Update Bullet to version 2.80 (bullet svn revision 2537)

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

Add patches for local changes to the patches directory.

Update readme.txt, it had outdated infromation.

15 files changed, 298 insertions, 114 deletions

diff --git a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
index c876ebf1fd6..d1435b65cda 100644
--- a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
@@ -35,7 +35,7 @@ btDefaultSoftBodySolver::~btDefaultSoftBodySolver()
 }
 
 // In this case the data is already in the soft bodies so there is no need for us to do anything
-void btDefaultSoftBodySolver::copyBackToSoftBodies()
+void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove)
 {
 
 }
diff --git a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
index 8e7db3daf98..7d9092ce5b9 100644
--- a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
+++ b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
@@ -46,7 +46,7 @@ public:
 
 	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies,bool forceUpdate=false );
 
-	virtual void copyBackToSoftBodies();
+	virtual void copyBackToSoftBodies(bool bMove = true);
 
 	virtual void solveConstraints( float solverdt );
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
index 0d19fd193e7..9c06841801c 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
@@ -19,9 +19,10 @@ subject to the following restrictions:
 #include "btSoftBodyData.h"
 #include "LinearMath/btSerializer.h"
 
+
 //
 btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btVector3* x,  const btScalar* m)
-:m_worldInfo(worldInfo),m_softBodySolver(0)
+:m_softBodySolver(0),m_worldInfo(worldInfo)
 {	
 	/* Init		*/ 
 	initDefaults();
@@ -357,14 +358,14 @@ void			btSoftBody::appendTetra(int node0,
 
 //
 
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence)
 {
 	btVector3 local = body->getWorldTransform().inverse()*m_nodes[node].m_x;
-	appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies);
+	appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies,influence);
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence)
 {
 	if (disableCollisionBetweenLinkedBodies)
 	{
@@ -379,6 +380,7 @@ void			btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& loc
 	a.m_body			=	body;
 	a.m_local			=	localPivot;
 	a.m_node->m_battach	=	1;
+	a.m_influence = influence;
 	m_anchors.push_back(a);
 }
 
@@ -451,6 +453,167 @@ void			btSoftBody::addForce(const btVector3& force,int node)
 	}
 }
 
+void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex)
+{
+	btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size());
+
+	const btScalar dt = m_sst.sdt;
+	const btScalar kLF = m_cfg.kLF;
+	const btScalar kDG = m_cfg.kDG;
+	const btScalar kPR = m_cfg.kPR;
+	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF>0;
+	const bool as_drag = kDG>0;
+	const bool as_aero = as_lift || as_drag;
+	const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
+
+	Node& n = m_nodes[nodeIndex];
+
+	if( n.m_im>0 )
+	{
+		btSoftBody::sMedium	medium;
+
+		EvaluateMedium(m_worldInfo, n.m_x, medium);
+		medium.m_velocity = windVelocity;
+		medium.m_density = m_worldInfo->air_density;
+
+		/* Aerodynamics			*/ 
+		if(as_vaero)
+		{				
+			const btVector3	rel_v = n.m_v - medium.m_velocity;					
+			const btScalar rel_v_len = rel_v.length();
+			const btScalar	rel_v2 = rel_v.length2();
+
+			if(rel_v2>SIMD_EPSILON)
+			{
+				const btVector3 rel_v_nrm = rel_v.normalized();
+				btVector3	nrm = n.m_n;						
+
+				if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag)
+				{
+					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+					btVector3 fDrag(0, 0, 0);
+					btVector3 fLift(0, 0, 0);
+
+					btScalar n_dot_v = nrm.dot(rel_v_nrm);
+					btScalar tri_area = 0.5f * n.m_area;
+							
+					fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
+							
+					// Check angle of attack
+					// cos(10º) = 0.98480
+					if ( 0 < n_dot_v && n_dot_v < 0.98480f)
+						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+
+					n.m_f += fDrag;
+					n.m_f += fLift;
+				}
+				else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
+				{
+					if (btSoftBody::eAeroModel::V_TwoSided)
+						nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+					const btScalar dvn = btDot(rel_v,nrm);
+					/* Compute forces	*/ 
+					if(dvn>0)
+					{
+						btVector3		force(0,0,0);
+						const btScalar	c0	=	n.m_area * dvn * rel_v2/2;
+						const btScalar	c1	=	c0 * medium.m_density;
+						force	+=	nrm*(-c1*kLF);
+						force	+=	rel_v.normalized() * (-c1 * kDG);
+						ApplyClampedForce(n, force, dt);
+					}
+				}	
+			}
+		}
+	}
+}
+
+void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex)
+{
+	const btScalar dt = m_sst.sdt;
+	const btScalar kLF = m_cfg.kLF;
+	const btScalar kDG = m_cfg.kDG;
+	const btScalar kPR = m_cfg.kPR;
+	const btScalar kVC = m_cfg.kVC;
+	const bool as_lift = kLF>0;
+	const bool as_drag = kDG>0;
+	const bool as_aero = as_lift || as_drag;
+	const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
+
+	if(as_faero)
+	{
+		btSoftBody::Face&	f=m_faces[faceIndex];
+
+		btSoftBody::sMedium	medium;
+		
+		const btVector3	v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
+		const btVector3	x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
+		EvaluateMedium(m_worldInfo,x,medium);
+		medium.m_velocity = windVelocity;
+		medium.m_density = m_worldInfo->air_density;
+		const btVector3	rel_v=v-medium.m_velocity;
+		const btScalar rel_v_len = rel_v.length();
+		const btScalar	rel_v2=rel_v.length2();
+
+		if(rel_v2>SIMD_EPSILON)
+		{
+			const btVector3 rel_v_nrm = rel_v.normalized();
+			btVector3	nrm = f.m_normal;
+
+			if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag)
+			{
+				nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+				btVector3 fDrag(0, 0, 0);
+				btVector3 fLift(0, 0, 0);
+
+				btScalar n_dot_v = nrm.dot(rel_v_nrm);
+				btScalar tri_area = 0.5f * f.m_ra;
+					
+				fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
+
+				// Check angle of attack
+				// cos(10º) = 0.98480
+				if ( 0 < n_dot_v && n_dot_v < 0.98480f)
+					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
+
+				fDrag /= 3;
+				fLift /= 3;
+
+				for(int j=0;j<3;++j) 
+				{
+					if (f.m_n[j]->m_im>0)
+					{
+						f.m_n[j]->m_f += fDrag; 
+						f.m_n[j]->m_f += fLift;
+					}
+				}
+			}
+			else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
+			{
+				if (btSoftBody::eAeroModel::F_TwoSided)
+					nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
+
+				const btScalar	dvn=btDot(rel_v,nrm);
+				/* Compute forces	*/ 
+				if(dvn>0)
+				{
+					btVector3		force(0,0,0);
+					const btScalar	c0	=	f.m_ra*dvn*rel_v2;
+					const btScalar	c1	=	c0*medium.m_density;
+					force	+=	nrm*(-c1*kLF);
+					force	+=	rel_v.normalized()*(-c1*kDG);
+					force	/=	3;
+					for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
+				}
+			}
+		}
+	}
+
+}
+
 //
 void			btSoftBody::addVelocity(const btVector3& velocity)
 {
@@ -1820,7 +1983,7 @@ btScalar			btSoftBody::RayFromToCaster::rayFromToTriangle(	const btVector3& rayF
 void				btSoftBody::pointersToIndices()
 {
 #define	PTR2IDX(_p_,_b_)	reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_))
-	btSoftBody::Node*	base=&m_nodes[0];
+	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0] : 0;
 	int i,ni;
 
 	for(i=0,ni=m_nodes.size();i<ni;++i)
@@ -1864,7 +2027,7 @@ void				btSoftBody::indicesToPointers(const int* map)
 {
 #define	IDX2PTR(_p_,_b_)	map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]):	\
 	(&(_b_)[(((char*)_p_)-(char*)0)])
-	btSoftBody::Node*	base=&m_nodes[0];
+	btSoftBody::Node*	base=m_nodes.size() ? &m_nodes[0]:0;
 	int i,ni;
 
 	for(i=0,ni=m_nodes.size();i<ni;++i)
@@ -1908,11 +2071,12 @@ int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
 										btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const
 {
 	int	cnt=0;
+	btVector3 dir = rayTo-rayFrom;
+	
+
 	if(bcountonly||m_fdbvt.empty())
 	{/* Full search	*/ 
-		btVector3 dir = rayTo-rayFrom;
-		dir.normalize();
-
+		
 		for(int i=0,ni=m_faces.size();i<ni;++i)
 		{
 			const btSoftBody::Face&	f=m_faces[i];
@@ -1947,6 +2111,37 @@ int					btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
 			cnt=1;
 		}
 	}
+
+	for (int i=0;i<m_tetras.size();i++)
+	{
+		const btSoftBody::Tetra& tet = m_tetras[i];
+		int tetfaces[4][3] = {{0,1,2},{0,1,3},{1,2,3},{0,2,3}};
+		for (int f=0;f<4;f++)
+		{
+
+			int index0=tetfaces[f][0];
+			int index1=tetfaces[f][1];
+			int index2=tetfaces[f][2];
+			btVector3 v0=tet.m_n[index0]->m_x;
+			btVector3 v1=tet.m_n[index1]->m_x;
+			btVector3 v2=tet.m_n[index2]->m_x;
+
+
+		const btScalar			t=RayFromToCaster::rayFromToTriangle(	rayFrom,rayTo,dir,
+			v0,v1,v2,
+				mint);
+		if(t>0)
+			{
+				++cnt;
+				if(!bcountonly)
+				{
+					feature=btSoftBody::eFeature::Tetra;
+					index=i;
+					mint=t;
+				}
+			}
+		}
+	}
 	return(cnt);
 }
 
@@ -2660,44 +2855,8 @@ void				btSoftBody::applyForces()
 		{
 			if(use_medium)
 			{
-				EvaluateMedium(m_worldInfo, n.m_x, medium);
-				medium.m_velocity = m_windVelocity;
-				medium.m_density = m_worldInfo->air_density;
-
 				/* Aerodynamics			*/ 
-				if(as_vaero)
-				{				
-					const btVector3	rel_v = n.m_v - medium.m_velocity;
-					const btScalar	rel_v2 = rel_v.length2();
-					if(rel_v2>SIMD_EPSILON)
-					{
-						btVector3	nrm = n.m_n;
-						/* Setup normal		*/ 
-						switch(m_cfg.aeromodel)
-						{
-						case	btSoftBody::eAeroModel::V_Point:
-							nrm = NormalizeAny(rel_v);
-							break;
-						case	btSoftBody::eAeroModel::V_TwoSided:
-							nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
-							break;							
-						default:
-							{
-							}
-						}
-						const btScalar dvn = btDot(rel_v,nrm);
-						/* Compute forces	*/ 
-						if(dvn>0)
-						{
-							btVector3		force(0,0,0);
-							const btScalar	c0	=	n.m_area * dvn * rel_v2/2;
-							const btScalar	c1	=	c0 * medium.m_density;
-							force	+=	nrm*(-c1*kLF);
-							force	+=	rel_v.normalized() * (-c1 * kDG);
-							ApplyClampedForce(n, force, dt);
-						}
-					}
-				}
+				addAeroForceToNode(m_windVelocity, i);
 			}
 			/* Pressure				*/ 
 			if(as_pressure)
@@ -2711,43 +2870,14 @@ void				btSoftBody::applyForces()
 			}
 		}
 	}
+
 	/* Per face forces				*/ 
 	for(i=0,ni=m_faces.size();i<ni;++i)
 	{
 		btSoftBody::Face&	f=m_faces[i];
-		if(as_faero)
-		{
-			const btVector3	v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3;
-			const btVector3	x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3;
-			EvaluateMedium(m_worldInfo,x,medium);
-			const btVector3	rel_v=v-medium.m_velocity;
-			const btScalar	rel_v2=rel_v.length2();
-			if(rel_v2>SIMD_EPSILON)
-			{
-				btVector3	nrm=f.m_normal;
-				/* Setup normal		*/ 
-				switch(m_cfg.aeromodel)
-				{
-				case	btSoftBody::eAeroModel::F_TwoSided:
-					nrm*=(btScalar)(btDot(nrm,rel_v)<0?-1:+1);break;
-					default:
-					{
-					}
-				}
-				const btScalar	dvn=btDot(rel_v,nrm);
-				/* Compute forces	*/ 
-				if(dvn>0)
-				{
-					btVector3		force(0,0,0);
-					const btScalar	c0	=	f.m_ra*dvn*rel_v2;
-					const btScalar	c1	=	c0*medium.m_density;
-					force	+=	nrm*(-c1*kLF);
-					force	+=	rel_v.normalized()*(-c1*kDG);
-					force	/=	3;
-					for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt);
-				}
-			}
-		}
+
+		/* Aerodynamics			*/ 
+		addAeroForceToFace(m_windVelocity, i);	
 	}
 }
 
@@ -2765,7 +2895,7 @@ void				btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
 		const btVector3		va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt;
 		const btVector3		vb=n.m_x-n.m_q;
 		const btVector3		vr=(va-vb)+(wa-n.m_x)*kAHR;
-		const btVector3		impulse=a.m_c0*vr;
+		const btVector3		impulse=a.m_c0*vr*a.m_influence;
 		n.m_x+=impulse*a.m_c2;
 		a.m_body->applyImpulse(-impulse,a.m_c1);
 	}
@@ -3196,7 +3326,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 	sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL;
 	sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL;
 	sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL;
-		
+
 	//pose for shape matching
 	{
 		sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose);
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
index ad8678f28b2..ba589486f26 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
@@ -80,11 +80,13 @@ public:
 
 	///eAeroModel 
 	struct eAeroModel { enum _ {
-		V_Point,	///Vertex normals are oriented toward velocity
-		V_TwoSided,	///Vertex normals are fliped to match velocity	
-		V_OneSided,	///Vertex normals are taken as it is	
-		F_TwoSided,	///Face normals are fliped to match velocity
-		F_OneSided,	///Face normals are taken as it is
+		V_Point,			///Vertex normals are oriented toward velocity
+		V_TwoSided,			///Vertex normals are flipped to match velocity	
+		V_TwoSidedLiftDrag, ///Vertex normals are flipped to match velocity and lift and drag forces are applied
+		V_OneSided,			///Vertex normals are taken as it is	
+		F_TwoSided,			///Face normals are flipped to match velocity
+		F_TwoSidedLiftDrag,	///Face normals are flipped to match velocity and lift and drag forces are applied 
+		F_OneSided,			///Face normals are taken as it is		
 		END
 	};};
 
@@ -117,6 +119,7 @@ public:
 		Node,
 		Link,
 		Face,
+		Tetra,
 		END
 	};};
 
@@ -282,6 +285,7 @@ public:
 		Node*					m_node;			// Node pointer
 		btVector3				m_local;		// Anchor position in body space
 		btRigidBody*			m_body;			// Body
+		btScalar				m_influence;
 		btMatrix3x3				m_c0;			// Impulse matrix
 		btVector3				m_c1;			// Relative anchor
 		btScalar				m_c2;			// ima*dt
@@ -752,8 +756,8 @@ public:
 
 	/* Append anchor														*/ 
 	void				appendAnchor(	int node,
-		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
-	void			appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies=false);
+		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1);
+	void			appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1);
 	/* Append linear joint													*/ 
 	void				appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
 	void				appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
@@ -767,6 +771,12 @@ public:
 	/* Add force (or gravity) to a node of the body							*/ 
 	void				addForce(		const btVector3& force,
 		int node);
+	/* Add aero force to a node of the body */
+	void			    addAeroForceToNode(const btVector3& windVelocity,int nodeIndex);
+
+	/* Add aero force to a face of the body */
+	void			    addAeroForceToFace(const btVector3& windVelocity,int faceIndex);
+
 	/* Add velocity to the entire body										*/ 
 	void				addVelocity(	const btVector3& velocity);
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index 04ee7ea77cf..d99be3b8138 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -95,7 +95,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 	ci.m_dispatcher1 = m_dispatcher;
 
 	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe)
+	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe))
 	{
 		btVector3 color(1,1,0);
 		btTransform& tr = ob->getWorldTransform();
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index f311419d4a8..8a09fff2a37 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
-#define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
+#ifndef BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
+#define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
 
 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@@ -152,4 +152,4 @@ public:
 
 };
 
-#endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
+#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
index 1a271066497..0fb3560e94c 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -19,6 +19,8 @@ subject to the following restrictions:
 #include <string.h>
 #include "btSoftBodyHelpers.h"
 #include "LinearMath/btConvexHull.h"
+#include "LinearMath/btConvexHullComputer.h"
+
 
 //
 static void				drawVertex(	btIDebugDraw* idraw,
@@ -183,6 +185,35 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 				{				
 					vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
 				}
+#define USE_NEW_CONVEX_HULL_COMPUTER
+#ifdef USE_NEW_CONVEX_HULL_COMPUTER
+				btConvexHullComputer	computer;
+				int stride = sizeof(btVector3);
+				int count = vertices.size();
+				btScalar shrink=0.f;
+				btScalar shrinkClamp=0.f;
+				computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
+				for (int i=0;i<computer.faces.size();i++)
+				{
+
+					int face = computer.faces[i];
+					//printf("face=%d\n",face);
+					const btConvexHullComputer::Edge*  firstEdge = &computer.edges[face];
+					const btConvexHullComputer::Edge*  edge = firstEdge->getNextEdgeOfFace();
+
+					int v0 = firstEdge->getSourceVertex();
+					int v1 = firstEdge->getTargetVertex();
+					while (edge!=firstEdge)
+					{
+						int v2 = edge->getTargetVertex();
+						idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
+						edge = edge->getNextEdgeOfFace();
+						v0=v1;
+						v1=v2;
+					};
+				}
+#else
+
 				HullDesc		hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
 				HullResult		hres;
 				HullLibrary		hlib;
@@ -201,6 +232,8 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 						color,1);
 				}
 				hlib.ReleaseResult(hres);
+#endif
+
 			}
 			/* Velocities	*/ 
 #if 0
@@ -296,7 +329,7 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 	{
 		const btScalar	scl=(btScalar)0.8;
 		const btScalar	alp=(btScalar)1;
-		const btVector3	col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
+		const btVector3	col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
 		for(int i=0;i<psb->m_tetras.size();++i)
 		{
 			const btSoftBody::Tetra&	t=psb->m_tetras[i];
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
index 49b1f0bbce8..620a52fe394 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOFT_BODY_HELPERS_H
-#define SOFT_BODY_HELPERS_H
+#ifndef BT_SOFT_BODY_HELPERS_H
+#define BT_SOFT_BODY_HELPERS_H
 
 #include "btSoftBody.h"
 
@@ -140,4 +140,4 @@ struct	btSoftBodyHelpers
 	
 };
 
-#endif //SOFT_BODY_HELPERS_H
+#endif //BT_SOFT_BODY_HELPERS_H
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
index 885571069d0..5ef8db19396 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
@@ -70,7 +70,7 @@ public:
 	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 	{
-		/* t should be identity, but better be safe than...fast? */ 
+		/* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */
 		const btVector3	mins=m_body->m_bounds[0];
 		const btVector3	maxs=m_body->m_bounds[1];
 		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h b/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
index 440084c5f7b..2fcd8b67616 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
@@ -73,7 +73,7 @@ public:
 	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false) = 0;
 
 	/** Copy necessary data back to the original soft body source objects. */
-	virtual void copyBackToSoftBodies() = 0;
+	virtual void copyBackToSoftBodies(bool bMove = true) = 0;
 
 	/** Predict motion of soft bodies into next timestep */
 	virtual void predictMotion( float solverdt ) = 0;
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index adc3844e363..7658e3c2252 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H
-#define SOFT_RIGID_COLLISION_ALGORITHM_H
+#ifndef BT_SOFT_RIGID_COLLISION_ALGORITHM_H
+#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
 
 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -70,6 +70,6 @@ public:
 
 };
 
-#endif //SOFT_RIGID_COLLISION_ALGORITHM_H
+#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index 1b9b5e392a1..8f4be231c13 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -165,7 +165,7 @@ void	btSoftRigidDynamicsWorld::debugDrawWorld()
 		for (  i=0;i<this->m_softBodies.size();i++)
 		{
 			btSoftBody*	psb=(btSoftBody*)this->m_softBodies[i];
-			if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))
+			if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
 			{
 				btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
 				btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
@@ -300,12 +300,19 @@ void	btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,con
 					shapeInfo.m_shapePart = 0;
 					shapeInfo.m_triangleIndex = softResult.index;
 					// get the normal
-					btVector3 normal = softBody->m_faces[softResult.index].m_normal;
 					btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
-					if (normal.dot(rayDir) > 0) {
-						// normal always point toward origin of the ray
-						normal = -normal;
+					btVector3 normal=-rayDir;
+					normal.normalize();
+
+					if (softResult.feature == btSoftBody::eFeature::Face)
+					{
+						normal = softBody->m_faces[softResult.index].m_normal;
+						if (normal.dot(rayDir) > 0) {
+							// normal always point toward origin of the ray
+							normal = -normal;
+						}
 					}
+	
 					btCollisionWorld::LocalRayResult rayResult
 						(collisionObject,
 						 &shapeInfo,
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
index 7d8d0cb7daa..3e0efafd6c7 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
@@ -73,6 +73,10 @@ public:
 		return m_sbi;
 	}
 
+	virtual btDynamicsWorldType	getWorldType() const
+	{
+		return	BT_SOFT_RIGID_DYNAMICS_WORLD;
+	}
 
 	btSoftBodyArray& getSoftBodyArray()
 	{
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index 1b34e0af60f..92d683c1dc8 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -13,8 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SOFT_SOFT_COLLISION_ALGORITHM_H
-#define SOFT_SOFT_COLLISION_ALGORITHM_H
+#ifndef BT_SOFT_SOFT_COLLISION_ALGORITHM_H
+#define BT_SOFT_SOFT_COLLISION_ALGORITHM_H
 
 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -64,6 +64,6 @@ public:
 
 };
 
-#endif //SOFT_SOFT_COLLISION_ALGORITHM_H
+#endif //BT_SOFT_SOFT_COLLISION_ALGORITHM_H
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
index cc4266732ae..90a26cdf7e3 100644
--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
@@ -14,8 +14,8 @@ subject to the following restrictions:
 */
 ///btSparseSdf implementation by Nathanael Presson
 
-#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
-#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
+#ifndef BT_SPARSE_SDF_H
+#define BT_SPARSE_SDF_H
 
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
@@ -303,4 +303,4 @@ struct	btSparseSdf
 };
 
 
-#endif
+#endif //BT_SPARSE_SDF_H