(child_has_transform0)
-		{
-			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
-		}
-
-		if(child_has_transform1)
-		{
-			body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
-		}
-
-		//collide two convex shapes
-		convex_vs_convex_collision(body0,body1,colshape0,colshape1);
+		const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
+		const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
 
+		btTransform tr0 = body0Wrap->getWorldTransform();
+		btTransform tr1 = body1Wrap->getWorldTransform();
 
 		if(child_has_transform0)
 		{
-			body0->setWorldTransform(orgtrans0);
+			tr0 = orgtrans0*shape0->getChildTransform(m_triface0);
 		}
 
 		if(child_has_transform1)
 		{
-			body1->setWorldTransform(orgtrans1);
+			tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
 		}
 
+		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0);
+		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1);
+
+		//collide two convex shapes
+		convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1);
 	}
 
 	shape0->unlockChildShapes();
 	shape1->unlockChildShapes();
 }
 
-void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btCollisionShape * shape1,bool swapped)
+void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btCollisionShape * shape1,bool swapped)
 {
 	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
 		int& part = swapped ? m_part1 : m_part0;
 		part = meshshape0->getMeshPartCount();
 
 		while(part--)
 		{
 
-			gimpact_vs_shape(body0,
-				  body1,
+			gimpact_vs_shape(body0Wrap,
+				  body1Wrap,
 				  meshshape0->getMeshPart(part),
 				  shape1,swapped);
 
@@ -609,9 +590,9 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
 	{
-		btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
-		btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
-		gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
+		const btGImpactMeshShapePart * shapepart = static_cast<const btGImpactMeshShapePart *>(shape0);
+		const btStaticPlaneShape * planeshape = static_cast<const btStaticPlaneShape * >(shape1);
+		gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped);
 		return;
 	}
 
@@ -621,21 +602,21 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 
 	if(shape1->isCompound())
 	{
-		btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
-		gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
+		const btCompoundShape * compoundshape = static_cast<const btCompoundShape *>(shape1);
+		gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped);
 		return;
 	}
 	else if(shape1->isConcave())
 	{
-		btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
-		gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
+		const btConcaveShape * concaveshape = static_cast<const btConcaveShape *>(shape1);
+		gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped);
 		return;
 	}
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btAlignedObjectArray<int> collided_results;
 
@@ -662,28 +643,38 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
         else
             m_triface0 = child_index;
 
-		btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+		const btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+
+		btTransform tr0 = body0Wrap->getWorldTransform();
 
 		if(child_has_transform0)
 		{
-			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
+			tr0 = orgtrans0*shape0->getChildTransform(child_index);
+		}
+
+		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
+		const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap();
+		
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(&ob0);
+		} else
+		{
+			m_resultOut->setBody1Wrap(&ob0);
 		}
 
 		//collide two shapes
 		if(swapped)
 		{
-			shape_vs_shape_collision(body1,body0,shape1,colshape0);
+			
+			shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0);
 		}
 		else
 		{
-			shape_vs_shape_collision(body0,body1,colshape0,shape1);
-		}
-
-		//restore transforms
-		if(child_has_transform0)
-		{
-			body0->setWorldTransform(orgtrans0);
+			
+			shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1);
 		}
+		m_resultOut->setBody0Wrap(prevObj0);
 
 	}
 
@@ -691,44 +682,58 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 
 }
 
-void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btCompoundShape * shape1,bool swapped)
+void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper* body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btCompoundShape * shape1,bool swapped)
 {
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	int i = shape1->getNumChildShapes();
 	while(i--)
 	{
 
-		btCollisionShape * colshape1 = shape1->getChildShape(i);
+		const btCollisionShape * colshape1 = shape1->getChildShape(i);
 		btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
 
-		body1->setWorldTransform(childtrans1);
-
+		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i);
+		
+		const btCollisionObjectWrapper* tmp = 0;
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		{
+			tmp = m_resultOut->getBody0Wrap();
+			m_resultOut->setBody0Wrap(&ob1);
+		} else
+		{
+			tmp = m_resultOut->getBody1Wrap();
+			m_resultOut->setBody1Wrap(&ob1);
+		}
 		//collide child shape
-		gimpact_vs_shape(body0, body1,
+		gimpact_vs_shape(body0Wrap, &ob1,
 					  shape0,colshape1,swapped);
 
-
-		//restore transforms
-		body1->setWorldTransform(orgtrans1);
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(tmp);
+		} else
+		{
+			m_resultOut->setBody1Wrap(tmp);
+		}
 	}
 }
 
 void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btStaticPlaneShape * shape1,bool swapped)
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btStaticPlaneShape * shape1,bool swapped)
 {
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
-	btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
+	const btPlaneShape * planeshape = static_cast<const btPlaneShape *>(shape1);
 	btVector4 plane;
 	planeshape->get_plane_equation_transformed(orgtrans1,plane);
 
@@ -757,14 +762,14 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
 		{
 			if(swapped)
 			{
-				addContactPoint(body1, body0,
+				addContactPoint(body1Wrap, body0Wrap,
 					vertex,
 					-plane,
 					distance);
 			}
 			else
 			{
-				addContactPoint(body0, body1,
+				addContactPoint(body0Wrap, body1Wrap,
 					vertex,
 					plane,
 					distance);
@@ -782,9 +787,9 @@ class btGImpactTriangleCallback: public btTriangleCallback
 {
 public:
 	btGImpactCollisionAlgorithm * algorithm;
-	btCollisionObject * body0;
-	btCollisionObject * body1;
-	btGImpactShapeInterface * gimpactshape0;
+	const btCollisionObjectWrapper * body0Wrap;
+	const btCollisionObjectWrapper * body1Wrap;
+	const btGImpactShapeInterface * gimpactshape0;
 	bool swapped;
 	btScalar margin;
 
@@ -802,8 +807,31 @@ public:
             algorithm->setPart1(partId);
             algorithm->setFace1(triangleIndex);
         }
+
+		btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex);
+		const btCollisionObjectWrapper * tmp = 0;
+
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		{
+			tmp = algorithm->internalGetResultOut()->getBody0Wrap();
+			algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
+		} else
+		{
+			tmp = algorithm->internalGetResultOut()->getBody1Wrap();
+			algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
+		}
+		
 		algorithm->gimpact_vs_shape(
-							body0,body1,gimpactshape0,&tri1,swapped);
+							body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped);
+
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		{
+			algorithm->internalGetResultOut()->setBody0Wrap(tmp);
+		} else
+		{
+			algorithm->internalGetResultOut()->setBody1Wrap(tmp);
+		}
+
 	}
 };
 
@@ -811,16 +839,16 @@ public:
 
 
 void btGImpactCollisionAlgorithm::gimpact_vs_concave(
-				  btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btConcaveShape * shape1,bool swapped)
+				  const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btConcaveShape * shape1,bool swapped)
 {
 	//create the callback
 	btGImpactTriangleCallback tricallback;
 	tricallback.algorithm = this;
-	tricallback.body0 = body0;
-	tricallback.body1 = body1;
+	tricallback.body0Wrap = body0Wrap;
+	tricallback.body1Wrap = body1Wrap;
 	tricallback.gimpactshape0 = shape0;
 	tricallback.swapped = swapped;
 	tricallback.margin = shape1->getMargin();
@@ -828,7 +856,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
 	//getting the trimesh AABB
 	btTransform gimpactInConcaveSpace;
 
-	gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
+	gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
 
 	btVector3 minAABB,maxAABB;
 	shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
@@ -839,36 +867,36 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
 
 
 
-void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
     clearCache();
 
     m_resultOut = resultOut;
 	m_dispatchInfo = &dispatchInfo;
-    btGImpactShapeInterface * gimpactshape0;
-    btGImpactShapeInterface * gimpactshape1;
+    const btGImpactShapeInterface * gimpactshape0;
+    const btGImpactShapeInterface * gimpactshape1;
 
-	if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
+	if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
 	{
-		gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
+		gimpactshape0 = static_cast<const btGImpactShapeInterface *>(body0Wrap->getCollisionShape());
 
-		if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+		if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
 		{
-			gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+			gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
 
-			gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1);
 		}
 		else
 		{
-			gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
+			gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false);
 		}
 
 	}
-	else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+	else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
 	{
-		gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+		gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
 
-		gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
+		gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true);
 	}
 }
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
index 6b6e07c983d..f85a94cb4c7 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
@@ -40,7 +40,7 @@ class btDispatcher;
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
 #include "LinearMath/btIDebugDraw.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 
 //! Collision Algorithm for GImpact Shapes
@@ -65,7 +65,7 @@ protected:
 
 
 	//! Creates a new contact point
-	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
 	{
 		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
 		return m_manifoldPtr;
@@ -106,38 +106,38 @@ protected:
 
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		if(getLastManifold() == 0)
 		{
-			newContactManifold(body0,body1);
+			newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		}
 
 		m_resultOut->setPersistentManifold(getLastManifold());
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
-		checkManifold(body0,body1);
+		checkManifold(body0Wrap,body1Wrap);
 
 		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
-				body0,body1,getLastManifold());
+				body0Wrap,body1Wrap,getLastManifold());
 		return convex_algorithm ;
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		if(m_convex_algorithm) return;
-		m_convex_algorithm = newAlgorithm(body0,body1);
+		m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
 	}
 
 
 
 
-	void addContactPoint(btCollisionObject * body0,
-					btCollisionObject * body1,
+	void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
+					const btCollisionObjectWrapper * body1Wrap,
 					const btVector3 & point,
 					const btVector3 & normal,
 					btScalar distance);
@@ -145,62 +145,62 @@ protected:
 //! Collision routines
 //!@{
 
-	void collide_gjk_triangles(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactMeshShapePart * shape0,
-				  btGImpactMeshShapePart * shape1,
+	void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper* body1Wrap,
+				  const btGImpactMeshShapePart * shape0,
+				  const btGImpactMeshShapePart * shape1,
 				  const int * pairs, int pair_count);
 
-	void collide_sat_triangles(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btGImpactMeshShapePart * shape1,
+	void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btGImpactMeshShapePart * shape1,
 					  const int * pairs, int pair_count);
 
 
 
 
 	void shape_vs_shape_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1);
+					  const btCollisionObjectWrapper* body0,
+					  const btCollisionObjectWrapper* body1,
+					  const btCollisionShape * shape0,
+					  const btCollisionShape * shape1);
 
-	void convex_vs_convex_collision(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1);
+	void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape* shape0,
+					  const btCollisionShape* shape1);
 
 
 
 	void gimpact_vs_gimpact_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1,btPairSet & pairset);
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1,btPairSet & pairset);
 
 	void gimpact_vs_shape_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,
 					  btAlignedObjectArray<int> & collided_primitives);
 
 
 	void gimpacttrimeshpart_vs_plane_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btStaticPlaneShape * shape1,bool swapped);
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btStaticPlaneShape * shape1,bool swapped);
 
 
 public:
 
-	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btGImpactCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -210,13 +210,17 @@ public:
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
+	btManifoldResult*	internalGetResultOut()
+	{
+		return m_resultOut;
+	}
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
-			return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1);
+			return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
 		}
 	};
 
@@ -236,26 +240,26 @@ public:
 	*/
 
 
-	void gimpact_vs_gimpact(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1);
+	void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1);
 
-	void gimpact_vs_shape(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,bool swapped);
+	void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,bool swapped);
 
-	void gimpact_vs_compoundshape(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btCompoundShape * shape1,bool swapped);
+	void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btCompoundShape * shape1,bool swapped);
 
 	void gimpact_vs_concave(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btConcaveShape * shape1,bool swapped);
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btConcaveShape * shape1,bool swapped);
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
index cfd5da8f49a..27e6f32fc8b 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
@@ -285,18 +285,16 @@ public:
 	    m_data[index] = obj;
 	}
 
-	inline void resize(GUINT size, bool call_constructor = true)
+	inline void resize(GUINT size, bool call_constructor = true, const T& fillData=T())
 	{
-
 	    if(size>m_size)
 	    {
             reserve(size);
             if(call_constructor)
             {
-            	T obj;
                 while(m_size<size)
                 {
-                    m_data[m_size] = obj;
+                    m_data[m_size] = fillData;
                     m_size++;
                 }
             }
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
index b360dd47038..9c572638acd 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
@@ -186,9 +186,7 @@ public:
 
 	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
 	{
-		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
-			m_R1to0[1].dot(point) + m_T1to0.y(),
-			m_R1to0[2].dot(point) + m_T1to0.z());
+        return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
 	}
 };
 
@@ -332,10 +330,10 @@ public:
 		// Compute new center
 		center = trans(center);
 
-		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
- 				 extends.dot(trans.getBasis().getRow(1).absolute()),
-				 extends.dot(trans.getBasis().getRow(2).absolute()));
-
+        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
+                                          trans.getBasis().getRow(1).absolute(), 
+                                          trans.getBasis().getRow(2).absolute());
+        
 		m_min = center - textends;
 		m_max = center + textends;
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 91fcea57a3c..940282f5762 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -62,7 +62,6 @@ void btContinuousConvexCollision::computeClosestPoints( const btTransform& trans
 		const btConvexShape* convexShape = m_convexA;
 		const btStaticPlaneShape* planeShape = m_planeShape;
 		
-		bool hasCollision = false;
 		const btVector3& planeNormal = planeShape->getPlaneNormal();
 		const btScalar& planeConstant = planeShape->getPlaneConstant();
 		
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index 2277a19d981..f0043b8b9f2 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -63,12 +63,12 @@ public:
 	void	getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
 	
 
-	void setMinkowskiA(btConvexShape* minkA)
+	void setMinkowskiA(const btConvexShape* minkA)
 	{
 		m_minkowskiA = minkA;
 	}
 
-	void setMinkowskiB(btConvexShape* minkB)
+	void setMinkowskiB(const btConvexShape* minkB)
 	{
 		m_minkowskiB = minkB;
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 0ce9dd25926..e40fb1d3db6 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -44,9 +44,9 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
-				m_appliedImpulse(0.f),
 				m_lateralFrictionInitialized(false),
-				m_appliedImpulseLateral1(0.f),
+                m_appliedImpulse(0.f),
+                m_appliedImpulseLateral1(0.f),
 				m_appliedImpulseLateral2(0.f),
 				m_contactMotion1(0.f),
 				m_contactMotion2(0.f),
@@ -64,11 +64,12 @@ class btManifoldPoint
 					m_normalWorldOnB( normal ), 
 					m_distance1( distance ),
 					m_combinedFriction(btScalar(0.)),
+					m_combinedRollingFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
 					m_userPersistentData(0),
-					m_appliedImpulse(0.f),
 					m_lateralFrictionInitialized(false),
-					m_appliedImpulseLateral1(0.f),
+                    m_appliedImpulse(0.f),
+                    m_appliedImpulseLateral1(0.f),
 					m_appliedImpulseLateral2(0.f),
 					m_contactMotion1(0.f),
 					m_contactMotion2(0.f),
@@ -76,9 +77,7 @@ class btManifoldPoint
 					m_contactCFM2(0.f),
 					m_lifeTime(0)
 			{
-				mConstraintRow[0].m_accumImpulse = 0.f;
-				mConstraintRow[1].m_accumImpulse = 0.f;
-				mConstraintRow[2].m_accumImpulse = 0.f;
+				
 			}
 
 			
@@ -92,18 +91,19 @@ class btManifoldPoint
 		
 			btScalar	m_distance1;
 			btScalar	m_combinedFriction;
+			btScalar	m_combinedRollingFriction;
 			btScalar	m_combinedRestitution;
 
-         //BP mod, store contact triangles.
-         int	   m_partId0;
-         int      m_partId1;
-         int      m_index0;
-         int      m_index1;
+			//BP mod, store contact triangles.
+			int			m_partId0;
+			int			m_partId1;
+			int			m_index0;
+			int			m_index1;
 				
 			mutable void*	m_userPersistentData;
-			btScalar		m_appliedImpulse;
-
 			bool			m_lateralFrictionInitialized;
+
+			btScalar		m_appliedImpulse;
 			btScalar		m_appliedImpulseLateral1;
 			btScalar		m_appliedImpulseLateral2;
 			btScalar		m_contactMotion1;
@@ -118,8 +118,6 @@ class btManifoldPoint
 
 
 
-			btConstraintRow mConstraintRow[3];
-
 
 			btScalar getDistance() const
 			{
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index 954b8395299..4d92e853d3f 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -205,10 +205,13 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 	return nearestPoint;
 }
 
-int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
+int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
 {
-	btAssert(validContactDistance(newPoint));
-
+	if (!isPredictive)
+	{
+		btAssert(validContactDistance(newPoint));
+	}
+	
 	int insertIndex = getNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
 	{
@@ -287,7 +290,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
 			{
 				//contact point processed callback
 				if (gContactProcessedCallback)
-					(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
+					(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
 			}
 		}
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index d877f09944f..2ceaab750fa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btManifoldPoint.h"
+class btCollisionObject;
 #include "LinearMath/btAlignedAllocator.h"
 
 struct btCollisionResult;
@@ -57,9 +58,8 @@ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
 	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
 
 	/// this two body pointers can point to the physics rigidbody class.
-	/// void* will allow any rigidbody class
-	void* m_body0;
-	void* m_body1;
+	const btCollisionObject* m_body0;
+	const btCollisionObject* m_body1;
 
 	int	m_cachedPoints;
 
@@ -83,7 +83,7 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+	btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
 		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
 	m_body0(body0),m_body1(body1),m_cachedPoints(0),
 		m_contactBreakingThreshold(contactBreakingThreshold),
@@ -91,13 +91,10 @@ public:
 	{
 	}
 
-	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
-	SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
 
-	SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
-	SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
-
-	void	setBodies(void* body0,void* body1)
+	void	setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
 	{
 		m_body0 = body0;
 		m_body1 = body1;
@@ -110,6 +107,12 @@ public:
 #endif //
 	
 	SIMD_FORCE_INLINE int	getNumContacts() const { return m_cachedPoints;}
+	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
+	void setNumContacts(int cachedPoints)
+	{
+		m_cachedPoints = cachedPoints;
+	}
+
 
 	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
 	{
@@ -131,9 +134,22 @@ public:
 		return m_contactProcessingThreshold;
 	}
 	
+	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
+	{
+		m_contactBreakingThreshold = contactBreakingThreshold;
+	}
+
+	void setContactProcessingThreshold(btScalar	contactProcessingThreshold)
+	{
+		m_contactProcessingThreshold = contactProcessingThreshold;
+	}
+	
+	
+
+
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
-	int addManifoldPoint( const btManifoldPoint& newPoint);
+	int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false);
 
 	void removeContactPoint (int index)
 	{
@@ -146,10 +162,6 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-			m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
-
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
 			m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
@@ -167,9 +179,9 @@ public:
 #define MAINTAIN_PERSISTENCY 1
 #ifdef MAINTAIN_PERSISTENCY
 		int	lifeTime = m_pointCache[insertIndex].getLifeTime();
-		btScalar	appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
-		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
-		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
+		btScalar	appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
+		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
+		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
 //		bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
 		
 		
@@ -184,9 +196,9 @@ public:
 		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		
-		m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse =  appliedImpulse;
-		m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
-		m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
+		m_pointCache[insertIndex].m_appliedImpulse =  appliedImpulse;
+		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
+		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 
 
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
index db1909113b3..b08205e84aa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
@@ -77,21 +77,36 @@ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertex
 }
 
 
-static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
+static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
 {
 	btScalar Min0,Max0;
 	btScalar Min1,Max1;
-	hullA.project(transA,sep_axis, Min0, Max0);
-	hullB.project(transB, sep_axis, Min1, Max1);
+	btVector3 witnesPtMinA,witnesPtMaxA;
+	btVector3 witnesPtMinB,witnesPtMaxB;
+
+	hullA.project(transA,sep_axis, Min0, Max0,witnesPtMinA,witnesPtMaxA);
+	hullB.project(transB, sep_axis, Min1, Max1,witnesPtMinB,witnesPtMaxB);
 
 	if(Max0<Min1 || Max1<Min0)
 		return false;
 
 	btScalar d0 = Max0 - Min1;
-	assert(d0>=0.0f);
+	btAssert(d0>=0.0f);
 	btScalar d1 = Max1 - Min0;
-	assert(d1>=0.0f);
-	depth = d0<d1 ? d0:d1;
+	btAssert(d1>=0.0f);
+	if (d0<d1)
+	{
+		depth = d0;
+		witnessPointA = witnesPtMaxA;
+		witnessPointB = witnesPtMinB;
+
+	} else
+	{
+		depth = d1;
+		witnessPointA = witnesPtMinA;
+		witnessPointB = witnesPtMaxB;
+	}
+	
 	return true;
 }
 
@@ -163,8 +178,66 @@ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTrans
 }
 #endif //TEST_INTERNAL_OBJECTS
 
+ 
+ 
+ SIMD_FORCE_INLINE void btSegmentsClosestPoints(
+	btVector3& ptsVector,
+	btVector3& offsetA,
+	btVector3& offsetB,
+	btScalar& tA, btScalar& tB,
+	const btVector3& translation,
+	const btVector3& dirA, btScalar hlenA,
+	const btVector3& dirB, btScalar hlenB )
+{
+	// compute the parameters of the closest points on each line segment
+
+	btScalar dirA_dot_dirB = btDot(dirA,dirB);
+	btScalar dirA_dot_trans = btDot(dirA,translation);
+	btScalar dirB_dot_trans = btDot(dirB,translation);
+
+	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
+
+	if ( denom == 0.0f ) {
+		tA = 0.0f;
+	} else {
+		tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	}
+
+	tB = tA * dirA_dot_dirB - dirB_dot_trans;
 
-bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
+	if ( tB < -hlenB ) {
+		tB = -hlenB;
+		tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	} else if ( tB > hlenB ) {
+		tB = hlenB;
+		tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	}
+
+	// compute the closest points relative to segment centers.
+
+	offsetA = dirA * tA;
+	offsetB = dirB * tB;
+
+	ptsVector = translation - offsetA + offsetB;
+}
+
+
+
+bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 	gActualSATPairTests++;
 
@@ -182,9 +255,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	for(int i=0;i<numFacesA;i++)
 	{
 		const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
-		const btVector3 faceANormalWS = transA.getBasis() * Normal;
+		btVector3 faceANormalWS = transA.getBasis() * Normal;
 		if (DeltaC2.dot(faceANormalWS)<0)
-			continue;
+			faceANormalWS*=-1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
@@ -195,7 +268,8 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 		btScalar d;
-		if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
+		btVector3 wA,wB;
+		if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d,wA,wB))
 			return false;
 
 		if(d<dmin)
@@ -210,9 +284,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	for(int i=0;i<numFacesB;i++)
 	{
 		const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
-		const btVector3 WorldNormal = transB.getBasis() * Normal;
+		btVector3 WorldNormal = transB.getBasis() * Normal;
 		if (DeltaC2.dot(WorldNormal)<0)
-			continue;
+			WorldNormal *=-1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
@@ -223,7 +297,8 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 		btScalar d;
-		if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
+		btVector3 wA,wB;
+		if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d,wA,wB))
 			return false;
 
 		if(d<dmin)
@@ -234,6 +309,12 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	}
 
 	btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
+	int edgeA=-1;
+	int edgeB=-1;
+	btVector3 worldEdgeA;
+	btVector3 worldEdgeB;
+	btVector3 witnessPointA,witnessPointB;
+	
 
 	int curEdgeEdge = 0;
 	// Test edges
@@ -252,7 +333,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 			{
 				Cross = Cross.normalize();
 				if (DeltaC2.dot(Cross)<0)
-					continue;
+					Cross *= -1.f;
 
 
 #ifdef TEST_INTERNAL_OBJECTS
@@ -263,21 +344,68 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 				btScalar dist;
-				if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
+				btVector3 wA,wB;
+				if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist,wA,wB))
 					return false;
 
 				if(dist<dmin)
 				{
 					dmin = dist;
 					sep = Cross;
+					edgeA=e0;
+					edgeB=e1;
+					worldEdgeA = WorldEdge0;
+					worldEdgeB = WorldEdge1;
+					witnessPointA=wA;
+					witnessPointB=wB;
 				}
 			}
 		}
 
 	}
 
-	const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
-	if((deltaC.dot(sep))>0.0f)
+	if (edgeA>=0&&edgeB>=0)
+	{
+//		printf("edge-edge\n");
+		//add an edge-edge contact
+
+		btVector3 ptsVector;
+		btVector3 offsetA;
+		btVector3 offsetB;
+		btScalar tA;
+		btScalar tB;
+
+		btVector3 translation = witnessPointB-witnessPointA;
+
+		btVector3 dirA = worldEdgeA;
+		btVector3 dirB = worldEdgeB;
+		
+		btScalar hlenB = 1e30f;
+		btScalar hlenA = 1e30f;
+
+		btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB,
+			translation,
+			dirA, hlenA,
+			dirB,hlenB);
+
+		btScalar nlSqrt = ptsVector.length2();
+		if (nlSqrt>SIMD_EPSILON)
+		{
+			btScalar nl = btSqrt(nlSqrt);
+			ptsVector *= 1.f/nl;
+			if (ptsVector.dot(DeltaC2)<0.f)
+			{
+				ptsVector*=-1.f;
+			}
+			btVector3 ptOnB = witnessPointB + offsetB;
+			btScalar distance = nl;
+			resultOut.addContactPoint(ptsVector, ptOnB,-distance);
+		}
+
+	}
+
+
+	if((DeltaC2.dot(sep))<0.0f)
 		sep = -sep;
 
 	return true;
@@ -312,7 +440,6 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 	const btFace& polyA = hullA.m_faces[closestFaceA];
 
 		// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numContacts = pVtxIn->size();
 	int numVerticesA = polyA.m_indices.size();
 	for(int e0=0;e0<numVerticesA;e0++)
 	{
@@ -361,8 +488,8 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 		btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
 		for (int i=0;i<pVtxIn->size();i++)
 		{
-			
-			btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
+			btVector3 vtx = pVtxIn->at(i);
+			btScalar depth = planeNormalWS.dot(vtx)+planeEqWS;
 			if (depth <=minDist)
 			{
 //				printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
@@ -397,16 +524,19 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 }
 
 
+
+
+
 void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 
 	btVector3 separatingNormal = separatingNormal1.normalized();
-	const btVector3 c0 = transA * hullA.m_localCenter;
-	const btVector3 c1 = transB * hullB.m_localCenter;
-	const btVector3 DeltaC2 = c0 - c1;
+//	const btVector3 c0 = transA * hullA.m_localCenter;
+//	const btVector3 c1 = transB * hullB.m_localCenter;
+	//const btVector3 DeltaC2 = c0 - c1;
+
 
 
-	btScalar curMaxDist=maxDist;
 	int closestFaceB=-1;
 	btScalar dmax = -FLT_MAX;
 	{
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
index 99103df2027..b87bd4f3245 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
@@ -35,7 +35,7 @@ struct btPolyhedralContactClipping
 	static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
 	static void	clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
 
-	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
+	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
 	///the clipFace method is used internally
 	static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index fbe579ce1e5..786efd18200 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -57,12 +57,13 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 	{
 		return ; // same sign
 	}
-   //@BP Mod - Backface filtering
-   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
-   {
-      // Backface, skip check
-      return;
-   }
+
+	if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
+	{
+		// Backface, skip check
+		return;
+	}
+
 	
 	const btScalar proj_length=dist_a-dist_b;
 	const btScalar distance = (dist_a)/(proj_length);
@@ -97,18 +98,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 					
 					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
 					{
-                  //@BP Mod
-                  // Triangle normal isn't normalized
+					  //@BP Mod
+					  // Triangle normal isn't normalized
 				      triangleNormal.normalize();
 
-                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
-                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
+					 //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+						if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
 						{
 							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
 						}
 						else
 						{
-                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
 						}
 					}
 				}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index f1c7613efa1..2f389e27e3f 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -92,13 +92,15 @@ struct	btSubSimplexClosestResult
 /// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
 /// Can be used with GJK, as an alternative to Johnson distance algorithm.
 #ifdef NO_VIRTUAL_INTERFACE
-class btVoronoiSimplexSolver
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
 #else
-class btVoronoiSimplexSolver : public btSimplexSolverInterface
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
 #endif
 {
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	int	m_numVertices;
 
 	btVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];