Update Bullet to version 2.80 (bullet svn revision 2537)

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

Add patches for local changes to the patches directory.

Update readme.txt, it had outdated infromation.

1 files changed, 268 insertions, 173 deletions

diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index e1eada07c82..954ef241adc 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -35,6 +35,8 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
+
 
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -46,6 +48,167 @@ subject to the following restrictions:
 
 #include "LinearMath/btSerializer.h"
 
+#if 0
+btAlignedObjectArray<btVector3> debugContacts;
+btAlignedObjectArray<btVector3> debugNormals;
+int startHit=2;
+int firstHit=startHit;
+#endif
+
+SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
+{
+	int islandId;
+	
+	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
+	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
+	islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
+	return islandId;
+
+}
+
+
+class btSortConstraintOnIslandPredicate
+{
+	public:
+
+		bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const
+		{
+			int rIslandId0,lIslandId0;
+			rIslandId0 = btGetConstraintIslandId(rhs);
+			lIslandId0 = btGetConstraintIslandId(lhs);
+			return lIslandId0 < rIslandId0;
+		}
+};
+
+struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
+{
+	btContactSolverInfo*	m_solverInfo;
+	btConstraintSolver*		m_solver;
+	btTypedConstraint**		m_sortedConstraints;
+	int						m_numConstraints;
+	btIDebugDraw*			m_debugDrawer;
+	btStackAlloc*			m_stackAlloc;
+	btDispatcher*			m_dispatcher;
+	
+	btAlignedObjectArray<btCollisionObject*> m_bodies;
+	btAlignedObjectArray<btPersistentManifold*> m_manifolds;
+	btAlignedObjectArray<btTypedConstraint*> m_constraints;
+
+
+	InplaceSolverIslandCallback(
+		btConstraintSolver*	solver,
+		btStackAlloc* stackAlloc,
+		btDispatcher* dispatcher)
+		:m_solverInfo(NULL),
+		m_solver(solver),
+		m_sortedConstraints(NULL),
+		m_numConstraints(0),
+		m_debugDrawer(NULL),
+		m_stackAlloc(stackAlloc),
+		m_dispatcher(dispatcher)
+	{
+
+	}
+
+	InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
+	{
+		btAssert(0);
+		(void)other;
+		return *this;
+	}
+
+	SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints,	int	numConstraints,	btIDebugDraw* debugDrawer)
+	{
+		btAssert(solverInfo);
+		m_solverInfo = solverInfo;
+		m_sortedConstraints = sortedConstraints;
+		m_numConstraints = numConstraints;
+		m_debugDrawer = debugDrawer;
+		m_bodies.resize (0);
+		m_manifolds.resize (0);
+		m_constraints.resize (0);
+	}
+
+	
+	virtual	void	processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
+	{
+		if (islandId<0)
+		{
+			if (numManifolds + m_numConstraints)
+			{
+				///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
+				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+			}
+		} else
+		{
+				//also add all non-contact constraints/joints for this island
+			btTypedConstraint** startConstraint = 0;
+			int numCurConstraints = 0;
+			int i;
+			
+			//find the first constraint for this island
+			for (i=0;i<m_numConstraints;i++)
+			{
+				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
+				{
+					startConstraint = &m_sortedConstraints[i];
+					break;
+				}
+			}
+			//count the number of constraints in this island
+			for (;i<m_numConstraints;i++)
+			{
+				if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
+				{
+					numCurConstraints++;
+				}
+			}
+
+			if (m_solverInfo->m_minimumSolverBatchSize<=1)
+			{
+				///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
+				if (numManifolds + numCurConstraints)
+				{
+					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+				}
+			} else
+			{
+				
+				for (i=0;i<numBodies;i++)
+					m_bodies.push_back(bodies[i]);
+				for (i=0;i<numManifolds;i++)
+					m_manifolds.push_back(manifolds[i]);
+				for (i=0;i<numCurConstraints;i++)
+					m_constraints.push_back(startConstraint[i]);
+				if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
+				{
+					processConstraints();
+				} else
+				{
+					//printf("deferred\n");
+				}
+			}
+		}
+	}
+	void	processConstraints()
+	{
+		if (m_manifolds.size() + m_constraints.size()>0)
+		{
+
+			btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
+			btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
+			btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
+			
+			m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+		}
+		m_bodies.resize(0);
+		m_manifolds.resize(0);
+		m_constraints.resize(0);
+
+	}
+
+};
+
 
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
@@ -54,7 +217,9 @@ m_constraintSolver(constraintSolver),
 m_gravity(0,-10,0),
 m_localTime(0),
 m_synchronizeAllMotionStates(false),
-m_profileTimings(0)
+m_profileTimings(0),
+m_sortedConstraints	(),
+m_solverIslandCallback ( NULL )
 {
 	if (!m_constraintSolver)
 	{
@@ -72,6 +237,11 @@ m_profileTimings(0)
 	}
 
 	m_ownsIslandManager = true;
+
+	{
+		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
+		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (constraintSolver, m_stackAlloc, dispatcher);
+	}
 }
 
 
@@ -83,6 +253,11 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
 		m_islandManager->~btSimulationIslandManager();
 		btAlignedFree( m_islandManager);
 	}
+	if (m_solverIslandCallback)
+	{
+		m_solverIslandCallback->~InplaceSolverIslandCallback();
+		btAlignedFree(m_solverIslandCallback);
+	}
 	if (m_ownsConstraintSolver)
 	{
 
@@ -138,7 +313,7 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 
 
-	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
+    if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals)))
 	{
 		int i;
 
@@ -314,9 +489,11 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
+
 	///perform collision detection
 	performDiscreteCollisionDetection();
 
+
 	calculateSimulationIslands();
 
 	
@@ -524,187 +701,39 @@ void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
 }
 
 
-SIMD_FORCE_INLINE	int	btGetConstraintIslandId(const btTypedConstraint* lhs)
-{
-	int islandId;
-	
-	const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
-	const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
-	islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
-	return islandId;
-
-}
-
-
-class btSortConstraintOnIslandPredicate
-{
-	public:
-
-		bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs )
-		{
-			int rIslandId0,lIslandId0;
-			rIslandId0 = btGetConstraintIslandId(rhs);
-			lIslandId0 = btGetConstraintIslandId(lhs);
-			return lIslandId0 < rIslandId0;
-		}
-};
-
 
 
 void	btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	BT_PROFILE("solveConstraints");
 	
-	struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
-	{
-
-		btContactSolverInfo&	m_solverInfo;
-		btConstraintSolver*		m_solver;
-		btTypedConstraint**		m_sortedConstraints;
-		int						m_numConstraints;
-		btIDebugDraw*			m_debugDrawer;
-		btStackAlloc*			m_stackAlloc;
-		btDispatcher*			m_dispatcher;
-		
-		btAlignedObjectArray<btCollisionObject*> m_bodies;
-		btAlignedObjectArray<btPersistentManifold*> m_manifolds;
-		btAlignedObjectArray<btTypedConstraint*> m_constraints;
-
-
-		InplaceSolverIslandCallback(
-			btContactSolverInfo& solverInfo,
-			btConstraintSolver*	solver,
-			btTypedConstraint** sortedConstraints,
-			int	numConstraints,
-			btIDebugDraw*	debugDrawer,
-			btStackAlloc*			stackAlloc,
-			btDispatcher* dispatcher)
-			:m_solverInfo(solverInfo),
-			m_solver(solver),
-			m_sortedConstraints(sortedConstraints),
-			m_numConstraints(numConstraints),
-			m_debugDrawer(debugDrawer),
-			m_stackAlloc(stackAlloc),
-			m_dispatcher(dispatcher)
-		{
-
-		}
-
-
-		InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
-		{
-			btAssert(0);
-			(void)other;
-			return *this;
-		}
-		virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
-		{
-			if (islandId<0)
-			{
-				if (numManifolds + m_numConstraints)
-				{
-					///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-				}
-			} else
-			{
-					//also add all non-contact constraints/joints for this island
-				btTypedConstraint** startConstraint = 0;
-				int numCurConstraints = 0;
-				int i;
-				
-				//find the first constraint for this island
-				for (i=0;i<m_numConstraints;i++)
-				{
-					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-					{
-						startConstraint = &m_sortedConstraints[i];
-						break;
-					}
-				}
-				//count the number of constraints in this island
-				for (;i<m_numConstraints;i++)
-				{
-					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
-					{
-						numCurConstraints++;
-					}
-				}
-
-				if (m_solverInfo.m_minimumSolverBatchSize<=1)
-				{
-					///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
-					if (numManifolds + numCurConstraints)
-					{
-						m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-					}
-				} else
-				{
-					
-					for (i=0;i<numBodies;i++)
-						m_bodies.push_back(bodies[i]);
-					for (i=0;i<numManifolds;i++)
-						m_manifolds.push_back(manifolds[i]);
-					for (i=0;i<numCurConstraints;i++)
-						m_constraints.push_back(startConstraint[i]);
-					if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize)
-					{
-						processConstraints();
-					} else
-					{
-						//printf("deferred\n");
-					}
-				}
-			}
-		}
-		void	processConstraints()
-		{
-			if (m_manifolds.size() + m_constraints.size()>0)
-			{
-				m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-			}
-			m_bodies.resize(0);
-			m_manifolds.resize(0);
-			m_constraints.resize(0);
-
-		}
-
-	};
-
-	
-
-	//sorted version of all btTypedConstraint, based on islandId
-	btAlignedObjectArray<btTypedConstraint*>	sortedConstraints;
-	sortedConstraints.resize( m_constraints.size());
+	m_sortedConstraints.resize( m_constraints.size());
 	int i; 
 	for (i=0;i<getNumConstraints();i++)
 	{
-		sortedConstraints[i] = m_constraints[i];
+		m_sortedConstraints[i] = m_constraints[i];
 	}
 
 //	btAssert(0);
 		
 	
 
-	sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
+	m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
 	
-	btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
-	
-	InplaceSolverIslandCallback	solverCallback(	solverInfo,	m_constraintSolver, constraintsPtr,sortedConstraints.size(),	m_debugDrawer,m_stackAlloc,m_dispatcher1);
+	btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
 	
+	m_solverIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer());
 	m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
 	
 	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
+	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback);
 
-	solverCallback.processConstraints();
+	m_solverIslandCallback->processConstraints();
 
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
 }
 
 
-
-
 void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 {
 	BT_PROFILE("calculateSimulationIslands");
@@ -717,18 +746,20 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 		for (i=0;i< numConstraints ; i++ )
 		{
 			btTypedConstraint* constraint = m_constraints[i];
-
-			const btRigidBody* colObj0 = &constraint->getRigidBodyA();
-			const btRigidBody* colObj1 = &constraint->getRigidBodyB();
-
-			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
-				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
+			if (constraint->isEnabled())
 			{
-				if (colObj0->isActive() || colObj1->isActive())
+				const btRigidBody* colObj0 = &constraint->getRigidBodyA();
+				const btRigidBody* colObj1 = &constraint->getRigidBodyB();
+
+				if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+					((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
 				{
+					if (colObj0->isActive() || colObj1->isActive())
+					{
 
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
-						(colObj1)->getIslandTag());
+						getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
+							(colObj1)->getIslandTag());
+					}
 				}
 			}
 		}
@@ -745,12 +776,13 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 
 class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
 {
+public:
+
 	btCollisionObject* m_me;
 	btScalar m_allowedPenetration;
 	btOverlappingPairCache* m_pairCache;
 	btDispatcher* m_dispatcher;
 
-
 public:
 	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
 	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
@@ -797,6 +829,7 @@ public:
 		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
 		if (m_dispatcher->needsResponse(m_me,otherObj))
 		{
+#if 0
 			///don't do CCD when there are already contact points (touching contact/penetration)
 			btAlignedObjectArray<btPersistentManifold*> manifoldArray;
 			btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
@@ -814,8 +847,11 @@ public:
 					}
 				}
 			}
+#endif
+			return true;
 		}
-		return true;
+
+		return false;
 	}
 
 
@@ -824,7 +860,6 @@ public:
 ///internal debugging variable. this value shouldn't be too high
 int gNumClampedCcdMotions=0;
 
-//#include "stdio.h"
 void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	BT_PROFILE("integrateTransforms");
@@ -836,34 +871,93 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 
 		if (body->isActive() && (!body->isStaticOrKinematicObject()))
 		{
+
 			body->predictIntegratedTransform(timeStep, predictedTrans);
+			
 			btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
 
-			if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
+			
+
+			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
 			{
 				BT_PROFILE("CCD motion clamping");
 				if (body->getCollisionShape()->isConvex())
 				{
 					gNumClampedCcdMotions++;
-					
+#ifdef USE_STATIC_ONLY
+					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
+					{
+					public:
+
+						StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
+						  btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
+						{
+						}
+
+					  	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+						{
+							btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+							if (!otherObj->isStaticOrKinematicObject())
+								return false;
+							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
+						}
+					};
+
+					StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+#else
 					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+#endif
 					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
 					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
 
 					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
 					sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+					btTransform modifiedPredictedTrans = predictedTrans;
+					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
 
-					convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
+					convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
 					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
 					{
+						
+						//printf("clamped integration to hit fraction = %f\n",fraction);
 						body->setHitFraction(sweepResults.m_closestHitFraction);
 						body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
 						body->setHitFraction(0.f);
-//							printf("clamped integration to hit fraction = %f\n",fraction);
+						body->proceedToTransform( predictedTrans);
+
+#if 0
+						btVector3 linVel = body->getLinearVelocity();
+
+						btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep;
+						btScalar maxSpeedSqr = maxSpeed*maxSpeed;
+						if (linVel.length2()>maxSpeedSqr)
+						{
+							linVel.normalize();
+							linVel*= maxSpeed;
+							body->setLinearVelocity(linVel);
+							btScalar ms2 = body->getLinearVelocity().length2();
+							body->predictIntegratedTransform(timeStep, predictedTrans);
+
+							btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
+							btScalar smt = body->getCcdSquareMotionThreshold();
+							printf("sm2=%f\n",sm2);
+						}
+#else
+						//response  between two dynamic objects without friction, assuming 0 penetration depth
+						btScalar appliedImpulse = 0.f;
+						btScalar depth = 0.f;
+						appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
+						
+
+#endif
+
+        				continue;
 					}
 				}
 			}
 			
+
 			body->proceedToTransform( predictedTrans);
 		}
 	}
@@ -873,6 +967,7 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 
 
 
+
 void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 {
 	BT_PROFILE("predictUnconstraintMotion");