Merged changes in the trunk up to revision 47700.

Conflicts resolved:
source/blender/blenkernel/BKE_main.h
source/blender/blenkernel/CMakeLists.txt
source/blender/blenkernel/intern/library.c
source/blender/blenloader/intern/readfile.c
source/blender/blenloader/intern/writefile.c
source/blender/editors/interface/resources.c
source/blender/makesdna/DNA_ID.h
source/blender/makesdna/DNA_action_types.h
source/blender/makesdna/intern/makesdna.c
source/blender/makesrna/SConscript
source/blender/makesrna/intern/rna_internal.h
source/blender/makesrna/intern/rna_main.c
source/blender/makesrna/intern/rna_main_api.c
source/blender/windowmanager/WM_types.h

24 files changed, 332 insertions, 144 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index bc371e4062d..755544f0dee 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -638,6 +638,11 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 		btTransform trDeltaAB = trB * trPose * trA.inverse();
 		btQuaternion qDeltaAB = trDeltaAB.getRotation();
 		btVector3 swingAxis = 	btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
+		float swingAxisLen2 = swingAxis.length2();
+		if(btFuzzyZero(swingAxisLen2))
+		{
+		   return;
+		}
 		m_swingAxis = swingAxis;
 		m_swingAxis.normalize();
 		m_swingCorrection = qDeltaAB.getAngle();
@@ -918,7 +923,7 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
 
 	if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
 	{
-		qMinTwist = operator-(qTwist);
+		qMinTwist = -(qTwist);
 		twistAngle = qMinTwist.getAngle();
 	}
 	if (twistAngle < 0)
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index c1c5aa851b6..868e62f063e 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -33,8 +33,8 @@ and swing 1 and 2 are along the z and y axes respectively.
 
 
 
-#ifndef CONETWISTCONSTRAINT_H
-#define CONETWISTCONSTRAINT_H
+#ifndef BT_CONETWISTCONSTRAINT_H
+#define BT_CONETWISTCONSTRAINT_H
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
@@ -343,4 +343,4 @@ SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer,
 }
 
 
-#endif //CONETWISTCONSTRAINT_H
+#endif //BT_CONETWISTCONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
index 7a8e9c1953d..6f673102be2 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONSTRAINT_SOLVER_H
-#define CONSTRAINT_SOLVER_H
+#ifndef BT_CONSTRAINT_SOLVER_H
+#define BT_CONSTRAINT_SOLVER_H
 
 #include "LinearMath/btScalar.h"
 
@@ -49,4 +49,4 @@ public:
 
 
 
-#endif //CONSTRAINT_SOLVER_H
+#endif //BT_CONSTRAINT_SOLVER_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index d97096d9f26..88859182925 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -68,9 +68,53 @@ void	btContactConstraint::buildJacobian()
 #include "LinearMath/btMinMax.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
-#define ASSERT2 btAssert
 
-#define USE_INTERNAL_APPLY_IMPULSE 1
+
+//response  between two dynamic objects without friction, assuming 0 penetration depth
+btScalar resolveSingleCollision(
+        btRigidBody* body1,
+        btCollisionObject* colObj2,
+		const btVector3& contactPositionWorld,
+		const btVector3& contactNormalOnB,
+        const btContactSolverInfo& solverInfo,
+		btScalar distance)
+{
+	btRigidBody* body2 = btRigidBody::upcast(colObj2);
+    
+	
+    const btVector3& normal = contactNormalOnB;
+
+    btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); 
+    btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
+    
+    btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
+	btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
+    btVector3 vel = vel1 - vel2;
+    btScalar rel_vel;
+    rel_vel = normal.dot(vel);
+    
+    btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
+    btScalar restitution = combinedRestitution* -rel_vel;
+
+    btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
+    btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
+	btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
+	btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
+	btScalar relaxation = 1.f;
+	btScalar jacDiagABInv = relaxation/(denom0+denom1);
+
+    btScalar penetrationImpulse = positionalError * jacDiagABInv;
+    btScalar velocityImpulse = velocityError * jacDiagABInv;
+
+    btScalar normalImpulse = penetrationImpulse+velocityImpulse;
+    normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
+
+	body1->applyImpulse(normal*(normalImpulse), rel_pos1);
+    if (body2)
+		body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
+    
+    return normalImpulse;
+}
 
 
 //bilateral constraint between two dynamic objects
@@ -83,7 +127,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 
 
 	btScalar normalLenSqr = normal.length2();
-	ASSERT2(btFabs(normalLenSqr) < btScalar(1.1));
+	btAssert(btFabs(normalLenSqr) < btScalar(1.1));
 	if (normalLenSqr > btScalar(1.1))
 	{
 		impulse = btScalar(0.);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
index 63c1a417bc1..477c79d1756 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONTACT_CONSTRAINT_H
-#define CONTACT_CONSTRAINT_H
+#ifndef BT_CONTACT_CONSTRAINT_H
+#define BT_CONTACT_CONSTRAINT_H
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
@@ -57,6 +57,9 @@ public:
 
 };
 
+///very basic collision resolution without friction
+btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
+
 
 ///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
 void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
@@ -65,4 +68,4 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 
 
 
-#endif //CONTACT_CONSTRAINT_H
+#endif //BT_CONTACT_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index db5bb5e4c51..6204cb3d16c 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef CONTACT_SOLVER_INFO
-#define CONTACT_SOLVER_INFO
+#ifndef BT_CONTACT_SOLVER_INFO
+#define BT_CONTACT_SOLVER_INFO
 
 enum	btSolverMode
 {
@@ -84,4 +84,4 @@ struct btContactSolverInfo : public btContactSolverInfoData
 	}
 };
 
-#endif //CONTACT_SOLVER_INFO
+#endif //BT_CONTACT_SOLVER_INFO
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 7c5e4f6e7b2..8ff9940bba3 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -130,12 +130,20 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
 	{
 		m_currentLimit = 1;//low limit violation
 		m_currentLimitError =  test_value - m_loLimit;
+		if(m_currentLimitError>SIMD_PI) 
+			m_currentLimitError-=SIMD_2_PI;
+		else if(m_currentLimitError<-SIMD_PI) 
+			m_currentLimitError+=SIMD_2_PI;
 		return 1;
 	}
 	else if (test_value> m_hiLimit)
 	{
 		m_currentLimit = 2;//High limit violation
 		m_currentLimitError = test_value - m_hiLimit;
+		if(m_currentLimitError>SIMD_PI) 
+			m_currentLimitError-=SIMD_2_PI;
+		else if(m_currentLimitError<-SIMD_PI) 
+			m_currentLimitError+=SIMD_2_PI;
 		return 2;
 	};
 
@@ -1067,4 +1075,4 @@ void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& ax
 	m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
 	
 	calculateTransforms();
-}
\ No newline at end of file
+}
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index ab745ca5ad6..a8e7bc22902 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -24,8 +24,8 @@ http://gimpact.sf.net
 */
 
 
-#ifndef GENERIC_6DOF_CONSTRAINT_H
-#define GENERIC_6DOF_CONSTRAINT_H
+#ifndef BT_GENERIC_6DOF_CONSTRAINT_H
+#define BT_GENERIC_6DOF_CONSTRAINT_H
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
@@ -611,4 +611,4 @@ SIMD_FORCE_INLINE	const char*	btGeneric6DofConstraint::serialize(void* dataBuffe
 
 
 
-#endif //GENERIC_6DOF_CONSTRAINT_H
+#endif //BT_GENERIC_6DOF_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index d3503456625..2b38714987b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -21,6 +21,19 @@ subject to the following restrictions:
 btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
 	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
 {
+    init();
+}
+
+
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+        : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB)
+{
+    init();
+}
+
+
+void btGeneric6DofSpringConstraint::init()
+{
 	m_objectType = D6_SPRING_CONSTRAINT_TYPE;
 
 	for(int i = 0; i < 6; i++)
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
index 16ff973e427..31e0cd531ae 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
-#define GENERIC_6DOF_SPRING_CONSTRAINT_H
+#ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
+#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
 
 
 #include "LinearMath/btVector3.h"
@@ -39,9 +39,11 @@ protected:
 	btScalar	m_equilibriumPoint[6];
 	btScalar	m_springStiffness[6];
 	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
+	void init();
 	void internalUpdateSprings(btConstraintInfo2* info);
 public: 
     btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
 	void enableSpring(int index, bool onOff);
 	void setStiffness(int index, btScalar stiffness);
 	void setDamping(int index, btScalar damping);
@@ -93,5 +95,5 @@ SIMD_FORCE_INLINE	const char*	btGeneric6DofSpringConstraint::serialize(void* dat
 	return "btGeneric6DofConstraintData";
 }
 
-#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
+#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
index 15fd4a014cc..a76452ddb64 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef HINGE2_CONSTRAINT_H
-#define HINGE2_CONSTRAINT_H
+#ifndef BT_HINGE2_CONSTRAINT_H
+#define BT_HINGE2_CONSTRAINT_H
 
 
 
@@ -54,5 +54,5 @@ public:
 
 
 
-#endif // HINGE2_CONSTRAINT_H
+#endif // BT_HINGE2_CONSTRAINT_H
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 144beef1cd6..9e3a2baeed9 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -37,15 +37,15 @@ subject to the following restrictions:
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
 									 const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA)
 									 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
+#ifdef _BT_USE_CENTER_LIMIT_
+									 m_limit(),
+#endif
 									 m_angularOnly(false),
 									 m_enableAngularMotor(false),
 									 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
 									 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
 									 m_useReferenceFrameA(useReferenceFrameA),
 									 m_flags(0)
-#ifdef _BT_USE_CENTER_LIMIT_
-									,m_limit()
-#endif
 {
 	m_rbAFrame.getOrigin() = pivotInA;
 	
@@ -93,14 +93,15 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
 
 
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA)
-:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false), 
+:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),
+#ifdef _BT_USE_CENTER_LIMIT_
+m_limit(),
+#endif
+m_angularOnly(false), m_enableAngularMotor(false), 
 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
 m_useReferenceFrameA(useReferenceFrameA),
 m_flags(0)
-#ifdef	_BT_USE_CENTER_LIMIT_
-,m_limit()
-#endif
 {
 
 	// since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -142,15 +143,15 @@ m_flags(0)
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, 
 								     const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
+#ifdef _BT_USE_CENTER_LIMIT_
+m_limit(),
+#endif
 m_angularOnly(false),
 m_enableAngularMotor(false),
 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
 m_useReferenceFrameA(useReferenceFrameA),
 m_flags(0)
-#ifdef	_BT_USE_CENTER_LIMIT_
-,m_limit()
-#endif
 {
 #ifndef	_BT_USE_CENTER_LIMIT_
 	//start with free
@@ -168,15 +169,15 @@ m_flags(0)
 
 btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
 :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
+#ifdef _BT_USE_CENTER_LIMIT_
+m_limit(),
+#endif
 m_angularOnly(false),
 m_enableAngularMotor(false),
 m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
 m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
 m_useReferenceFrameA(useReferenceFrameA),
 m_flags(0)
-#ifdef	_BT_USE_CENTER_LIMIT_
-,m_limit()
-#endif
 {
 	///not providing rigidbody B means implicitly using worldspace for body B
 
@@ -663,7 +664,7 @@ void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
 	btScalar targetAngle = qHinge.getAngle();
 	if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
 	{
-		qHinge = operator-(qHinge);
+		qHinge = -(qHinge);
 		targetAngle = qHinge.getAngle();
 	}
 	if (qHinge.getZ() < 0)
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index 50e3f73cb6d..cb2973e1d1d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -15,8 +15,9 @@ subject to the following restrictions:
 
 /* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
 
-#ifndef HINGECONSTRAINT_H
-#define HINGECONSTRAINT_H
+#ifndef BT_HINGECONSTRAINT_H
+#define BT_HINGECONSTRAINT_H
+
 #define _BT_USE_CENTER_LIMIT_ 1
 
 
@@ -377,4 +378,4 @@ SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btS
 	return btHingeConstraintDataName;
 }
 
-#endif //HINGECONSTRAINT_H
+#endif //BT_HINGECONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index 22a8af66b8e..f1994a2dfd8 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef JACOBIAN_ENTRY_H
-#define JACOBIAN_ENTRY_H
+#ifndef BT_JACOBIAN_ENTRY_H
+#define BT_JACOBIAN_ENTRY_H
 
 #include "LinearMath/btVector3.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -153,4 +153,4 @@ public:
 
 };
 
-#endif //JACOBIAN_ENTRY_H
+#endif //BT_JACOBIAN_ENTRY_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index b589ee68254..b3bda03eec1 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef POINT2POINTCONSTRAINT_H
-#define POINT2POINTCONSTRAINT_H
+#ifndef BT_POINT2POINTCONSTRAINT_H
+#define BT_POINT2POINTCONSTRAINT_H
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
@@ -158,4 +158,4 @@ SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffe
 	return btPoint2PointConstraintDataName;
 }
 
-#endif //POINT2POINTCONSTRAINT_H
+#endif //BT_POINT2POINTCONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 0fc93cd3756..ab074224028 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -225,7 +225,7 @@ void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
 	resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
 	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
 	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
-	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
+	c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
 	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
 	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
@@ -740,13 +740,13 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 	}
 }
 
-
 btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
 {
 	BT_PROFILE("solveGroupCacheFriendlySetup");
 	(void)stackAlloc;
 	(void)debugDrawer;
 
+	m_maxOverrideNumSolverIterations = 0;
 
 	if (!(numConstraints + numManifolds))
 	{
@@ -788,6 +788,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		{
 			btTypedConstraint* constraint = constraints[j];
 			constraint->buildJacobian();
+			constraint->internalSetAppliedImpulse(0.0f);
 		}
 	}
 	//btRigidBody* rb0=0,*rb1=0;
@@ -804,7 +805,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 			for (i=0;i<numConstraints;i++)
 			{
 				btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-				constraints[i]->getInfo1(&info1);
+				if (constraints[i]->isEnabled())
+				{
+					constraints[i]->getInfo1(&info1);
+				} else
+				{
+					info1.m_numConstraintRows = 0;
+					info1.nub = 0;
+				}
 				totalNumRows += info1.m_numConstraintRows;
 			}
 			m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
@@ -823,23 +831,26 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 					btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
 					btTypedConstraint* constraint = constraints[i];
+					btRigidBody& rbA = constraint->getRigidBodyA();
+					btRigidBody& rbB = constraint->getRigidBodyB();
 
 
+					int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
+					if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
+						m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
 
-					btRigidBody& rbA = constraint->getRigidBodyA();
-					btRigidBody& rbB = constraint->getRigidBodyB();
 
-					
 					int j;
 					for ( j=0;j<info1.m_numConstraintRows;j++)
 					{
 						memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
-						currentConstraintRow[j].m_lowerLimit = -FLT_MAX;
-						currentConstraintRow[j].m_upperLimit = FLT_MAX;
+						currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
+						currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
 						currentConstraintRow[j].m_appliedImpulse = 0.f;
 						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
 						currentConstraintRow[j].m_solverBodyA = &rbA;
 						currentConstraintRow[j].m_solverBodyB = &rbB;
+						currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
 					}
 
 					rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
@@ -872,6 +883,17 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					for ( j=0;j<info1.m_numConstraintRows;j++)
 					{
 						btSolverConstraint& solverConstraint = currentConstraintRow[j];
+
+						if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold())
+						{
+							solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
+						}
+
+						if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold())
+						{
+							solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
+						}
+
 						solverConstraint.m_originalContactPoint = constraint;
 
 						{
@@ -939,15 +961,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	btContactSolverInfo info = infoGlobal;
 
 
-
+	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
 	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
+	m_orderNonContactConstraintPool.resize(numNonContactPool);
 	m_orderTmpConstraintPool.resize(numConstraintPool);
 	m_orderFrictionConstraintPool.resize(numFrictionPool);
 	{
 		int i;
+		for (i=0;i<numNonContactPool;i++)
+		{
+			m_orderNonContactConstraintPool[i] = i;
+		}
 		for (i=0;i<numConstraintPool;i++)
 		{
 			m_orderTmpConstraintPool[i] = i;
@@ -965,6 +992,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
 {
 
+	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
@@ -973,18 +1001,29 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
 	{
 		if ((iteration & 7) == 0) {
-			for (j=0; j<numConstraintPool; ++j) {
-				int tmp = m_orderTmpConstraintPool[j];
+			for (j=0; j<numNonContactPool; ++j) {
+				int tmp = m_orderNonContactConstraintPool[j];
 				int swapi = btRandInt2(j+1);
-				m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
-				m_orderTmpConstraintPool[swapi] = tmp;
+				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
+				m_orderNonContactConstraintPool[swapi] = tmp;
 			}
 
-			for (j=0; j<numFrictionPool; ++j) {
-				int tmp = m_orderFrictionConstraintPool[j];
-				int swapi = btRandInt2(j+1);
-				m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
-				m_orderFrictionConstraintPool[swapi] = tmp;
+			//contact/friction constraints are not solved more than 
+			if (iteration< infoGlobal.m_numIterations)
+			{
+				for (j=0; j<numConstraintPool; ++j) {
+					int tmp = m_orderTmpConstraintPool[j];
+					int swapi = btRandInt2(j+1);
+					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
+					m_orderTmpConstraintPool[swapi] = tmp;
+				}
+
+				for (j=0; j<numFrictionPool; ++j) {
+					int tmp = m_orderFrictionConstraintPool[j];
+					int swapi = btRandInt2(j+1);
+					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
+					m_orderFrictionConstraintPool[swapi] = tmp;
+				}
 			}
 		}
 	}
@@ -994,36 +1033,41 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 		///solve all joint constraints, using SIMD, if available
 		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-			resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
+			if (iteration < constraint.m_overrideNumSolverIterations)
+				resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
 		}
 
-		for (j=0;j<numConstraints;j++)
+		if (iteration< infoGlobal.m_numIterations)
 		{
-			constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-		}
-
-		///solve all contact constraints using SIMD, if available
-		int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-		for (j=0;j<numPoolConstraints;j++)
-		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-			resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+			for (j=0;j<numConstraints;j++)
+			{
+				constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+			}
 
-		}
-		///solve all friction constraints, using SIMD, if available
-		int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-		for (j=0;j<numFrictionPoolConstraints;j++)
-		{
-			btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+			///solve all contact constraints using SIMD, if available
+			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+			for (j=0;j<numPoolConstraints;j++)
+			{
+				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+				resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
 
-			if (totalImpulse>btScalar(0))
+			}
+		
+			///solve all friction constraints, using SIMD, if available
+			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+			for (j=0;j<numFrictionPoolConstraints;j++)
 			{
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+				if (totalImpulse>btScalar(0))
+				{
+					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
 
-				resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA,	*solveManifold.m_solverBodyB,solveManifold);
+					resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA,	*solveManifold.m_solverBodyB,solveManifold);
+				}
 			}
 		}
 	} else
@@ -1032,34 +1076,38 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 		///solve all joint constraints
 		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
-			resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
+			if (iteration < constraint.m_overrideNumSolverIterations)
+				resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
 		}
 
-		for (j=0;j<numConstraints;j++)
-		{
-			constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-		}
-		///solve all contact constraints
-		int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-		for (j=0;j<numPoolConstraints;j++)
+		if (iteration< infoGlobal.m_numIterations)
 		{
-			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-			resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
-		}
-		///solve all friction constraints
-		int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-		for (j=0;j<numFrictionPoolConstraints;j++)
-		{
-			btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-			btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-			if (totalImpulse>btScalar(0))
+			for (j=0;j<numConstraints;j++)
 			{
-				solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-				solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+				constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+			}
+			///solve all contact constraints
+			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+			for (j=0;j<numPoolConstraints;j++)
+			{
+				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+				resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+			}
+			///solve all friction constraints
+			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+			for (j=0;j<numFrictionPoolConstraints;j++)
+			{
+				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
 
-				resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+				if (totalImpulse>btScalar(0))
+				{
+					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+					resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+				}
 			}
 		}
 	}
@@ -1111,16 +1159,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 {
 	BT_PROFILE("solveGroupCacheFriendlyIterations");
 
-	
-	//should traverse the contacts random order...
-	int iteration;
 	{
-		for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+		///this is a special step to resolve penetrations (just for contacts)
+		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
+
+		int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
+
+		for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
+		//for ( int iteration = maxIterations-1  ; iteration >= 0;iteration--)
 		{			
 			solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
 		}
 		
-		solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
 	}
 	return 0.f;
 }
@@ -1151,9 +1201,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 	{
 		const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
 		btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
-		btScalar sum = constr->internalGetAppliedImpulse();
-		sum += solverConstr.m_appliedImpulse;
-		constr->internalSetAppliedImpulse(sum);
+		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
+		if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
+		{
+			constr->setEnabled(false);
+		}
 	}
 
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index f268ec9ae74..bb377db8db9 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 
 #include "btConstraintSolver.h"
 class btIDebugDraw;
@@ -33,8 +33,10 @@ protected:
 	btConstraintArray			m_tmpSolverNonContactConstraintPool;
 	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
 	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
+	btAlignedObjectArray<int>	m_orderNonContactConstraintPool;
 	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
 	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
+	int							m_maxOverrideNumSolverIterations;
 
 	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
 									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
@@ -124,5 +126,5 @@ typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverP
 #endif
 
 
-#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index e9723a7bb40..2edc8d2b2e1 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -22,8 +22,8 @@ TODO:
  - add conversion for ODE constraint solver
 */
 
-#ifndef SLIDER_CONSTRAINT_H
-#define SLIDER_CONSTRAINT_H
+#ifndef BT_SLIDER_CONSTRAINT_H
+#define BT_SLIDER_CONSTRAINT_H
 
 
 
@@ -236,7 +236,10 @@ public:
 	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
 	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
 	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
-	btScalar getLinearPos() { return m_linPos; }
+
+	btScalar getLinearPos() const { return m_linPos; }
+	btScalar getAngularPos() const { return m_angPos; }
+	
 	
 
 	// access for ODE solver
@@ -326,5 +329,5 @@ SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, bt
 
 
 
-#endif //SLIDER_CONSTRAINT_H
+#endif //BT_SLIDER_CONSTRAINT_H
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
index 057d3fac827..e8bfabf864e 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOLVE_2LINEAR_CONSTRAINT_H
-#define SOLVE_2LINEAR_CONSTRAINT_H
+#ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H
+#define BT_SOLVE_2LINEAR_CONSTRAINT_H
 
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btVector3.h"
@@ -104,4 +104,4 @@ public:
 
 };
 
-#endif //SOLVE_2LINEAR_CONSTRAINT_H
+#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index 79e45a4383b..179e79d7911 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -51,6 +51,8 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
 		btScalar	m_unusedPadding0;
 	};
 
+	int	m_overrideNumSolverIterations;
+
 	union
 	{
 		int			m_frictionIndex;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index 8212c36ff4e..06bde5e7eec 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -25,7 +25,10 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb
 :btTypedObject(type),
 m_userConstraintType(-1),
 m_userConstraintId(-1),
+m_breakingImpulseThreshold(SIMD_INFINITY),
+m_isEnabled(true),
 m_needsFeedback(false),
+m_overrideNumSolverIterations(-1),
 m_rbA(rbA),
 m_rbB(getFixedBody()),
 m_appliedImpulse(btScalar(0.)),
@@ -38,7 +41,10 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb
 :btTypedObject(type),
 m_userConstraintType(-1),
 m_userConstraintId(-1),
+m_breakingImpulseThreshold(SIMD_INFINITY),
+m_isEnabled(true),
 m_needsFeedback(false),
+m_overrideNumSolverIterations(-1),
 m_rbA(rbA),
 m_rbB(rbB),
 m_appliedImpulse(btScalar(0.)),
@@ -114,6 +120,10 @@ const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
 
 	tcd->m_objectType = m_objectType;
 	tcd->m_needsFeedback = m_needsFeedback;
+	tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
+	tcd->m_breakingImpulseThreshold = float(m_breakingImpulseThreshold);
+	tcd->m_isEnabled = m_isEnabled? 1: 0;
+	
 	tcd->m_userConstraintId =m_userConstraintId;
 	tcd->m_userConstraintType =m_userConstraintType;
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index 65e6d558300..a16e869a973 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef TYPED_CONSTRAINT_H
-#define TYPED_CONSTRAINT_H
+#ifndef BT_TYPED_CONSTRAINT_H
+#define BT_TYPED_CONSTRAINT_H
 
 class btRigidBody;
 #include "LinearMath/btScalar.h"
@@ -62,7 +62,11 @@ class btTypedConstraint : public btTypedObject
 		void* m_userConstraintPtr;
 	};
 
-	bool m_needsFeedback;
+	btScalar	m_breakingImpulseThreshold;
+	bool		m_isEnabled;
+	bool		m_needsFeedback;
+	int			m_overrideNumSolverIterations;
+
 
 	btTypedConstraint&	operator=(btTypedConstraint&	other)
 	{
@@ -80,7 +84,6 @@ protected:
 	///internal method used by the constraint solver, don't use them directly
 	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
 	
-	static btRigidBody& getFixedBody();
 
 public:
 
@@ -92,6 +95,8 @@ public:
 		int m_numConstraintRows,nub;
 	};
 
+	static btRigidBody& getFixedBody();
+
 	struct btConstraintInfo2 {
 		// integrator parameters: frames per second (1/stepsize), default error
 		// reduction parameter (0..1).
@@ -126,6 +131,18 @@ public:
 		btScalar	m_damping;
 	};
 
+	int	getOverrideNumSolverIterations() const
+	{
+		return m_overrideNumSolverIterations;
+	}
+
+	///override the number of constraint solver iterations used to solve this constraint
+	///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
+	void setOverrideNumSolverIterations(int overideNumIterations)
+	{
+		m_overrideNumSolverIterations = overideNumIterations;
+	}
+
 	///internal method used by the constraint solver, don't use them directly
 	virtual void	buildJacobian() {};
 
@@ -155,6 +172,28 @@ public:
 		return m_appliedImpulse;
 	}
 
+
+	btScalar	getBreakingImpulseThreshold() const
+	{
+		return 	m_breakingImpulseThreshold;
+	}
+
+	void	setBreakingImpulseThreshold(btScalar threshold)
+	{
+		m_breakingImpulseThreshold = threshold;
+	}
+
+	bool	isEnabled() const
+	{
+		return m_isEnabled;
+	}
+
+	void	setEnabled(bool enabled)
+	{
+		m_isEnabled=enabled;
+	}
+
+
 	///internal method used by the constraint solver, don't use them directly
 	virtual	void	solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar	/*timeStep*/) {};
 
@@ -302,7 +341,10 @@ struct	btTypedConstraintData
 	float	m_dbgDrawSize;
 
 	int	m_disableCollisionsBetweenLinkedBodies;
-	char	m_pad4[4];
+	int	m_overrideNumSolverIterations;
+
+	float	m_breakingImpulseThreshold;
+	int		m_isEnabled;
 	
 };
 
@@ -407,4 +449,4 @@ public:
 
 
 
-#endif //TYPED_CONSTRAINT_H
+#endif //BT_TYPED_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
index 40c56e77954..b009f41aec8 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
@@ -27,7 +27,7 @@ subject to the following restrictions:
 // constructor
 // anchor, axis1 and axis2 are in world coordinate system
 // axis1 must be orthogonal to axis2
-btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
+btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2)
 : btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
  m_anchor(anchor),
  m_axis1(axis1),
@@ -42,8 +42,8 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB,
 	// new position of X, allowed limits are (-PI,PI);
 	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
 	// Build the frame in world coordinate system first
-	btVector3 zAxis = axis1.normalize();
-	btVector3 yAxis = axis2.normalize();
+	btVector3 zAxis = m_axis1.normalize();
+	btVector3 yAxis = m_axis2.normalize();
 	btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
 	btTransform frameInW;
 	frameInW.setIdentity();
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
index a8d404a591c..a86939164ec 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef UNIVERSAL_CONSTRAINT_H
-#define UNIVERSAL_CONSTRAINT_H
+#ifndef BT_UNIVERSAL_CONSTRAINT_H
+#define BT_UNIVERSAL_CONSTRAINT_H
 
 
 
@@ -41,7 +41,7 @@ public:
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
-    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
 	// access
 	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
 	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
@@ -58,5 +58,5 @@ public:
 
 
 
-#endif // UNIVERSAL_CONSTRAINT_H
+#endif // BT_UNIVERSAL_CONSTRAINT_H