Upgrade to latest Bullet trunk, that is in sync with Blender/extern/bullet2. (except for one define 'WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER')

In case someone reads those SVN logs: you can enable some extra broadphase SSE optimizations by replacing WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER by WIN32 in extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h

Thanks to Benoit Bolsee for the upstream patch/contribution.
Removed some obsolete files, they were just intended for comparison/testing.

20 files changed, 145 insertions, 3035 deletions

diff --git a/extern/bullet2/src/BulletDynamics/CMakeLists.txt b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
index 8598575799a..58b023e9775 100644
--- a/extern/bullet2/src/BulletDynamics/CMakeLists.txt
+++ b/extern/bullet2/src/BulletDynamics/CMakeLists.txt
@@ -5,16 +5,32 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src }
 ADD_LIBRARY(LibBulletDynamics
 
 	ConstraintSolver/btContactConstraint.cpp
+	ConstraintSolver/btContactConstraint.h
+	ConstraintSolver/btConeTwistConstraint.cpp
+	ConstraintSolver/btConeTwistConstraint.h
 	ConstraintSolver/btGeneric6DofConstraint.cpp
+	ConstraintSolver/btGeneric6DofConstraint.h
 	ConstraintSolver/btHingeConstraint.cpp
+	ConstraintSolver/btHingeConstraint.h
 	ConstraintSolver/btPoint2PointConstraint.cpp
+	ConstraintSolver/btPoint2PointConstraint.h
 	ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+	ConstraintSolver/btSequentialImpulseConstraintSolver.h
+	ConstraintSolver/btSliderConstraint.cpp
+	ConstraintSolver/btSliderConstraint.h
 	ConstraintSolver/btSolve2LinearConstraint.cpp
+	ConstraintSolver/btSolve2LinearConstraint.h
 	ConstraintSolver/btTypedConstraint.cpp
+	ConstraintSolver/btTypedConstraint.h
+	Dynamics/Bullet-C-API.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
+	Dynamics/btDiscreteDynamicsWorld.h
 	Dynamics/btSimpleDynamicsWorld.cpp
-	Dynamics/Bullet-C-API.cpp
+	Dynamics/btSimpleDynamicsWorld.h
 	Dynamics/btRigidBody.cpp
+	Dynamics/btRigidBody.h
 	Vehicle/btRaycastVehicle.cpp
+	Vehicle/btRaycastVehicle.h
 	Vehicle/btWheelInfo.cpp
+	Vehicle/btWheelInfo.h
 )
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index e11b49d9420..61dad522a5b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -114,17 +114,34 @@ void	btConeTwistConstraint::buildJacobian()
 
 	btScalar swing1=btScalar(0.),swing2 = btScalar(0.);
 
+	btScalar swx=btScalar(0.),swy = btScalar(0.);
+	btScalar thresh = btScalar(10.);
+	btScalar fact;
+
 	// Get Frame into world space
 	if (m_swingSpan1 >= btScalar(0.05f))
 	{
 		b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1);
-		swing1  = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
+//		swing1  = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
+		swx = b2Axis1.dot(b1Axis1);
+		swy = b2Axis1.dot(b1Axis2);
+		swing1  = btAtan2Fast(swy, swx);
+		fact = (swy*swy + swx*swx) * thresh * thresh;
+		fact = fact / (fact + btScalar(1.0));
+		swing1 *= fact; 
+
 	}
 
 	if (m_swingSpan2 >= btScalar(0.05f))
 	{
 		b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2);			
-		swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
+//		swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
+		swx = b2Axis1.dot(b1Axis1);
+		swy = b2Axis1.dot(b1Axis3);
+		swing2  = btAtan2Fast(swy, swx);
+		fact = (swy*swy + swx*swx) * thresh * thresh;
+		fact = fact / (fact + btScalar(1.0));
+		swing2 *= fact; 
 	}
 
 	btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1);		
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 114abce24c7..a0523a8c76b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -241,15 +241,18 @@ void	btHingeConstraint::buildJacobian()
 	m_solveLimit = false;
 	m_accLimitImpulse = btScalar(0.);
 
-	if (m_lowerLimit < m_upperLimit)
+//	if (m_lowerLimit < m_upperLimit)
+	if (m_lowerLimit <= m_upperLimit)
 	{
-		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+//		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+		if (hingeAngle <= m_lowerLimit)
 		{
 			m_correction = (m_lowerLimit - hingeAngle);
 			m_limitSign = 1.0f;
 			m_solveLimit = true;
 		} 
-		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+//		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+		else if (hingeAngle >= m_upperLimit)
 		{
 			m_correction = m_upperLimit - hingeAngle;
 			m_limitSign = -1.0f;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.cpp
deleted file mode 100644
index 7d2f19998ac..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.cpp
+++ /dev/null
@@ -1,278 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "btOdeContactJoint.h"
-#include "btOdeSolverBody.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-
-//this constant needs to be set up so different solvers give 'similar' results
-#define FRICTION_CONSTANT 120.f
-
-
-btOdeContactJoint::btOdeContactJoint(btPersistentManifold* manifold,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1)
-:m_manifold(manifold),
-m_index(index),
-m_swapBodies(swap),
-m_body0(body0),
-m_body1(body1)
-{
-}
-
-int m_numRows = 3;
-
-
-void btOdeContactJoint::GetInfo1(Info1 *info)
-{
-	info->m = m_numRows;
-	//friction adds another 2...
-	
-	info->nub = 0;
-}
-
-#define dCROSS(a,op,b,c) \
-  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
-  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
-  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
-
-#define M_SQRT12 btScalar(0.7071067811865475244008443621048490)
-
-#define dRecipSqrt(x) ((float)(1.0f/btSqrt(float(x))))		/* reciprocal square root */
-
-
-
-void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q);
-void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q)
-{
-  if (btFabs(n[2]) > M_SQRT12) {
-    // choose p in y-z plane
-    btScalar a = n[1]*n[1] + n[2]*n[2];
-    btScalar k = dRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    btScalar a = n[0]*n[0] + n[1]*n[1];
-    btScalar k = dRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}
-
-
-
-void btOdeContactJoint::GetInfo2(Info2 *info)
-{
-	
-	int s = info->rowskip;
-	int s2 = 2*s;
-	
-	float swapFactor = m_swapBodies ? -1.f : 1.f;
-	
-	// get normal, with sign adjusted for body1/body2 polarity
-	dVector3 normal;
-	
-	
-	btManifoldPoint& point = m_manifold->getContactPoint(m_index);
-	
-	normal[0] = swapFactor*point.m_normalWorldOnB.x();
-	normal[1] = swapFactor*point.m_normalWorldOnB.y();
-	normal[2] = swapFactor*point.m_normalWorldOnB.z();
-	normal[3] = 0;	// @@@ hmmm
-	
-	assert(m_body0);
-	//	if (GetBody0())
-	btVector3 relativePositionA;
-	{
-		relativePositionA = point.getPositionWorldOnA() - m_body0->m_centerOfMassPosition;
-		dVector3 c1;
-		c1[0] = relativePositionA.x();
-		c1[1] = relativePositionA.y();
-		c1[2] = relativePositionA.z();
-		
-		// set jacobian for normal
-		info->J1l[0] = normal[0];
-		info->J1l[1] = normal[1];
-		info->J1l[2] = normal[2];
-		dCROSS (info->J1a,=,c1,normal);
-		
-	}
-
-	btVector3 relativePositionB(0,0,0);
-	if (m_body1)
-	{
-		//		if (GetBody1())
-		
-		{
-			dVector3 c2;
-			btVector3	posBody1 = m_body1 ? m_body1->m_centerOfMassPosition : btVector3(0,0,0);
-			relativePositionB = point.getPositionWorldOnB() - posBody1;
-			
-			//			for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
-			//					  j->node[1].body->pos[i];
-			c2[0] = relativePositionB.x();
-			c2[1] = relativePositionB.y();
-			c2[2] = relativePositionB.z();
-			
-			info->J2l[0] = -normal[0];
-			info->J2l[1] = -normal[1];
-			info->J2l[2] = -normal[2];
-			dCROSS (info->J2a,= -,c2,normal);
-		}
-	}
-	
-	btScalar k = info->fps * info->erp;
-	
-	float depth = -point.getDistance();
-//	if (depth < 0.f)
-//		depth = 0.f;
-	
-	info->c[0] = k * depth;
-	//float maxvel = .2f;
-
-//	if (info->c[0] > maxvel)
-//		info->c[0] = maxvel;
-
-
-	//can override it, not necessary
-//	info->cfm[0] = 0.f;
-//	info->cfm[1] = 0.f;
-//	info->cfm[2] = 0.f;
-	
-	
-	
-	// set LCP limits for normal
-	info->lo[0] = 0;
-	info->hi[0] = 1e30f;//dInfinity;
-	info->lo[1] = 0;
-	info->hi[1] = 0.f;
-	info->lo[2] = 0.f;
-	info->hi[2] = 0.f;
-
-#define DO_THE_FRICTION_2
-#ifdef DO_THE_FRICTION_2
-	// now do jacobian for tangential forces
-	dVector3 t1,t2;	// two vectors tangential to normal
-	
-	dVector3 c1;
-	c1[0] = relativePositionA.x();
-	c1[1] = relativePositionA.y();
-	c1[2] = relativePositionA.z();
-	
-	dVector3 c2;
-	c2[0] = relativePositionB.x();
-	c2[1] = relativePositionB.y();
-	c2[2] = relativePositionB.z();
-	
-	//combined friction is available in the contact point
-	float friction = 0.25;//FRICTION_CONSTANT ;//* m_body0->m_friction * m_body1->m_friction;
-	
-	// first friction direction
-	if (m_numRows >= 2) 
-	{
-		
-		
-		
-		dPlaneSpace1 (normal,t1,t2);
-		
-		info->J1l[s+0] = t1[0];
-		info->J1l[s+1] = t1[1];
-		info->J1l[s+2] = t1[2];
-		dCROSS (info->J1a+s,=,c1,t1);
-//		if (1) { //j->node[1].body) {
-			info->J2l[s+0] = -t1[0];
-			info->J2l[s+1] = -t1[1];
-			info->J2l[s+2] = -t1[2];
-			dCROSS (info->J2a+s,= -,c2,t1);
-//		}
-		// set right hand side
-//		if (0) {//j->contact.surface.mode & dContactMotion1) {
-			//info->c[1] = j->contact.surface.motion1;
-//		}
-		// set LCP bounds and friction index. this depends on the approximation
-		// mode
-		//1e30f
-		
-		
-		info->lo[1] = -friction;//-j->contact.surface.mu;
-		info->hi[1] = friction;//j->contact.surface.mu;
-//		if (1)//j->contact.surface.mode & dContactApprox1_1) 
-			info->findex[1] = 0;
-		
-		// set slip (constraint force mixing)
-//		if (0)//j->contact.surface.mode & dContactSlip1)
-//		{
-//			//	info->cfm[1] = j->contact.surface.slip1;
-//		} else
-//		{
-//			//info->cfm[1] = 0.f;
-//		}
-	}
-	
-	// second friction direction
-	if (m_numRows >= 3) {
-		info->J1l[s2+0] = t2[0];
-		info->J1l[s2+1] = t2[1];
-		info->J1l[s2+2] = t2[2];
-		dCROSS (info->J1a+s2,=,c1,t2);
-//		if (1) { //j->node[1].body) {
-			info->J2l[s2+0] = -t2[0];
-			info->J2l[s2+1] = -t2[1];
-			info->J2l[s2+2] = -t2[2];
-			dCROSS (info->J2a+s2,= -,c2,t2);
-//		}
-
-		// set right hand side
-//		if (0){//j->contact.surface.mode & dContactMotion2) {
-			//info->c[2] = j->contact.surface.motion2;
-//		}
-		// set LCP bounds and friction index. this depends on the approximation
-		// mode
-//		if (0){//j->contact.surface.mode & dContactMu2) {
-			//info->lo[2] = -j->contact.surface.mu2;
-			//info->hi[2] = j->contact.surface.mu2;
-//		}
-//		else {
-			info->lo[2] = -friction;
-			info->hi[2] = friction;
-//		}
-//		if (0)//j->contact.surface.mode & dContactApprox1_2) 
-			
-//		{
-//			info->findex[2] = 0;
-//		}
-		// set slip (constraint force mixing)
-//		if (0) //j->contact.surface.mode & dContactSlip2)
-			
-//		{
-			//info->cfm[2] = j->contact.surface.slip2;
-			
-//		}
-	}
-	
-#endif //DO_THE_FRICTION_2
-	
-}
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.h
deleted file mode 100644
index 8dd0282c59e..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeContactJoint.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_JOINT_H
-#define CONTACT_JOINT_H
-
-#include "btOdeJoint.h"
-struct btOdeSolverBody;
-class btPersistentManifold;
-
-class btOdeContactJoint : public btOdeJoint
-{
-	btPersistentManifold* m_manifold;
-	int		m_index;
-	bool	m_swapBodies;
-	btOdeSolverBody* m_body0;
-	btOdeSolverBody* m_body1;
-
-
-public:
-
-	btOdeContactJoint() {};
-
-	btOdeContactJoint(btPersistentManifold* manifold,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
-
-	//btOdeJoint interface for solver
-
-	virtual void GetInfo1(Info1 *info);
-
-	virtual void GetInfo2(Info2 *info);
-
-
-	
-
-};
-
-#endif //CONTACT_JOINT_H
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.cpp
deleted file mode 100644
index 46c3783c6a0..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btOdeJoint.h"
-
-btOdeJoint::btOdeJoint()
-{
-
-}
-btOdeJoint::~btOdeJoint()
-{
-
-}
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h
deleted file mode 100644
index 50733d1418f..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef btOdeJoint_H
-#define btOdeJoint_H
-
-struct btOdeSolverBody;
-class btOdeJoint;
-
-#include "LinearMath/btScalar.h"
-
-struct BU_ContactJointNode {
-  btOdeJoint *joint;		// pointer to enclosing btOdeJoint object
-  btOdeSolverBody* body;			// *other* body this joint is connected to
-};
-typedef btScalar dVector3[4];
-
-
-class btOdeJoint  {
-  
-public:
-	// naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  btOdeJoint();
-  virtual ~btOdeJoint();
-  
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    btScalar fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    btScalar *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    btScalar *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    btScalar *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  virtual void GetInfo1 (Info1 *info)=0;
-  virtual void GetInfo2 (Info2 *info)=0;
-
-  int flags;			// dJOINT_xxx flags
-  BU_ContactJointNode node[2];		// connections to bodies. node[1].body can be 0
-   btScalar lambda[6];		// lambda generated by last step
-};
-
-
-#endif //btOdeJoint_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeMacros.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeMacros.h
deleted file mode 100644
index e4bc2628bd4..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeMacros.h
+++ /dev/null
@@ -1,212 +0,0 @@
-/*
- * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
- Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#define ODE_MACROS
-#ifdef ODE_MACROS
-
-#include "LinearMath/btScalar.h"
-
-typedef btScalar dVector4[4];
-typedef btScalar dMatrix3[4*3];
-#define dInfinity FLT_MAX
-
-
-
-#define dRecip(x) ((float)(1.0f/(x)))				/* reciprocal */
-
-
-
-#define dMULTIPLY0_331NEW(A,op,B,C) \
-{\
-	btScalar tmp[3];\
-	tmp[0] = C.getX();\
-	tmp[1] = C.getY();\
-	tmp[2] = C.getZ();\
-	dMULTIPLYOP0_331(A,op,B,tmp);\
-}
-
-#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
-#define dMULTIPLYOP0_331(A,op,B,C) \
-  (A)[0] op dDOT1((B),(C)); \
-  (A)[1] op dDOT1((B+4),(C)); \
-  (A)[2] op dDOT1((B+8),(C));
-
-#define dAASSERT btAssert
-#define dIASSERT btAssert
-
-#define REAL float
-#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
-inline btScalar dDOT1 (const btScalar *a, const btScalar *b)
-{ return dDOTpq(a,b,1,1); }
-#define dDOT14(a,b) dDOTpq(a,b,1,4)
-
-#define dCROSS(a,op,b,c) \
-  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
-  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
-  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
-
-/*
- * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
- * A is stored by rows, and has `skip' elements per row. the matrix is
- * assumed to be already zero, so this does not write zero elements!
- * if (plus,minus) is (+,-) then a positive version will be written.
- * if (plus,minus) is (-,+) then a negative version will be written.
- */
-
-#define dCROSSMAT(A,a,skip,plus,minus) \
-{ \
-  (A)[1] = minus (a)[2]; \
-  (A)[2] = plus (a)[1]; \
-  (A)[(skip)+0] = plus (a)[2]; \
-  (A)[(skip)+2] = minus (a)[0]; \
-  (A)[2*(skip)+0] = minus (a)[1]; \
-  (A)[2*(skip)+1] = plus (a)[0]; \
-} 
-
-
-#define dMULTIPLYOP2_333(A,op,B,C) \
-  (A)[0] op dDOT1((B),(C)); \
-  (A)[1] op dDOT1((B),(C+4)); \
-  (A)[2] op dDOT1((B),(C+8)); \
-  (A)[4] op dDOT1((B+4),(C)); \
-  (A)[5] op dDOT1((B+4),(C+4)); \
-  (A)[6] op dDOT1((B+4),(C+8)); \
-  (A)[8] op dDOT1((B+8),(C)); \
-  (A)[9] op dDOT1((B+8),(C+4)); \
-  (A)[10] op dDOT1((B+8),(C+8));
-
-#define dMULTIPLYOP0_333(A,op,B,C) \
-  (A)[0] op dDOT14((B),(C)); \
-  (A)[1] op dDOT14((B),(C+1)); \
-  (A)[2] op dDOT14((B),(C+2)); \
-  (A)[4] op dDOT14((B+4),(C)); \
-  (A)[5] op dDOT14((B+4),(C+1)); \
-  (A)[6] op dDOT14((B+4),(C+2)); \
-  (A)[8] op dDOT14((B+8),(C)); \
-  (A)[9] op dDOT14((B+8),(C+1)); \
-  (A)[10] op dDOT14((B+8),(C+2));
-
-#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
-#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
-#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
-
-
-////////////////////////////////////////////////////////////////////
-#define EFFICIENT_ALIGNMENT 16
-#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
-/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
- * up to 15 bytes per allocation, depending on what alloca() returns.
- */
-
-#define dALLOCA16(n) \
-  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
-
-//#define ALLOCA dALLOCA16
-
-typedef const btScalar *dRealPtr;
-typedef btScalar *dRealMutablePtr;
-//#define dRealArray(name,n) btScalar name[n];
-//#define dRealAllocaArray(name,n) btScalar *name = (btScalar*) ALLOCA ((n)*sizeof(btScalar));
-
-///////////////////////////////////////////////////////////////////////////////
-
- //Remotion: 10.10.2007
-#define ALLOCA(size) stackAlloc->allocate( dEFFICIENT_SIZE(size) );
-
-//#define dRealAllocaArray(name,size) btScalar *name = (btScalar*) stackAlloc->allocate(dEFFICIENT_SIZE(size)*sizeof(btScalar));
-#define dRealAllocaArray(name,size) btScalar *name = NULL; \
-	unsigned int  memNeeded_##name = dEFFICIENT_SIZE(size)*sizeof(btScalar); \
-	if (memNeeded_##name < static_cast<size_t>(stackAlloc->getAvailableMemory())) name = (btScalar*) stackAlloc->allocate(memNeeded_##name); \
-	else{ btAssert(memNeeded_##name < static_cast<size_t>(stackAlloc->getAvailableMemory())); name = (btScalar*) alloca(memNeeded_##name); } 
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////
-#if 0
-inline void dSetZero1 (btScalar *a, int n)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = 0;
-    n--;
-  }
-}
-
-inline void dSetValue1 (btScalar *a, int n, btScalar value)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = value;
-    n--;
-  }
-}
-#else
-
-/// This macros are for MSVC and XCode compilers. Remotion.
-
-
-#include <string.h> //for memset
-
-//Remotion: 10.10.2007
-//------------------------------------------------------------------------------
-#define IS_ALIGNED_16(x)	((size_t(x)&15)==0)
-//------------------------------------------------------------------------------
-inline void dSetZero1 (btScalar *dest, int size)
-{
-	dAASSERT (dest && size >= 0);
-	memset(dest, 0, size * sizeof(btScalar));
-}
-//------------------------------------------------------------------------------
-inline void dSetValue1 (btScalar *dest, int size, btScalar val)
-{
-	dAASSERT (dest && size >= 0);
-	int n_mod4 = size & 3;		
-	int n4 = size - n_mod4;
-/*#ifdef __USE_SSE__
-//it is not supported on double precision, todo...
-	if(IS_ALIGNED_16(dest)){
-		__m128 xmm0 = _mm_set_ps1(val);
-		for (int i=0; i<n4; i+=4)
-		{
-			_mm_store_ps(&dest[i],xmm0);
-		}
-	}else
-#endif
-	*/
-
-	{
-		for (int i=0; i<n4; i+=4) // Unrolled Loop
-		{
-			dest[i  ] = val;
-			dest[i+1] = val;
-			dest[i+2] = val;
-			dest[i+3] = val;
-		}
-	}
-	for (int  i=n4; i<size; i++){
-		dest[i] = val;
-	}
-}
-#endif
-/////////////////////////////////////////////////////////////////////
-
-
-#endif //USE_SOR_SOLVER
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
deleted file mode 100644
index ab90c926559..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
+++ /dev/null
@@ -1,393 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "btOdeQuickstepConstraintSolver.h"
-
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-#include "btOdeJoint.h"
-#include "btOdeContactJoint.h"
-#include "btOdeTypedJoint.h"
-#include "btOdeSolverBody.h"
-#include <new>
-#include "LinearMath/btQuickprof.h"
-
-#include "LinearMath/btIDebugDraw.h"
-
-#define USE_SOR_SOLVER
-
-#include "btSorLcp.h"
-
-#include <math.h>
-#include <float.h>//FLT_MAX
-#ifdef WIN32
-#include <memory.h>
-#endif
-#include <string.h>
-#include <stdio.h>
-
-#if defined (WIN32)
-#include <malloc.h>
-#else
-#if defined (__FreeBSD__)
-#include <stdlib.h>
-#else
-#include <alloca.h>
-#endif
-#endif
-
-class btOdeJoint;
-
-//see below
-//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island
-
-
-btOdeQuickstepConstraintSolver::btOdeQuickstepConstraintSolver():
-        m_cfm(0.f),//1e-5f),
-        m_erp(0.4f)
-{
-}
-
-
-//iterative lcp and penalty method
-btScalar btOdeQuickstepConstraintSolver::solveGroup(btCollisionObject** /*bodies*/,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
-{
-
-    m_CurBody = 0;
-    m_CurJoint = 0;
-    m_CurTypedJoint = 0;
-	int j;
-
-	int max_contacts = 0; /// should be 4 //Remotion
-	for ( j=0;j<numManifolds;j++){
-		btPersistentManifold* manifold = manifoldPtr[j];
-		if (manifold->getNumContacts() > max_contacts)  max_contacts = manifold->getNumContacts();
-	}
-	//if(max_contacts > 4)
-	//	printf(" max_contacts > 4");
-
-	int numBodies = 0;
-	m_odeBodies.clear();
-	m_odeBodies.reserve(numBulletBodies + 1); //???
-	// btOdeSolverBody* odeBodies [ODE_MAX_SOLVER_BODIES];
-
-    int numJoints = 0;
-	m_joints.clear();
-	m_joints.reserve(numManifolds * max_contacts + 4 + numConstraints + 1); //???
-   // btOdeJoint* joints [ODE_MAX_SOLVER_JOINTS*2];
-
-	m_SolverBodyArray.resize(numBulletBodies + 1);
-	m_JointArray.resize(numManifolds * max_contacts + 4);
-	m_TypedJointArray.resize(numConstraints + 1);
-
-
-	//capture contacts
-	int body0=-1,body1=-1;
-    for (j=0;j<numManifolds;j++)
-    {
-        btPersistentManifold* manifold = manifoldPtr[j];
-        if (manifold->getNumContacts() > 0)
-        {
-            body0 = ConvertBody((btRigidBody*)manifold->getBody0(),m_odeBodies,numBodies);
-            body1 = ConvertBody((btRigidBody*)manifold->getBody1(),m_odeBodies,numBodies);
-            ConvertConstraint(manifold,m_joints,numJoints,m_odeBodies,body0,body1,debugDrawer);
-        }
-    }
-
-    //capture constraints
-    for (j=0;j<numConstraints;j++)
-    {
-    	btTypedConstraint * typedconstraint = constraints[j];
-		body0 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyA(),m_odeBodies,numBodies);
-		body1 = ConvertBody((btRigidBody*)&typedconstraint->getRigidBodyB(),m_odeBodies,numBodies);
-		ConvertTypedConstraint(typedconstraint,m_joints,numJoints,m_odeBodies,body0,body1,debugDrawer);
-    }
-	//if(numBodies > numBulletBodies) 
-	//	printf(" numBodies > numBulletBodies");
-	//if(numJoints > numManifolds * 4 + numConstraints) 
-	//	printf(" numJoints > numManifolds * 4 + numConstraints");
-
-
-     m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
-
-    //write back resulting velocities
-    for (int i=0;i<numBodies;i++)
-    {
-        if (m_odeBodies[i]->m_invMass)
-        {
-            m_odeBodies[i]->m_originalBody->setLinearVelocity(m_odeBodies[i]->m_linearVelocity);
-            m_odeBodies[i]->m_originalBody->setAngularVelocity(m_odeBodies[i]->m_angularVelocity);
-        }
-    }
- 
-
-	/// Remotion, just free all this here
-	m_odeBodies.clear();
-	m_joints.clear();
-
-	m_SolverBodyArray.clear();
-	m_JointArray.clear();
-	m_TypedJointArray.clear();
-
-    return 0.f;
-
-}
-
-/////////////////////////////////////////////////////////////////////////////////
-
-
-typedef btScalar dQuaternion[4];
-#define _R(i,j) R[(i)*4+(j)]
-
-void dRfromQ1 (dMatrix3 R, const dQuaternion q);
-void dRfromQ1 (dMatrix3 R, const dQuaternion q)
-{
-    // q = (s,vx,vy,vz)
-    btScalar qq1 = 2.f*q[1]*q[1];
-    btScalar qq2 = 2.f*q[2]*q[2];
-    btScalar qq3 = 2.f*q[3]*q[3];
-    _R(0,0) = 1.f - qq2 - qq3;
-    _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
-    _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
-    _R(0,3) = 0.f;
-
-    _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
-    _R(1,1) = 1.f - qq1 - qq3;
-    _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
-    _R(1,3) = 0.f;
-
-    _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
-    _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
-    _R(2,2) = 1.f - qq1 - qq2;
-    _R(2,3) = 0.f;
-
-}
-
-
-
-//int btOdeQuickstepConstraintSolver::ConvertBody(btRigidBody* orgBody,btOdeSolverBody** bodies,int& numBodies)
-int btOdeQuickstepConstraintSolver::ConvertBody(btRigidBody* orgBody,btAlignedObjectArray< btOdeSolverBody*> &bodies,int& numBodies)
-{
-    assert(orgBody);
-    if (!orgBody || (orgBody->getInvMass() == 0.f) )
-    {
-        return -1;
-    }
-
-    if (orgBody->getCompanionId()>=0)
-    {
-        return orgBody->getCompanionId();
-    }
-    //first try to find
-    int i,j;
-
-    //if not found, create a new body
-   // btOdeSolverBody* body = bodies[numBodies] = &gSolverBodyArray[numBodies];
-	btOdeSolverBody* body = &m_SolverBodyArray[numBodies];
-	bodies.push_back(body); // Remotion 10.10.07: 
-
-    orgBody->setCompanionId(numBodies);
-
-    numBodies++;
-
-    body->m_originalBody = orgBody;
-
-    body->m_facc.setValue(0,0,0,0);
-    body->m_tacc.setValue(0,0,0,0);
-
-    body->m_linearVelocity = orgBody->getLinearVelocity();
-    body->m_angularVelocity = orgBody->getAngularVelocity();
-    body->m_invMass = orgBody->getInvMass();
-    body->m_centerOfMassPosition = orgBody->getCenterOfMassPosition();
-    body->m_friction = orgBody->getFriction();
-
-    //are the indices the same ?
-    for (i=0;i<4;i++)
-    {
-        for ( j=0;j<3;j++)
-        {
-            body->m_invI[i+4*j] = 0.f;
-            body->m_I[i+4*j] = 0.f;
-        }
-    }
-    body->m_invI[0+4*0] = 	orgBody->getInvInertiaDiagLocal().x();
-    body->m_invI[1+4*1] = 	orgBody->getInvInertiaDiagLocal().y();
-    body->m_invI[2+4*2] = 	orgBody->getInvInertiaDiagLocal().z();
-
-    body->m_I[0+0*4] = 1.f/orgBody->getInvInertiaDiagLocal().x();
-    body->m_I[1+1*4] = 1.f/orgBody->getInvInertiaDiagLocal().y();
-    body->m_I[2+2*4] = 1.f/orgBody->getInvInertiaDiagLocal().z();
-
-
-
-
-    dQuaternion q;
-
-    q[1] = orgBody->getOrientation().x();
-    q[2] = orgBody->getOrientation().y();
-    q[3] = orgBody->getOrientation().z();
-    q[0] = orgBody->getOrientation().w();
-
-    dRfromQ1(body->m_R,q);
-
-    return numBodies-1;
-}
-
-
-
-
-
-
-
-
-
-void btOdeQuickstepConstraintSolver::ConvertConstraint(btPersistentManifold* manifold,
-											btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
-											const btAlignedObjectArray< btOdeSolverBody*> &bodies,
-											int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer)
-{
-
-
-    manifold->refreshContactPoints(((btRigidBody*)manifold->getBody0())->getCenterOfMassTransform(),
-                                   ((btRigidBody*)manifold->getBody1())->getCenterOfMassTransform());
-
-    int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
-
-    int i,numContacts = manifold->getNumContacts();
-
-    bool swapBodies = (bodyId0 < 0);
-
-
-    btOdeSolverBody* body0,*body1;
-
-    if (swapBodies)
-    {
-        bodyId0 = _bodyId1;
-        bodyId1 = _bodyId0;
-
-        body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
-        body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
-
-    }
-    else
-    {
-        body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
-        body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
-    }
-
-    assert(bodyId0 >= 0);
-
-    btVector3 color(0,1,0);
-    for (i=0;i<numContacts;i++)
-    {
-
-        //assert (m_CurJoint < ODE_MAX_SOLVER_JOINTS);
-
-//		if (manifold->getContactPoint(i).getDistance() < 0.0f)
-        {
-
-            btOdeContactJoint* cont = new (&m_JointArray[m_CurJoint++]) btOdeContactJoint( manifold ,i, swapBodies,body0,body1);
-            //btOdeContactJoint* cont = new (&gJointArray[m_CurJoint++]) btOdeContactJoint( manifold ,i, swapBodies,body0,body1);
-
-            cont->node[0].joint = cont;
-            cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
-
-            cont->node[1].joint = cont;
-            cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
-
-           // joints[numJoints++] = cont;
-			joints.push_back(cont); // Remotion 10.10.07: 
-			numJoints++;
-
-            for (int i=0;i<6;i++)
-                cont->lambda[i] = 0.f;
-
-            cont->flags = 0;
-        }
-    }
-
-    //create a new contact constraint
-}
-
-void btOdeQuickstepConstraintSolver::ConvertTypedConstraint(
-					btTypedConstraint * constraint,
-					btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
-					const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* /*debugDrawer*/)
-{
-
-    int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
-    bool swapBodies = (bodyId0 < 0);
-
-
-    btOdeSolverBody* body0,*body1;
-
-    if (swapBodies)
-    {
-        bodyId0 = _bodyId1;
-        bodyId1 = _bodyId0;
-
-        body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody1();
-        body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody0();
-
-    }
-    else
-    {
-        body0 = bodyId0>=0 ? bodies[bodyId0] : 0;//(btRigidBody*)manifold->getBody0();
-        body1 = bodyId1>=0 ? bodies[bodyId1] : 0;//(btRigidBody*)manifold->getBody1();
-    }
-
-    assert(bodyId0 >= 0);
-
-
-	//assert (m_CurTypedJoint < ODE_MAX_SOLVER_JOINTS);
-
-
-	btOdeTypedJoint * cont = NULL;
-
-	// Determine constraint type
-	int joint_type = constraint->getConstraintType();
-	switch(joint_type)
-	{
-	case POINT2POINT_CONSTRAINT_TYPE:
-	case D6_CONSTRAINT_TYPE:
-		cont = new (&m_TypedJointArray[m_CurTypedJoint ++]) btOdeTypedJoint(constraint,0, swapBodies,body0,body1);
-		//cont = new (&gTypedJointArray[m_CurTypedJoint ++]) btOdeTypedJoint(constraint,0, swapBodies,body0,body1);
-		break;
-
-	};
-
-	if(cont)
-	{
-		cont->node[0].joint = cont;
-		cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
-
-		cont->node[1].joint = cont;
-		cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
-
-		// joints[numJoints++] = cont;
-		joints.push_back(cont); // Remotion 10.10.07: 
-		numJoints++;
-
-		for (int i=0;i<6;i++)
-			cont->lambda[i] = 0.f;
-
-		cont->flags = 0;
-	}
-
-}
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.h
deleted file mode 100644
index e548ea6fc22..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/*
- * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
- Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef ODE_CONSTRAINT_SOLVER_H
-#define ODE_CONSTRAINT_SOLVER_H
-
-#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btOdeContactJoint.h"
-#include "btOdeTypedJoint.h"
-#include "btOdeSolverBody.h"
-#include "btSorLcp.h"
-
-class btRigidBody;
-struct	btOdeSolverBody;
-class btOdeJoint;
-
-/// btOdeQuickstepConstraintSolver is one of the available solvers for Bullet dynamics framework
-/// It uses an adapted version quickstep solver from the Open Dynamics Engine project
-class btOdeQuickstepConstraintSolver : public btConstraintSolver
-{
-private:
-	int		m_CurBody;
-	int		m_CurJoint;
-	int		m_CurTypedJoint;
-
-	float	m_cfm;
-	float	m_erp;
-
-	btSorLcpSolver	m_SorLcpSolver;
-
-	btAlignedObjectArray<btOdeSolverBody*> m_odeBodies;
-	btAlignedObjectArray<btOdeJoint*>		 m_joints;
-
-	btAlignedObjectArray<btOdeSolverBody>  m_SolverBodyArray;
-	btAlignedObjectArray<btOdeContactJoint>   m_JointArray;
-	btAlignedObjectArray<btOdeTypedJoint>  m_TypedJointArray;
-
-
-private:
-	int  ConvertBody(btRigidBody* body,btAlignedObjectArray< btOdeSolverBody*> &bodies,int& numBodies);
-	void ConvertConstraint(btPersistentManifold* manifold,
-							btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
-							const btAlignedObjectArray< btOdeSolverBody*> &bodies,
-							int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
-
-	void ConvertTypedConstraint(
-							btTypedConstraint * constraint,
-							btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
-							const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
-
-
-public:
-
-	btOdeQuickstepConstraintSolver();
-
-	virtual ~btOdeQuickstepConstraintSolver() {}
-
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
-
-	///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
-	///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
-	void	setConstraintForceMixing(float cfm) {
-		m_cfm  = cfm;
-	}
-
-	///setErrorReductionParamter sets the maximum amount of error reduction
-	///which limits energy addition during penetration depth recovery
-	void	setErrorReductionParamter(float erp)
-	{
-		m_erp = erp;
-	}
-
-	///clear internal cached data and reset random seed
-	void reset()
-	{
-		m_SorLcpSolver.dRand2_seed = 0;
-	}
-
-	void	setRandSeed(unsigned long seed)
-	{
-		m_SorLcpSolver.dRand2_seed = seed;
-	}
-	unsigned long	getRandSeed() const
-	{
-		return m_SorLcpSolver.dRand2_seed;
-	}
-};
-
-
-
-
-#endif //ODE_CONSTRAINT_SOLVER_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeSolverBody.h
deleted file mode 100644
index 0c936971b79..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeSolverBody.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef ODE_SOLVER_BODY_H
-#define ODE_SOLVER_BODY_H
-
-class	btRigidBody;
-#include "LinearMath/btVector3.h"
-typedef btScalar dMatrix3[4*3];
-
-///ODE's quickstep needs just a subset of the rigidbody data in its own layout, so make a temp copy
-struct	btOdeSolverBody 
-{
-	btRigidBody*	m_originalBody;
-
-	btVector3		m_centerOfMassPosition;
-	/// for ode solver-binding
-	dMatrix3		m_R;//temp
-	dMatrix3		m_I;
-	dMatrix3		m_invI;
-
-	int				m_odeTag;
-	float			m_invMass;
-	float			m_friction;
-
-	btVector3		m_tacc;//temp
-	btVector3		m_facc;
-
-	btVector3		m_linearVelocity;
-	btVector3		m_angularVelocity;
-		
-};
-
-
-#endif //#ifndef ODE_SOLVER_BODY_H
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.cpp
deleted file mode 100644
index f683bf7d748..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.cpp
+++ /dev/null
@@ -1,880 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "btOdeTypedJoint.h"
-#include "btOdeSolverBody.h"
-#include "btOdeMacros.h"
-#include <stdio.h>
-
-void btOdeTypedJoint::GetInfo1(Info1 *info)
-{
-    int joint_type = m_constraint->getConstraintType();
-    switch (joint_type)
-    {
-    case POINT2POINT_CONSTRAINT_TYPE:
-    {
-        OdeP2PJoint p2pjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        p2pjoint.GetInfo1(info);
-    }
-    break;
-    case D6_CONSTRAINT_TYPE:
-    {
-        OdeD6Joint d6joint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        d6joint.GetInfo1(info);
-    }
-    break;
-    case SLIDER_CONSTRAINT_TYPE:
-    {
-        OdeSliderJoint sliderjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        sliderjoint.GetInfo1(info);
-    }
-    break;
-    };
-}
-
-void btOdeTypedJoint::GetInfo2(Info2 *info)
-{
-    int joint_type = m_constraint->getConstraintType();
-    switch (joint_type)
-    {
-    case POINT2POINT_CONSTRAINT_TYPE:
-    {
-        OdeP2PJoint p2pjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        p2pjoint.GetInfo2(info);
-    }
-    break;
-    case D6_CONSTRAINT_TYPE:
-    {
-        OdeD6Joint d6joint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        d6joint.GetInfo2(info);
-    }
-    break;
-    case SLIDER_CONSTRAINT_TYPE:
-    {
-        OdeSliderJoint sliderjoint(m_constraint,m_index,m_swapBodies,m_body0,m_body1);
-        sliderjoint.GetInfo2(info);
-    }
-    break;
-    };
-}
-
-
-OdeP2PJoint::OdeP2PJoint(
-    btTypedConstraint * constraint,
-    int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1):
-        btOdeTypedJoint(constraint,index,swap,body0,body1)
-{
-}
-
-
-void OdeP2PJoint::GetInfo1(Info1 *info)
-{
-    info->m = 3;
-    info->nub = 3;
-}
-
-
-void OdeP2PJoint::GetInfo2(Info2 *info)
-{
-
-    btPoint2PointConstraint * p2pconstraint = this->getP2PConstraint();
-
-    //retrieve matrices
-    btTransform body0_trans;
-    if (m_body0)
-    {
-        body0_trans = m_body0->m_originalBody->getCenterOfMassTransform();
-    }
-//    btScalar body0_mat[12];
-//    body0_mat[0] = body0_trans.getBasis()[0][0];
-//    body0_mat[1] = body0_trans.getBasis()[0][1];
-//    body0_mat[2] = body0_trans.getBasis()[0][2];
-//    body0_mat[4] = body0_trans.getBasis()[1][0];
-//    body0_mat[5] = body0_trans.getBasis()[1][1];
-//    body0_mat[6] = body0_trans.getBasis()[1][2];
-//    body0_mat[8] = body0_trans.getBasis()[2][0];
-//    body0_mat[9] = body0_trans.getBasis()[2][1];
-//    body0_mat[10] = body0_trans.getBasis()[2][2];
-
-    btTransform body1_trans;
-
-    if (m_body1)
-    {
-        body1_trans = m_body1->m_originalBody->getCenterOfMassTransform();
-    }
-//    btScalar body1_mat[12];
-//    body1_mat[0] = body1_trans.getBasis()[0][0];
-//    body1_mat[1] = body1_trans.getBasis()[0][1];
-//    body1_mat[2] = body1_trans.getBasis()[0][2];
-//    body1_mat[4] = body1_trans.getBasis()[1][0];
-//    body1_mat[5] = body1_trans.getBasis()[1][1];
-//    body1_mat[6] = body1_trans.getBasis()[1][2];
-//    body1_mat[8] = body1_trans.getBasis()[2][0];
-//    body1_mat[9] = body1_trans.getBasis()[2][1];
-//    body1_mat[10] = body1_trans.getBasis()[2][2];
-
-
-
-
-    // anchor points in global coordinates with respect to body PORs.
-
-
-    int s = info->rowskip;
-
-    // set jacobian
-    info->J1l[0] = 1;
-    info->J1l[s+1] = 1;
-    info->J1l[2*s+2] = 1;
-
-
-    btVector3 a1,a2;
-
-    a1 = body0_trans.getBasis()*p2pconstraint->getPivotInA();
-    //dMULTIPLY0_331 (a1, body0_mat,m_constraint->m_pivotInA);
-    dCROSSMAT (info->J1a,a1,s,-,+);
-    if (m_body1)
-    {
-        info->J2l[0] = -1;
-        info->J2l[s+1] = -1;
-        info->J2l[2*s+2] = -1;
-        a2 = body1_trans.getBasis()*p2pconstraint->getPivotInB();
-        //dMULTIPLY0_331 (a2,body1_mat,m_constraint->m_pivotInB);
-        dCROSSMAT (info->J2a,a2,s,+,-);
-    }
-
-
-    // set right hand side
-    btScalar k = info->fps * info->erp;
-    if (m_body1)
-    {
-        for (int j=0; j<3; j++)
-        {
-            info->c[j] = k * (a2[j] + body1_trans.getOrigin()[j] -
-                              a1[j] - body0_trans.getOrigin()[j]);
-        }
-    }
-    else
-    {
-        for (int j=0; j<3; j++)
-        {
-            info->c[j] = k * (p2pconstraint->getPivotInB()[j] - a1[j] -
-                              body0_trans.getOrigin()[j]);
-        }
-    }
-}
-
-
-///////////////////limit motor support
-
-/*! \pre testLimitValue must be called on limot*/
-int bt_get_limit_motor_info2(
-	btRotationalLimitMotor * limot,
-	btRigidBody * body0, btRigidBody * body1,
-	btOdeJoint::Info2 *info, int row, btVector3& ax1, int rotational)
-{
-
-
-    int srow = row * info->rowskip;
-
-    // if the joint is powered, or has joint limits, add in the extra row
-    int powered = limot->m_enableMotor;
-    int limit = limot->m_currentLimit;
-
-    if (powered || limit)
-    {
-        btScalar *J1 = rotational ? info->J1a : info->J1l;
-        btScalar *J2 = rotational ? info->J2a : info->J2l;
-
-        J1[srow+0] = ax1[0];
-        J1[srow+1] = ax1[1];
-        J1[srow+2] = ax1[2];
-        if (body1)
-        {
-            J2[srow+0] = -ax1[0];
-            J2[srow+1] = -ax1[1];
-            J2[srow+2] = -ax1[2];
-        }
-
-        // linear limot torque decoupling step:
-        //
-        // if this is a linear limot (e.g. from a slider), we have to be careful
-        // that the linear constraint forces (+/- ax1) applied to the two bodies
-        // do not create a torque couple. in other words, the points that the
-        // constraint force is applied at must lie along the same ax1 axis.
-        // a torque couple will result in powered or limited slider-jointed free
-        // bodies from gaining angular momentum.
-        // the solution used here is to apply the constraint forces at the point
-        // halfway between the body centers. there is no penalty (other than an
-        // extra tiny bit of computation) in doing this adjustment. note that we
-        // only need to do this if the constraint connects two bodies.
-
-        btVector3 ltd;	// Linear Torque Decoupling vector (a torque)
-        if (!rotational && body1)
-        {
-            btVector3 c;
-            c[0]=btScalar(0.5)*(body1->getCenterOfMassPosition()[0]
-            				-body0->getCenterOfMassPosition()[0]);
-            c[1]=btScalar(0.5)*(body1->getCenterOfMassPosition()[1]
-            				-body0->getCenterOfMassPosition()[1]);
-            c[2]=btScalar(0.5)*(body1->getCenterOfMassPosition()[2]
-            				-body0->getCenterOfMassPosition()[2]);
-
-			ltd = c.cross(ax1);
-
-            info->J1a[srow+0] = ltd[0];
-            info->J1a[srow+1] = ltd[1];
-            info->J1a[srow+2] = ltd[2];
-            info->J2a[srow+0] = ltd[0];
-            info->J2a[srow+1] = ltd[1];
-            info->J2a[srow+2] = ltd[2];
-        }
-
-        // if we're limited low and high simultaneously, the joint motor is
-        // ineffective
-
-        if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
-
-        if (powered)
-        {
-            info->cfm[row] = 0.0f;//limot->m_normalCFM;
-            if (! limit)
-            {
-                info->c[row] = limot->m_targetVelocity;
-                info->lo[row] = -limot->m_maxMotorForce;
-                info->hi[row] = limot->m_maxMotorForce;
-            }
-        }
-
-        if (limit)
-        {
-            btScalar k = info->fps * limot->m_ERP;
-            info->c[row] = -k * limot->m_currentLimitError;
-            info->cfm[row] = 0.0f;//limot->m_stopCFM;
-
-            if (limot->m_loLimit == limot->m_hiLimit)
-            {
-                // limited low and high simultaneously
-                info->lo[row] = -dInfinity;
-                info->hi[row] = dInfinity;
-            }
-            else
-            {
-                if (limit == 1)
-                {
-                    // low limit
-                    info->lo[row] = 0;
-                    info->hi[row] = SIMD_INFINITY;
-                }
-                else
-                {
-                    // high limit
-                    info->lo[row] = -SIMD_INFINITY;
-                    info->hi[row] = 0;
-                }
-
-                // deal with bounce
-                if (limot->m_bounce > 0)
-                {
-                    // calculate joint velocity
-                    btScalar vel;
-                    if (rotational)
-                    {
-                        vel = body0->getAngularVelocity().dot(ax1);
-                        if (body1)
-                            vel -= body1->getAngularVelocity().dot(ax1);
-                    }
-                    else
-                    {
-                        vel = body0->getLinearVelocity().dot(ax1);
-                        if (body1)
-                            vel -= body1->getLinearVelocity().dot(ax1);
-                    }
-
-                    // only apply bounce if the velocity is incoming, and if the
-                    // resulting c[] exceeds what we already have.
-                    if (limit == 1)
-                    {
-                        // low limit
-                        if (vel < 0)
-                        {
-                            btScalar newc = -limot->m_bounce* vel;
-                            if (newc > info->c[row]) info->c[row] = newc;
-                        }
-                    }
-                    else
-                    {
-                        // high limit - all those computations are reversed
-                        if (vel > 0)
-                        {
-                            btScalar newc = -limot->m_bounce * vel;
-                            if (newc < info->c[row]) info->c[row] = newc;
-                        }
-                    }
-                }
-            }
-        }
-        return 1;
-    }
-    else return 0;
-}
-
-
-///////////////////OdeD6Joint
-
-
-
-
-
-OdeD6Joint::OdeD6Joint(
-    btTypedConstraint * constraint,
-    int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1):
-        btOdeTypedJoint(constraint,index,swap,body0,body1)
-{
-}
-
-
-void OdeD6Joint::GetInfo1(Info1 *info)
-{
-	btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
-	//prepare constraint
-	d6constraint->calculateTransforms();
-    info->m = 3;
-    info->nub = 3;
-
-    //test angular limits
-    for (int i=0;i<3 ;i++ )
-    {
-    	//if(i==2) continue;
-		if(d6constraint->testAngularLimitMotor(i))
-		{
-			info->m++;
-		}
-    }
-
-
-}
-
-
-int OdeD6Joint::setLinearLimits(Info2 *info)
-{
-
-    btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
-
-    //retrieve matrices
-    btTransform body0_trans;
-    if (m_body0)
-    {
-        body0_trans = m_body0->m_originalBody->getCenterOfMassTransform();
-    }
-
-    btTransform body1_trans;
-
-    if (m_body1)
-    {
-        body1_trans = m_body1->m_originalBody->getCenterOfMassTransform();
-    }
-
-    // anchor points in global coordinates with respect to body PORs.
-
-    int s = info->rowskip;
-
-    // set jacobian
-    info->J1l[0] = 1;
-    info->J1l[s+1] = 1;
-    info->J1l[2*s+2] = 1;
-
-
-    btVector3 a1,a2;
-
-    a1 = body0_trans.getBasis()*d6constraint->getFrameOffsetA().getOrigin();
-    //dMULTIPLY0_331 (a1, body0_mat,m_constraint->m_pivotInA);
-    dCROSSMAT (info->J1a,a1,s,-,+);
-    if (m_body1)
-    {
-        info->J2l[0] = -1;
-        info->J2l[s+1] = -1;
-        info->J2l[2*s+2] = -1;
-        a2 = body1_trans.getBasis()*d6constraint->getFrameOffsetB().getOrigin();
-
-        //dMULTIPLY0_331 (a2,body1_mat,m_constraint->m_pivotInB);
-        dCROSSMAT (info->J2a,a2,s,+,-);
-    }
-
-
-    // set right hand side
-    btScalar k = info->fps * info->erp;
-    if (m_body1)
-    {
-        for (int j=0; j<3; j++)
-        {
-            info->c[j] = k * (a2[j] + body1_trans.getOrigin()[j] -
-                              a1[j] - body0_trans.getOrigin()[j]);
-        }
-    }
-    else
-    {
-        for (int j=0; j<3; j++)
-        {
-            info->c[j] = k * (d6constraint->getCalculatedTransformB().getOrigin()[j] - a1[j] -
-                              body0_trans.getOrigin()[j]);
-        }
-    }
-
-    return 3;
-
-}
-
-int OdeD6Joint::setAngularLimits(Info2 *info, int row_offset)
-{
-	btGeneric6DofConstraint * d6constraint = this->getD6Constraint();
-	int row = row_offset;
-	//solve angular limits
-    for (int i=0;i<3 ;i++ )
-    {
-    	//if(i==2) continue;
-		if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
-		{
-			btVector3 axis = d6constraint->getAxis(i);
-			row += bt_get_limit_motor_info2(
-				d6constraint->getRotationalLimitMotor(i),
-				m_body0->m_originalBody,
-				m_body1 ? m_body1->m_originalBody : NULL,
-				info,row,axis,1);
-		}
-    }
-
-    return row;
-}
-
-void OdeD6Joint::GetInfo2(Info2 *info)
-{
-    int row = setLinearLimits(info);
-    setAngularLimits(info, row);
-}
-
-//----------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------
-/*
-OdeSliderJoint
-Ported from ODE by Roman Ponomarev (rponom@gmail.com)
-April 24, 2008
-*/
-
-OdeSliderJoint::OdeSliderJoint(
-    btTypedConstraint * constraint,
-    int index,bool swap, btOdeSolverBody* body0, btOdeSolverBody* body1):
-        btOdeTypedJoint(constraint,index,swap,body0,body1)
-{
-} // OdeSliderJoint::OdeSliderJoint()
-
-//----------------------------------------------------------------------------------
-
-void OdeSliderJoint::GetInfo1(Info1* info)
-{
-	info->nub = 4; 
-	info->m = 4; // Fixed 2 linear + 2 angular
-	btSliderConstraint * slider = this->getSliderConstraint();
-	//prepare constraint
-	slider->calculateTransforms();
-	slider->testLinLimits();
-	if(slider->getSolveLinLimit() || slider->getPoweredLinMotor())
-	{
-		info->m++; // limit 3rd linear as well
-	}
-	slider->testAngLimits();
-	if(slider->getSolveAngLimit() || slider->getPoweredAngMotor())
-	{
-		info->m++; // limit 3rd angular as well
-	}
-} // OdeSliderJoint::GetInfo1()
-
-//----------------------------------------------------------------------------------
-
-void OdeSliderJoint::GetInfo2(Info2 *info)
-{
-	int i, s = info->rowskip;
-	btSliderConstraint * slider = this->getSliderConstraint();
-	const btTransform& trA = slider->getCalculatedTransformA();
-	const btTransform& trB = slider->getCalculatedTransformB();
-	// make rotations around Y and Z equal
-	// the slider axis should be the only unconstrained
-	// rotational axis, the angular velocity of the two bodies perpendicular to
-	// the slider axis should be equal. thus the constraint equations are
-	//    p*w1 - p*w2 = 0
-	//    q*w1 - q*w2 = 0
-	// where p and q are unit vectors normal to the slider axis, and w1 and w2
-	// are the angular velocity vectors of the two bodies.
-	// get slider axis (X)
-	btVector3 ax1 = trA.getBasis().getColumn(0);
-	// get 2 orthos to slider axis (Y, Z)
-	btVector3 p = trA.getBasis().getColumn(1);
-	btVector3 q = trA.getBasis().getColumn(2);
-	// set the two slider rows 
-	info->J1a[0] = p[0];
-	info->J1a[1] = p[1];
-	info->J1a[2] = p[2];
-	info->J1a[s+0] = q[0];
-	info->J1a[s+1] = q[1];
-	info->J1a[s+2] = q[2];
-	if(m_body1) 
-	{
-		info->J2a[0] = -p[0];
-		info->J2a[1] = -p[1];
-		info->J2a[2] = -p[2];
-		info->J2a[s+0] = -q[0];
-		info->J2a[s+1] = -q[1];
-		info->J2a[s+2] = -q[2];
-	}
-	// compute the right hand side of the constraint equation. set relative
-	// body velocities along p and q to bring the slider back into alignment.
-	// if ax1,ax2 are the unit length slider axes as computed from body1 and
-	// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-	// if "theta" is the angle between ax1 and ax2, we need an angular velocity
-	// along u to cover angle erp*theta in one step :
-	//   |angular_velocity| = angle/time = erp*theta / stepsize
-	//                      = (erp*fps) * theta
-	//    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-	//                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-	// ...as ax1 and ax2 are unit length. if theta is smallish,
-	// theta ~= sin(theta), so
-	//    angular_velocity  = (erp*fps) * (ax1 x ax2)
-	// ax1 x ax2 is in the plane space of ax1, so we project the angular
-	// velocity to p and q to find the right hand side.
-	btScalar k = info->fps * info->erp * slider->getSoftnessOrthoAng();
-    btVector3 ax2 = trB.getBasis().getColumn(0);
-	btVector3 u;
-	if(m_body1)
-	{
-		u = ax1.cross(ax2);
-	}
-	else
-	{
-		u = ax2.cross(ax1);
-	}
-	info->c[0] = k * u.dot(p);
-	info->c[1] = k * u.dot(q);
-	// pull out pos and R for both bodies. also get the connection
-	// vector c = pos2-pos1.
-	// next two rows. we want: vel2 = vel1 + w1 x c ... but this would
-	// result in three equations, so we project along the planespace vectors
-	// so that sliding along the slider axis is disregarded. for symmetry we
-	// also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2.
-	btTransform bodyA_trans = m_body0->m_originalBody->getCenterOfMassTransform();
-	btTransform bodyB_trans;
-	if(m_body1)
-	{
-		bodyB_trans = m_body1->m_originalBody->getCenterOfMassTransform();
-	}
-	int s2 = 2 * s, s3 = 3 * s;
-	btVector3 c;
-	if(m_body1)
-	{
-		c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
-		btVector3 tmp = btScalar(0.5) * c.cross(p);
-
-		for (i=0; i<3; i++) info->J1a[s2+i] = tmp[i];
-		for (i=0; i<3; i++) info->J2a[s2+i] = tmp[i];
-
-		tmp = btScalar(0.5) * c.cross(q);
-
-		for (i=0; i<3; i++) info->J1a[s3+i] = tmp[i];
-		for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
-
-		for (i=0; i<3; i++) info->J2l[s2+i] = -p[i];
-		for (i=0; i<3; i++) info->J2l[s3+i] = -q[i];
-	}
-	for (i=0; i<3; i++) info->J1l[s2+i] = p[i];
-	for (i=0; i<3; i++) info->J1l[s3+i] = q[i];
-	// compute two elements of right hand side. we want to align the offset
-	// point (in body 2's frame) with the center of body 1.
-	btVector3 ofs; // offset point in global coordinates
-	if(m_body1)
-	{
-		ofs = trB.getOrigin() - trA.getOrigin();
-	}
-	else
-	{
-		ofs = trA.getOrigin() - trB.getOrigin();
-	}
-	k = info->fps * info->erp * slider->getSoftnessOrthoLin();
-	info->c[2] = k * p.dot(ofs);
-	info->c[3] = k * q.dot(ofs);
-	int nrow = 3; // last filled row
-	int srow;
-	// check linear limits linear
-	btScalar limit_err = btScalar(0.0);
-	int limit = 0;
-	if(slider->getSolveLinLimit())
-	{
-		limit_err = slider->getLinDepth();
-		if(m_body1) 
-		{
-			limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-		}
-		else
-		{
-			limit = (limit_err > btScalar(0.0)) ? 2 : 1;
-		}
-	}
-	int powered = 0;
-	if(slider->getPoweredLinMotor())
-	{
-		powered = 1;
-	}
-	// if the slider has joint limits, add in the extra row
-	if (limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->J1l[srow+0] = ax1[0];
-		info->J1l[srow+1] = ax1[1];
-		info->J1l[srow+2] = ax1[2];
-		if(m_body1)
-		{
-			info->J2l[srow+0] = -ax1[0];
-			info->J2l[srow+1] = -ax1[1];
-			info->J2l[srow+2] = -ax1[2];
-		}
-		// linear torque decoupling step:
-		//
-		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
-		// do not create a torque couple. in other words, the points that the
-		// constraint force is applied at must lie along the same ax1 axis.
-		// a torque couple will result in limited slider-jointed free
-		// bodies from gaining angular momentum.
-		// the solution used here is to apply the constraint forces at the point
-		// halfway between the body centers. there is no penalty (other than an
-		// extra tiny bit of computation) in doing this adjustment. note that we
-		// only need to do this if the constraint connects two bodies.
-	    if (m_body1) 
-		{
-			dVector3 ltd;	// Linear Torque Decoupling vector (a torque)
-			c = btScalar(0.5) * c;
-			dCROSS (ltd,=,c,ax1);
-			info->J1a[srow+0] = ltd[0];
-			info->J1a[srow+1] = ltd[1];
-			info->J1a[srow+2] = ltd[2];
-			info->J2a[srow+0] = ltd[0];
-			info->J2a[srow+1] = ltd[1];
-			info->J2a[srow+2] = ltd[2];
-		}
-		// right-hand part
-		btScalar lostop = slider->getLowerLinLimit();
-		btScalar histop = slider->getUpperLinLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		if(powered)
-		{
-            info->cfm[nrow] = btScalar(0.0); 
-            if(!limit)
-            {
-				info->c[nrow] = slider->getTargetLinMotorVelocity();
-				info->lo[nrow] = -slider->getMaxLinMotorForce() * info->fps;
-				info->hi[nrow] = slider->getMaxLinMotorForce() * info->fps;
-            }
-		}
-		if(limit)
-		{
-			k = info->fps * info->erp;
-			if(m_body1) 
-			{
-				info->c[nrow] = k * limit_err;
-			}
-			else
-			{
-				info->c[nrow] = - k * limit_err;
-			}
-			info->cfm[nrow] = btScalar(0.0); // stop_cfm;
-			if(lostop == histop) 
-			{
-				// limited low and high simultaneously
-				info->lo[nrow] = -SIMD_INFINITY;
-				info->hi[nrow] = SIMD_INFINITY;
-			}
-			else 
-			{
-				if(limit == 1) 
-				{
-					// low limit
-					info->lo[nrow] = 0;
-					info->hi[nrow] = SIMD_INFINITY;
-				}
-				else 
-				{
-					// high limit
-					info->lo[nrow] = -SIMD_INFINITY;
-					info->hi[nrow] = 0;
-				}
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - slider->getDampingLimLin());
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = m_body0->m_originalBody->getLinearVelocity().dot(ax1);
-				if(m_body1)
-				{
-					vel -= m_body1->m_originalBody->getLinearVelocity().dot(ax1);
-				}
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{
-					// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->c[nrow]) info->c[nrow] = newc;
-					}
-				}
-				else
-				{
-					// high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->c[nrow]) info->c[nrow] = newc;
-					}
-				}
-			}
-			info->c[nrow] *= slider->getSoftnessLimLin();
-		} // if(limit)
-	} // if linear limit
-	// check angular limits
-	limit_err = btScalar(0.0);
-	limit = 0;
-	if(slider->getSolveAngLimit())
-	{
-		limit_err = slider->getAngDepth();
-		if(m_body1) 
-		{
-			limit = (limit_err > btScalar(0.0)) ? 1 : 2;
-		}
-		else
-		{
-			limit = (limit_err > btScalar(0.0)) ? 2 : 1;
-		}
-	}
-	// if the slider has joint limits, add in the extra row
-	powered = 0;
-	if(slider->getPoweredAngMotor())
-	{
-		powered = 1;
-	}
-	if(limit || powered) 
-	{
-		nrow++;
-		srow = nrow * info->rowskip;
-		info->J1a[srow+0] = ax1[0];
-		info->J1a[srow+1] = ax1[1];
-		info->J1a[srow+2] = ax1[2];
-		if(m_body1)
-		{
-			info->J2a[srow+0] = -ax1[0];
-			info->J2a[srow+1] = -ax1[1];
-			info->J2a[srow+2] = -ax1[2];
-		}
-		btScalar lostop = slider->getLowerAngLimit();
-		btScalar histop = slider->getUpperAngLimit();
-		if(limit && (lostop == histop))
-		{  // the joint motor is ineffective
-			powered = 0;
-		}
-		if(powered)
-		{
-            info->cfm[nrow] = btScalar(0.0); 
-            if(!limit)
-            {
-				info->c[nrow] = slider->getTargetAngMotorVelocity();
-				info->lo[nrow] = -slider->getMaxAngMotorForce() * info->fps;
-				info->hi[nrow] = slider->getMaxAngMotorForce() * info->fps;
-            }
-		}
-		if(limit)
-		{
-			k = info->fps * info->erp;
-			if (m_body1) 
-			{
-				info->c[nrow] = k * limit_err;
-			}
-			else
-			{
-				info->c[nrow] = -k * limit_err;
-			}
-			info->cfm[nrow] = btScalar(0.0); // stop_cfm;
-			if(lostop == histop) 
-			{
-				// limited low and high simultaneously
-				info->lo[nrow] = -SIMD_INFINITY;
-				info->hi[nrow] = SIMD_INFINITY;
-			}
-			else 
-			{
-				if (limit == 1) 
-				{
-					// low limit
-					info->lo[nrow] = 0;
-					info->hi[nrow] = SIMD_INFINITY;
-				}
-				else 
-				{
-					// high limit
-					info->lo[nrow] = -SIMD_INFINITY;
-					info->hi[nrow] = 0;
-				}
-			}
-			// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
-			btScalar bounce = btFabs(btScalar(1.0) - slider->getDampingLimAng());
-			if(bounce > btScalar(0.0))
-			{
-				btScalar vel = m_body0->m_originalBody->getAngularVelocity().dot(ax1);
-				if(m_body1)
-				{
-					vel -= m_body1->m_originalBody->getAngularVelocity().dot(ax1);
-				}
-				// only apply bounce if the velocity is incoming, and if the
-				// resulting c[] exceeds what we already have.
-				if(limit == 1)
-				{
-					// low limit
-					if(vel < 0)
-					{
-						btScalar newc = -bounce * vel;
-						if (newc > info->c[nrow]) info->c[nrow] = newc;
-					}
-				}
-				else
-				{
-					// high limit - all those computations are reversed
-					if(vel > 0)
-					{
-						btScalar newc = -bounce * vel;
-						if(newc < info->c[nrow]) info->c[nrow] = newc;
-					}
-				}
-			}
-			info->c[nrow] *= slider->getSoftnessLimAng();
-		} // if(limit)
-	} // if angular limit or powered
-} // OdeSliderJoint::GetInfo2()
-
-//----------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------
-
-
-
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.h
deleted file mode 100644
index a2affda382d..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeTypedJoint.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-/*
-2007-09-09
-Added support for typed joints by Francisco Le?n
-email: projectileman@yahoo.com
-http://gimpact.sf.net
-*/
-
-#ifndef TYPED_JOINT_H
-#define TYPED_JOINT_H
-
-#include "btOdeJoint.h"
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-
-struct btOdeSolverBody;
-
-class btOdeTypedJoint : public btOdeJoint
-{
-public:
-	btTypedConstraint * m_constraint;
-	int		m_index;
-	bool	m_swapBodies;
-	btOdeSolverBody* m_body0;
-	btOdeSolverBody* m_body1;
-
-	btOdeTypedJoint(){}
-	btOdeTypedJoint(
-		btTypedConstraint * constraint,
-		int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1):
-			m_constraint(constraint),
-			m_index(index),
-			m_swapBodies(swap),
-			m_body0(body0),
-			m_body1(body1)
-	{
-	}
-
-	virtual void GetInfo1(Info1 *info);
-	virtual void GetInfo2(Info2 *info);
-};
-
-
-
-class OdeP2PJoint : public btOdeTypedJoint
-{
-protected:
-	inline btPoint2PointConstraint * getP2PConstraint()
-	{
-		return static_cast<btPoint2PointConstraint * >(m_constraint);
-	}
-public:
-
-	OdeP2PJoint() {};
-
-	OdeP2PJoint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
-
-	//btOdeJoint interface for solver
-
-	virtual void GetInfo1(Info1 *info);
-
-	virtual void GetInfo2(Info2 *info);
-};
-
-
-class OdeD6Joint : public btOdeTypedJoint
-{
-protected:
-	inline btGeneric6DofConstraint * getD6Constraint()
-	{
-		return static_cast<btGeneric6DofConstraint * >(m_constraint);
-	}
-
-	int setLinearLimits(Info2 *info);
-	int setAngularLimits(Info2 *info, int row_offset);
-
-public:
-
-	OdeD6Joint() {};
-
-	OdeD6Joint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
-
-	//btOdeJoint interface for solver
-
-	virtual void GetInfo1(Info1 *info);
-
-	virtual void GetInfo2(Info2 *info);
-};
-
-//! retrieves the constraint info from a btRotationalLimitMotor object
-/*! \pre testLimitValue must be called on limot*/
-int bt_get_limit_motor_info2(
-	btRotationalLimitMotor * limot,
-	btRigidBody * body0, btRigidBody * body1,
-	btOdeJoint::Info2 *info, int row, btVector3& ax1, int rotational);
-
-/*
-OdeSliderJoint
-Ported from ODE by Roman Ponomarev (rponom@gmail.com)
-April 24, 2008
-*/
-class OdeSliderJoint : public btOdeTypedJoint
-{
-protected:
-	inline btSliderConstraint * getSliderConstraint()
-	{
-		return static_cast<btSliderConstraint * >(m_constraint);
-	}
-public:
-
-	OdeSliderJoint() {};
-
-	OdeSliderJoint(btTypedConstraint* constraint,int index,bool swap, btOdeSolverBody* body0, btOdeSolverBody* body1);
-
-	//BU_Joint interface for solver
-
-	virtual void GetInfo1(Info1 *info);
-
-	virtual void GetInfo2(Info2 *info);
-};
-
-
-
-
-#endif //CONTACT_JOINT_H
-
-
-
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index e7f07a428eb..4128f504bf1 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -342,6 +342,7 @@ void btSliderConstraint::calculateTransforms(void){
 void btSliderConstraint::testLinLimits(void)
 {
 	m_solveLinLim = false;
+	m_linPos = m_depth[0];
 	if(m_lowerLinLimit <= m_upperLinLimit)
 	{
 		if(m_depth[0] > m_upperLinLimit)
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index f69dfcf3aa7..580dfa1178d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -103,6 +103,8 @@ protected:
 	btVector3 m_relPosA;
 	btVector3 m_relPosB;
 
+	btScalar m_linPos;
+
 	btScalar m_angDepth;
 	btScalar m_kAngle;
 
@@ -191,6 +193,7 @@ public:
 	btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
 	void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
 	btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
+	btScalar getLinearPos() { return m_linPos; }
 
 	// access for ODE solver
 	bool getSolveLinLimit() { return m_solveLinLim; }
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.cpp
deleted file mode 100644
index 175d15dcfcf..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.cpp
+++ /dev/null
@@ -1,683 +0,0 @@
-/*
- * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
- Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btSorLcp.h"
-#include "btOdeSolverBody.h"
-
-#ifdef USE_SOR_SOLVER
-
-// SOR LCP taken from ode quickstep, for comparisons to Bullet sequential impulse solver.
-#include "LinearMath/btScalar.h"
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include <math.h>
-#include <float.h>//FLT_MAX
-#ifdef WIN32
-#include <memory.h>
-#endif
-#include <string.h>
-#include <stdio.h>
-
-#if defined (WIN32)
-#include <malloc.h>
-#else
-#if defined (__FreeBSD__)
-#include <stdlib.h>
-#else
-#include <alloca.h>
-#endif
-#endif
-
-#include "btOdeJoint.h"
-#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
-////////////////////////////////////////////////////////////////////
-//math stuff
-#include "btOdeMacros.h"
-
-//***************************************************************************
-// configuration
-
-// for the SOR and CG methods:
-// uncomment the following line to use warm starting. this definitely
-// help for motor-driven joints. unfortunately it appears to hurt
-// with high-friction contacts using the SOR method. use with care
-
-//#define WARM_STARTING 1
-
-// for the SOR method:
-// uncomment the following line to randomly reorder constraint rows
-// during the solution. depending on the situation, this can help a lot
-// or hardly at all, but it doesn't seem to hurt.
-
-#define RANDOMLY_REORDER_CONSTRAINTS 1
-
-//***************************************************************************
-// various common computations involving the matrix J
-// compute iMJ = inv(M)*J'
-inline void compute_invM_JT (int m, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
-	//OdeSolverBody* const *body,
-	 const btAlignedObjectArray<btOdeSolverBody*> &body,
-	dRealPtr invI)
-{
-	int i,j;
-	dRealMutablePtr iMJ_ptr = iMJ;
-	dRealMutablePtr J_ptr = J;
-	for (i=0; i<m; i++) {
-		int b1 = jb[i*2];
-		int b2 = jb[i*2+1];
-		btScalar k = body[b1]->m_invMass;
-		for (j=0; j<3; j++) iMJ_ptr[j] = k*J_ptr[j];
-		dMULTIPLY0_331 (iMJ_ptr + 3, invI + 12*b1, J_ptr + 3);
-		if (b2 >= 0) {
-			k = body[b2]->m_invMass;
-			for (j=0; j<3; j++) iMJ_ptr[j+6] = k*J_ptr[j+6];
-			dMULTIPLY0_331 (iMJ_ptr + 9, invI + 12*b2, J_ptr + 9);
-		}
-		J_ptr += 12;
-		iMJ_ptr += 12;
-	}
-}
-
-#if 0
-static void multiply_invM_JTSpecial (int m, int nb, dRealMutablePtr iMJ, int *jb,
-	dRealMutablePtr in, dRealMutablePtr out,int onlyBody1,int onlyBody2)
-{
-	int i,j;
-
-
-
-	dRealMutablePtr out_ptr1 = out + onlyBody1*6;
-
-	for (j=0; j<6; j++)
-		out_ptr1[j] = 0;
-
-	if (onlyBody2 >= 0)
-	{
-		out_ptr1 = out + onlyBody2*6;
-
-		for (j=0; j<6; j++)
-			out_ptr1[j] = 0;
-	}
-
-	dRealPtr iMJ_ptr = iMJ;
-	for (i=0; i<m; i++) {
-
-		int b1 = jb[i*2];
-
-		dRealMutablePtr out_ptr = out + b1*6;
-		if ((b1 == onlyBody1) || (b1 == onlyBody2))
-		{
-			for (j=0; j<6; j++)
-				out_ptr[j] += iMJ_ptr[j] * in[i] ;
-		}
-
-		iMJ_ptr += 6;
-
-		int b2 = jb[i*2+1];
-		if ((b2 == onlyBody1) || (b2 == onlyBody2))
-		{
-			if (b2 >= 0)
-			{
-					out_ptr = out + b2*6;
-					for (j=0; j<6; j++)
-						out_ptr[j] += iMJ_ptr[j] * in[i];
-			}
-		}
-
-		iMJ_ptr += 6;
-
-	}
-}
-#endif
-
-
-// compute out = inv(M)*J'*in.
-
-#if 0
-static void multiply_invM_JT (int m, int nb, dRealMutablePtr iMJ, int *jb,
-	dRealMutablePtr in, dRealMutablePtr out)
-{
-	int i,j;
-	dSetZero1 (out,6*nb);
-	dRealPtr iMJ_ptr = iMJ;
-	for (i=0; i<m; i++) {
-		int b1 = jb[i*2];
-		int b2 = jb[i*2+1];
-		dRealMutablePtr out_ptr = out + b1*6;
-		for (j=0; j<6; j++)
-			out_ptr[j] += iMJ_ptr[j] * in[i];
-		iMJ_ptr += 6;
-		if (b2 >= 0) {
-			out_ptr = out + b2*6;
-			for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
-		}
-		iMJ_ptr += 6;
-	}
-}
-#endif
-
-
-// compute out = J*in.
-inline void multiply_J (int m, dRealMutablePtr J, int *jb,
-	dRealMutablePtr in, dRealMutablePtr out)
-{
-	int i,j;
-	dRealPtr J_ptr = J;
-	for (i=0; i<m; i++) {
-		int b1 = jb[i*2];
-		int b2 = jb[i*2+1];
-		btScalar sum = 0;
-		dRealMutablePtr in_ptr = in + b1*6;
-		for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];
-		J_ptr += 6;
-		if (b2 >= 0) {
-			in_ptr = in + b2*6;
-			for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];
-		}
-		J_ptr += 6;
-		out[i] = sum;
-	}
-}
-
-//***************************************************************************
-// SOR-LCP method
-
-// nb is the number of bodies in the body array.
-// J is an m*12 matrix of constraint rows
-// jb is an array of first and second body numbers for each constraint row
-// invI is the global frame inverse inertia for each body (stacked 3x3 matrices)
-//
-// this returns lambda and fc (the constraint force).
-// note: fc is returned as inv(M)*J'*lambda, the constraint force is actually J'*lambda
-//
-// b, lo and hi are modified on exit
-
-//------------------------------------------------------------------------------
-ATTRIBUTE_ALIGNED16(struct) IndexError {
-	btScalar error;		// error to sort on
-	int findex;
-	int index;		// row index
-};
-
-//------------------------------------------------------------------------------
-void btSorLcpSolver::SOR_LCP(int m, int nb, dRealMutablePtr J, int *jb, 
-	const btAlignedObjectArray<btOdeSolverBody*> &body,
-	dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
-	dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
-	int numiter,float overRelax,
-	btStackAlloc* stackAlloc
-	)
-{
-	//btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007
-	AutoBlockSa asaBlock(stackAlloc);
-
-	const int num_iterations = numiter;
-	const float sor_w = overRelax;		// SOR over-relaxation parameter
-
-	int i,j;
-
-#ifdef WARM_STARTING
-	// for warm starting, this seems to be necessary to prevent
-	// jerkiness in motor-driven joints. i have no idea why this works.
-	for (i=0; i<m; i++) lambda[i] *= 0.9;
-#else
-	dSetZero1 (lambda,m);
-#endif
-
-	// the lambda computed at the previous iteration.
-	// this is used to measure error for when we are reordering the indexes.
-	dRealAllocaArray (last_lambda,m);
-
-	// a copy of the 'hi' vector in case findex[] is being used
-	dRealAllocaArray (hicopy,m);
-	memcpy (hicopy,hi,m*sizeof(float));
-
-	// precompute iMJ = inv(M)*J'
-	dRealAllocaArray (iMJ,m*12);
-	compute_invM_JT (m,J,iMJ,jb,body,invI);
-
-	// compute fc=(inv(M)*J')*lambda. we will incrementally maintain fc
-	// as we change lambda.
-#ifdef WARM_STARTING
-	multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
-#else
-	dSetZero1 (invMforce,nb*6);
-#endif
-
-	// precompute 1 / diagonals of A
-	dRealAllocaArray (Ad,m);
-	dRealPtr iMJ_ptr = iMJ;
-	dRealMutablePtr J_ptr = J;
-	for (i=0; i<m; i++) {
-		float sum = 0;
-		for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
-		if (jb[i*2+1] >= 0) {
-			for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
-		}
-		iMJ_ptr += 12;
-		J_ptr += 12;
-		Ad[i] = sor_w / sum;//(sum + cfm[i]);
-	}
-
-	// scale J and b by Ad
-	J_ptr = J;
-	for (i=0; i<m; i++) {
-		for (j=0; j<12; j++) {
-			J_ptr[0] *= Ad[i];
-			J_ptr++;
-		}
-		rhs[i] *= Ad[i];
-	}
-
-	// scale Ad by CFM
-	for (i=0; i<m; i++)
-		Ad[i] *= cfm[i];
-
-	// order to solve constraint rows in
-	//IndexError *order = (IndexError*) alloca (m*sizeof(IndexError));
-	IndexError *order = (IndexError*) ALLOCA (m*sizeof(IndexError));
-	
-
-#ifndef REORDER_CONSTRAINTS
-	// make sure constraints with findex < 0 come first.
-	j=0;
-	for (i=0; i<m; i++)
-		if (findex[i] < 0)
-			order[j++].index = i;
-	for (i=0; i<m; i++)
-		if (findex[i] >= 0)
-			order[j++].index = i;
-	dIASSERT (j==m);
-#endif
-
-	for (int iteration=0; iteration < num_iterations; iteration++) {
-
-#ifdef REORDER_CONSTRAINTS
-		// constraints with findex < 0 always come first.
-		if (iteration < 2) {
-			// for the first two iterations, solve the constraints in
-			// the given order
-			for (i=0; i<m; i++) {
-				order[i].error = i;
-				order[i].findex = findex[i];
-				order[i].index = i;
-			}
-		}
-		else {
-			// sort the constraints so that the ones converging slowest
-			// get solved last. use the absolute (not relative) error.
-			for (i=0; i<m; i++) {
-				float v1 = dFabs (lambda[i]);
-				float v2 = dFabs (last_lambda[i]);
-				float max = (v1 > v2) ? v1 : v2;
-				if (max > 0) {
-					//@@@ relative error: order[i].error = dFabs(lambda[i]-last_lambda[i])/max;
-					order[i].error = dFabs(lambda[i]-last_lambda[i]);
-				}
-				else {
-					order[i].error = dInfinity;
-				}
-				order[i].findex = findex[i];
-				order[i].index = i;
-			}
-		}
-		qsort (order,m,sizeof(IndexError),&compare_index_error);
-#endif
-#ifdef RANDOMLY_REORDER_CONSTRAINTS
-                if ((iteration & 7) == 0) {
-			for (i=1; i<m; ++i) {
-				IndexError tmp = order[i];
-				int swapi = dRandInt2(i+1);
-				order[i] = order[swapi];
-				order[swapi] = tmp;
-			}
-                }
-#endif
-
-		//@@@ potential optimization: swap lambda and last_lambda pointers rather
-		//    than copying the data. we must make sure lambda is properly
-		//    returned to the caller
-		memcpy (last_lambda,lambda,m*sizeof(float));
-
-		for (int i=0; i<m; i++) {
-			// @@@ potential optimization: we could pre-sort J and iMJ, thereby
-			//     linearizing access to those arrays. hmmm, this does not seem
-			//     like a win, but we should think carefully about our memory
-			//     access pattern.
-
-			int index = order[i].index;
-			J_ptr = J + index*12;
-			iMJ_ptr = iMJ + index*12;
-
-			// set the limits for this constraint. note that 'hicopy' is used.
-			// this is the place where the QuickStep method differs from the
-			// direct LCP solving method, since that method only performs this
-			// limit adjustment once per time step, whereas this method performs
-			// once per iteration per constraint row.
-			// the constraints are ordered so that all lambda[] values needed have
-			// already been computed.
-			if (findex[index] >= 0) {
-				hi[index] = btFabs (hicopy[index] * lambda[findex[index]]);
-				lo[index] = -hi[index];
-			}
-
-			int b1 = jb[index*2];
-			int b2 = jb[index*2+1];
-			float delta = rhs[index] - lambda[index]*Ad[index];
-			dRealMutablePtr fc_ptr = invMforce + 6*b1;
-
-			// @@@ potential optimization: SIMD-ize this and the b2 >= 0 case
-			delta -=fc_ptr[0] * J_ptr[0] + fc_ptr[1] * J_ptr[1] +
-				fc_ptr[2] * J_ptr[2] + fc_ptr[3] * J_ptr[3] +
-				fc_ptr[4] * J_ptr[4] + fc_ptr[5] * J_ptr[5];
-			// @@@ potential optimization: handle 1-body constraints in a separate
-			//     loop to avoid the cost of test & jump?
-			if (b2 >= 0) {
-				fc_ptr = invMforce + 6*b2;
-				delta -=fc_ptr[0] * J_ptr[6] + fc_ptr[1] * J_ptr[7] +
-					fc_ptr[2] * J_ptr[8] + fc_ptr[3] * J_ptr[9] +
-					fc_ptr[4] * J_ptr[10] + fc_ptr[5] * J_ptr[11];
-			}
-
-			// compute lambda and clamp it to [lo,hi].
-			// @@@ potential optimization: does SSE have clamping instructions
-			//     to save test+jump penalties here?
-			float new_lambda = lambda[index] + delta;
-			if (new_lambda < lo[index]) {
-				delta = lo[index]-lambda[index];
-				lambda[index] = lo[index];
-			}
-			else if (new_lambda > hi[index]) {
-				delta = hi[index]-lambda[index];
-				lambda[index] = hi[index];
-			}
-			else {
-				lambda[index] = new_lambda;
-			}
-
-			//@@@ a trick that may or may not help
-			//float ramp = (1-((float)(iteration+1)/(float)num_iterations));
-			//delta *= ramp;
-
-			// update invMforce.
-			// @@@ potential optimization: SIMD for this and the b2 >= 0 case
-			fc_ptr = invMforce + 6*b1;
-			fc_ptr[0] += delta * iMJ_ptr[0];
-			fc_ptr[1] += delta * iMJ_ptr[1];
-			fc_ptr[2] += delta * iMJ_ptr[2];
-			fc_ptr[3] += delta * iMJ_ptr[3];
-			fc_ptr[4] += delta * iMJ_ptr[4];
-			fc_ptr[5] += delta * iMJ_ptr[5];
-			// @@@ potential optimization: handle 1-body constraints in a separate
-			//     loop to avoid the cost of test & jump?
-			if (b2 >= 0) {
-				fc_ptr = invMforce + 6*b2;
-				fc_ptr[0] += delta * iMJ_ptr[6];
-				fc_ptr[1] += delta * iMJ_ptr[7];
-				fc_ptr[2] += delta * iMJ_ptr[8];
-				fc_ptr[3] += delta * iMJ_ptr[9];
-				fc_ptr[4] += delta * iMJ_ptr[10];
-				fc_ptr[5] += delta * iMJ_ptr[11];
-			}
-		}
-	}
-	//stackAlloc->endBlock(saBlock);//Remo: 10.10.2007
-}
-
-//------------------------------------------------------------------------------
-void btSorLcpSolver::SolveInternal1 (
-			float global_cfm,
-			float global_erp,
-			const btAlignedObjectArray<btOdeSolverBody*> &body, int nb,
-			btAlignedObjectArray<btOdeJoint*> &joint, 
-			int nj, const btContactSolverInfo& solverInfo,
-			btStackAlloc* stackAlloc)
-{
-	//btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007
-	AutoBlockSa asaBlock(stackAlloc);
-
-	int numIter = solverInfo.m_numIterations;
-	float sOr = solverInfo.m_sor;
-
-	int i,j;
-
-	btScalar stepsize1 = dRecip(solverInfo.m_timeStep);
-
-	// number all bodies in the body list - set their tag values
-	for (i=0; i<nb; i++)
-		body[i]->m_odeTag = i;
-
-	// make a local copy of the joint array, because we might want to modify it.
-	// (the "btOdeJoint *const*" declaration says we're allowed to modify the joints
-	// but not the joint array, because the caller might need it unchanged).
-	//@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
-	//btOdeJoint **joint = (btOdeJoint**) alloca (nj * sizeof(btOdeJoint*));
-	//memcpy (joint,_joint,nj * sizeof(btOdeJoint*));
-
-	// for all bodies, compute the inertia tensor and its inverse in the global
-	// frame, and compute the rotational force and add it to the torque
-	// accumulator. I and invI are a vertical stack of 3x4 matrices, one per body.
-	dRealAllocaArray (I,3*4*nb);
-	dRealAllocaArray (invI,3*4*nb);
-/*	for (i=0; i<nb; i++) {
-		dMatrix3 tmp;
-		// compute inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,body[i]->m_I,body[i]->m_R);
-		// compute inverse inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
-		dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
-		// compute rotational force
-		dCROSS (body[i]->m_tacc,-=,body[i]->getAngularVelocity(),tmp);
-	}
-*/
-	for (i=0; i<nb; i++) {
-		dMatrix3 tmp;
-		// compute inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,body[i]->m_I,body[i]->m_R);
-		dMULTIPLY0_333 (I+i*12,body[i]->m_R,tmp);
-
-		// compute inverse inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
-		dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
-		// compute rotational force
-//		dMULTIPLY0_331 (tmp,I+i*12,body[i]->m_angularVelocity);
-//		dCROSS (body[i]->m_tacc,-=,body[i]->m_angularVelocity,tmp);
-	}
-
-
-
-
-	// get joint information (m = total constraint dimension, nub = number of unbounded variables).
-	// joints with m=0 are inactive and are removed from the joints array
-	// entirely, so that the code that follows does not consider them.
-	//@@@ do we really need to save all the info1's
-	btOdeJoint::Info1 *info = (btOdeJoint::Info1*) ALLOCA (nj*sizeof(btOdeJoint::Info1));
-	
-	for (i=0, j=0; j<nj; j++) {	// i=dest, j=src
-		joint[j]->GetInfo1 (info+i);
-		dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m);
-		if (info[i].m > 0) {
-			joint[i] = joint[j];
-			i++;
-		}
-	}
-	nj = i;
-
-	// create the row offset array
-	int m = 0;
-	int *ofs = (int*) ALLOCA (nj*sizeof(int));
-	for (i=0; i<nj; i++) {
-		ofs[i] = m;
-		m += info[i].m;
-	}
-
-	// if there are constraints, compute the constraint force
-	dRealAllocaArray (J,m*12);
-	int *jb = (int*) ALLOCA (m*2*sizeof(int));
-	if (m > 0) {
-		// create a constraint equation right hand side vector `c', a constraint
-		// force mixing vector `cfm', and LCP low and high bound vectors, and an
-		// 'findex' vector.
-		dRealAllocaArray (c,m);
-		dRealAllocaArray (cfm,m);
-		dRealAllocaArray (lo,m);
-		dRealAllocaArray (hi,m);
-
-		int *findex = (int*) ALLOCA (m*sizeof(int));
-
-		dSetZero1 (c,m);
-		dSetValue1 (cfm,m,global_cfm);
-		dSetValue1 (lo,m,-dInfinity);
-		dSetValue1 (hi,m, dInfinity);
-		for (i=0; i<m; i++) findex[i] = -1;
-
-		// get jacobian data from constraints. an m*12 matrix will be created
-		// to store the two jacobian blocks from each constraint. it has this
-		// format:
-		//
-		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 \    .
-		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2  }-- jacobian for joint 0, body 1 and body 2 (3 rows)
-		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 /
-		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 }--- jacobian for joint 1, body 1 and body 2 (3 rows)
-		//   etc...
-		//
-		//   (lll) = linear jacobian data
-		//   (aaa) = angular jacobian data
-		//
-		dSetZero1 (J,m*12);
-		btOdeJoint::Info2 Jinfo;
-		Jinfo.rowskip = 12;
-		Jinfo.fps = stepsize1;
-		Jinfo.erp = global_erp;
-		for (i=0; i<nj; i++) {
-			Jinfo.J1l = J + ofs[i]*12;
-			Jinfo.J1a = Jinfo.J1l + 3;
-			Jinfo.J2l = Jinfo.J1l + 6;
-			Jinfo.J2a = Jinfo.J1l + 9;
-			Jinfo.c = c + ofs[i];
-			Jinfo.cfm = cfm + ofs[i];
-			Jinfo.lo = lo + ofs[i];
-			Jinfo.hi = hi + ofs[i];
-			Jinfo.findex = findex + ofs[i];
-			joint[i]->GetInfo2 (&Jinfo);
-
-			if (Jinfo.c[0] > solverInfo.m_maxErrorReduction)
-				Jinfo.c[0] = solverInfo.m_maxErrorReduction;
-
-			// adjust returned findex values for global index numbering
-			for (j=0; j<info[i].m; j++) {
-				if (findex[ofs[i] + j] >= 0)
-					findex[ofs[i] + j] += ofs[i];
-			}
-		}
-
-		// create an array of body numbers for each joint row
-		int *jb_ptr = jb;
-		for (i=0; i<nj; i++) {
-			int b1 = (joint[i]->node[0].body) ? (joint[i]->node[0].body->m_odeTag) : -1;
-			int b2 = (joint[i]->node[1].body) ? (joint[i]->node[1].body->m_odeTag) : -1;
-			for (j=0; j<info[i].m; j++) {
-				jb_ptr[0] = b1;
-				jb_ptr[1] = b2;
-				jb_ptr += 2;
-			}
-		}
-		dIASSERT (jb_ptr == jb+2*m);
-
-		// compute the right hand side `rhs'
-		dRealAllocaArray (tmp1,nb*6);
-		// put v/h + invM*fe into tmp1
-		for (i=0; i<nb; i++) {
-			btScalar body_invMass = body[i]->m_invMass;
-			for (j=0; j<3; j++)
-				tmp1[i*6+j] = body[i]->m_facc[j] * body_invMass + body[i]->m_linearVelocity[j] * stepsize1;
-			dMULTIPLY0_331NEW (tmp1 + i*6 + 3,=,invI + i*12,body[i]->m_tacc);
-			for (j=0; j<3; j++)
-				tmp1[i*6+3+j] += body[i]->m_angularVelocity[j] * stepsize1;
-		}
-
-		// put J*tmp1 into rhs
-		dRealAllocaArray (rhs,m);
-		multiply_J (m,J,jb,tmp1,rhs);
-
-		// complete rhs
-		for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
-
-		// scale CFM
-		for (i=0; i<m; i++)
-			cfm[i] *= stepsize1;
-
-		// load lambda from the value saved on the previous iteration
-		dRealAllocaArray (lambda,m);
-#ifdef WARM_STARTING
-		dSetZero1 (lambda,m);	//@@@ shouldn't be necessary
-		for (i=0; i<nj; i++) {
-			memcpy (lambda+ofs[i],joint[i]->lambda,info[i].m * sizeof(btScalar));
-		}
-#endif
-
-		// solve the LCP problem and get lambda and invM*constraint_force
-		dRealAllocaArray (cforce,nb*6);
-
-		/// SOR_LCP
-		SOR_LCP (m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,numIter,sOr,stackAlloc);
-
-#ifdef WARM_STARTING
-		// save lambda for the next iteration
-		//@@@ note that this doesn't work for contact joints yet, as they are
-		// recreated every iteration
-		for (i=0; i<nj; i++) {
-			memcpy (joint[i]->lambda,lambda+ofs[i],info[i].m * sizeof(btScalar));
-		}
-#endif
-
-		// note that the SOR method overwrites rhs and J at this point, so
-		// they should not be used again.
-		// add stepsize * cforce to the body velocity
-		for (i=0; i<nb; i++) {
-			for (j=0; j<3; j++)
-				body[i]->m_linearVelocity[j] += solverInfo.m_timeStep* cforce[i*6+j];
-			for (j=0; j<3; j++)
-				body[i]->m_angularVelocity[j] += solverInfo.m_timeStep* cforce[i*6+3+j];
-
-		}
-	}
-
-	// compute the velocity update:
-	// add stepsize * invM * fe to the body velocity
-	for (i=0; i<nb; i++) {
-		btScalar body_invMass = body[i]->m_invMass;
-		btVector3 linvel = body[i]->m_linearVelocity;
-		btVector3 angvel = body[i]->m_angularVelocity;
-
-		for (j=0; j<3; j++)
-		{
-			linvel[j] += solverInfo.m_timeStep * body_invMass * body[i]->m_facc[j];
-		}
-		for (j=0; j<3; j++)
-		{
-			body[i]->m_tacc[j] *= solverInfo.m_timeStep;
-		}
-		dMULTIPLY0_331NEW(angvel,+=,invI + i*12,body[i]->m_tacc);
-		body[i]->m_angularVelocity = angvel;
-	}
-	//stackAlloc->endBlock(saBlock);//Remo: 10.10.2007
-}
-
-
-#endif //USE_SOR_SOLVER
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h
deleted file mode 100644
index 0d3583d33d9..00000000000
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
- * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
- Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#define USE_SOR_SOLVER
-#ifdef USE_SOR_SOLVER
-
-#ifndef SOR_LCP_H
-#define SOR_LCP_H
-struct	btOdeSolverBody;
-class btOdeJoint;
-#include "LinearMath/btScalar.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btStackAlloc.h"
-
-struct btContactSolverInfo;
-
-
-//=============================================================================
-class btSorLcpSolver //Remotion: 11.10.2007
-{
-public:
-	btSorLcpSolver()
-	{
-		dRand2_seed = 0;
-	}
-
-	void SolveInternal1 (float global_cfm,
-		float global_erp,
-		const btAlignedObjectArray<btOdeSolverBody*> &body, int nb,
-		btAlignedObjectArray<btOdeJoint*> &joint, 
-		int nj, const btContactSolverInfo& solverInfo,
-		btStackAlloc* stackAlloc
-		);
-
-public: //data
-	unsigned long dRand2_seed;
-
-protected: //typedef
-	typedef const btScalar *dRealPtr;
-	typedef btScalar *dRealMutablePtr;
-
-protected: //members
-	//------------------------------------------------------------------------------
-	SIMD_FORCE_INLINE unsigned long dRand2()
-	{
-		dRand2_seed = (1664525L*dRand2_seed + 1013904223L) & 0xffffffff;
-		return dRand2_seed;
-	}
-	//------------------------------------------------------------------------------
-	SIMD_FORCE_INLINE int dRandInt2 (int n)
-	{
-		float a = float(n) / 4294967296.0f;
-		return (int) (float(dRand2()) * a);
-	}
-	//------------------------------------------------------------------------------
-	void SOR_LCP(int m, int nb, dRealMutablePtr J, int *jb, 
-		const btAlignedObjectArray<btOdeSolverBody*> &body,
-		dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
-		dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
-		int numiter,float overRelax,
-		btStackAlloc* stackAlloc
-		);
-};
-
-
-//=============================================================================
-class AutoBlockSa //Remotion: 10.10.2007
-{
-	btStackAlloc* stackAlloc;
-	btBlock*	  saBlock;
-public:
-	AutoBlockSa(btStackAlloc* stackAlloc_)
-	{
-		stackAlloc = stackAlloc_;
-		saBlock = stackAlloc->beginBlock();
-	}
-	~AutoBlockSa()
-	{
-		stackAlloc->endBlock(saBlock);
-	}
-	//operator btBlock* () { return saBlock; }
-};
-// //Usage
-//void function(btStackAlloc* stackAlloc)
-//{
-//	AutoBlockSa(stackAlloc);
-//   ...
-//	if(...) return;
-//	return;
-//}
-//------------------------------------------------------------------------------
-
-
-#endif //SOR_LCP_H
-
-#endif //USE_SOR_SOLVER
-
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index c7b1af245e9..e46c4e6136b 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -269,7 +269,7 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 				{
 					btTransform interpolatedTransform;
 					btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
-						body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
+						body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
 					body->getMotionState()->setWorldTransform(interpolatedTransform);
 				}
 			}
@@ -708,7 +708,78 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 }
 
 
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 
+class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
+{
+	btCollisionObject* m_me;
+	btScalar m_allowedPenetration;
+	btOverlappingPairCache* m_pairCache;
+
+
+public:
+	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) : 
+	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
+		m_allowedPenetration(0.0f),
+		m_me(me),
+		m_pairCache(pairCache)
+	{
+	}
+
+	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
+	{
+		if (convexResult.m_hitCollisionObject == m_me)
+			return 1.0;
+
+		btVector3 linVelA,linVelB;
+		linVelA = m_convexToWorld-m_convexFromWorld;
+		linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin();
+
+		btVector3 relativeVelocity = (linVelA-linVelB);
+		//don't report time of impact for motion away from the contact normal (or causes minor penetration)
+		if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration)
+			return 1.f;
+
+		return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
+	}
+
+	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+	{
+		//don't collide with itself
+		if (proxy0->m_clientObject == m_me)
+			return false;
+
+		///don't do CCD when the collision filters are not matching
+		if (!btCollisionWorld::ClosestConvexResultCallback::needsCollision(proxy0))
+			return false;
+
+		///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);
+		if (collisionPair)
+		{
+			if (collisionPair->m_algorithm)
+			{
+				manifoldArray.resize(0);
+				collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
+				for (int j=0;j<manifoldArray.size();j++)
+				{
+					btPersistentManifold* manifold = manifoldArray[j];
+					if (manifold->getNumContacts()>0)
+						return false;
+				}
+			}
+		}
+		return true;
+	}
+
+
+};
+
+///internal debugging variable. this value shouldn't be too high
+int gNumClampedCcdMotions=0;
+
+//#include "stdio.h"
 void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	BT_PROFILE("integrateTransforms");
@@ -719,9 +790,34 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
+			body->setHitFraction(1.f);
+
 			if (body->isActive() && (!body->isStaticOrKinematicObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
+				btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
+
+				if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
+				{
+					BT_PROFILE("CCD motion clamping");
+					if (body->getCollisionShape()->isConvex())
+					{
+						gNumClampedCcdMotions++;
+						
+						btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
+						btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+						btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+						convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
+						if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
+						{
+							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);
 			}
 		}
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index d206a604960..d9e2652aaf6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -59,7 +59,7 @@ protected:
 
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
 	
-	void	integrateTransforms(btScalar timeStep);
+	virtual void	integrateTransforms(btScalar timeStep);
 		
 	void	calculateSimulationIslands();
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index dd9dfa71b7f..929e24d337c 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -60,7 +60,7 @@ public:
 		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
 		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
 		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=10, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
+		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
 			
 		virtual void	debugDrawWorld() = 0;