bullet in the orange branch seems to be merged incorrectly. updated to the latest version

58 files changed, 421 insertions, 211 deletions

diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
index 2f4ed2c1653..235e2f1e465 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
@@ -36,6 +36,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	EMPTY_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
 };
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
index 663cae2949a..823bfdc9edd 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
@@ -16,7 +16,7 @@
 #include "SimdTransform.h"
 #include "SimdMatrix3x3.h"
 #include <vector>
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 SimpleBroadphase::SimpleBroadphase()
 :  m_firstFreeProxy(0),
@@ -63,12 +63,34 @@ BroadphaseProxy*	SimpleBroadphase::CreateProxy( void *object, int type, const Si
 }
 void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxy)
 {
-		m_numProxies--;
+		
+		int i;
+		
 		BroadphaseProxy* proxy1 = &m_proxies[0];
 	
 		int index = proxy - proxy1;
 		m_freeProxies[--m_firstFreeProxy] = index;
 
+		for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
+		{
+			BroadphasePair& pair = m_OverlappingPairs[i];
+			if (pair.m_pProxy0 == proxy ||
+					pair.m_pProxy1 == proxy)
+			{
+				RemoveOverlappingPair(pair);
+			}
+		}
+		
+		for (i=0;i<m_numProxies;i++)
+		{
+			if (m_pProxies[i] == proxy)
+			{
+				m_proxies[i] = m_proxies[m_numProxies-1];
+				break;
+			}
+		}
+		m_numProxies--;
+		
 }
 
 SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
@@ -76,7 +98,7 @@ SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy
 	SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
 
 	int index = proxy0 - &m_proxies[0];
-	assert(index < m_numProxies);
+	//assert(index < m_numProxies);
 
 	SimpleBroadphaseProxy* sbp = &m_proxies[index];
 	return sbp;
@@ -118,6 +140,8 @@ void	SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
 
 void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 {
+	
+
 	BroadphasePair pair(*proxy0,*proxy1);
 	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
 
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
index b3274435263..f7492328c02 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -50,4 +50,5 @@ void	BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
 	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
 
 
-}
\ No newline at end of file
+}
+
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.h b/extern/bullet/Bullet/CollisionShapes/BoxShape.h
index 1cb0d822b76..bbc07f90f5b 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.h
@@ -13,7 +13,7 @@
 #define OBB_BOX_MINKOWSKI_H
 
 #include "PolyhedralConvexShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 #include "BroadphaseCollision/BroadphaseProxy.h"
 #include "SimdPoint3.h"
 #include "SimdMinMax.h"
diff --git a/extern/bullet/Bullet/CollisionShapes/ConeShape.h b/extern/bullet/Bullet/CollisionShapes/ConeShape.h
index 5a6b27c904d..55a6d02c334 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConeShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/ConeShape.h
@@ -70,4 +70,5 @@ public:
 };
 
 
-#endif //CONE_MINKOWSKI_H
\ No newline at end of file
+#endif //CONE_MINKOWSKI_H
+
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
index 1cea1d02f08..fdb7a4d801a 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
@@ -10,7 +10,7 @@
  */
 
 #include "ConvexHullShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "SimdQuaternion.h"
 
@@ -75,29 +75,7 @@ SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)con
 
 
 
-void	ConvexHullShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//not yet, return box inertia
-
-	float margin = GetMargin();
-
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	GetAabb(ident,aabbMin,aabbMax);
-	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
 
-	SimdScalar lx=2.f*(halfExtents.x()+margin);
-	SimdScalar ly=2.f*(halfExtents.y()+margin);
-	SimdScalar lz=2.f*(halfExtents.z()+margin);
-	const SimdScalar x2 = lx*lx;
-	const SimdScalar y2 = ly*ly;
-	const SimdScalar z2 = lz*lz;
-	const SimdScalar scaledmass = mass * 0.08333333f;
-
-	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
-
-}
 
 
 
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h
index a06bcb1e9dc..5906b9354c4 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h
@@ -35,7 +35,6 @@ public:
 	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
 	virtual int	GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
 
@@ -56,4 +55,5 @@ public:
 };
 
 
-#endif //CONVEX_HULL_SHAPE_H
\ No newline at end of file
+#endif //CONVEX_HULL_SHAPE_H
+
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
index b1e6f9e9924..82986200497 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
@@ -18,7 +18,7 @@
 #include "SimdTransform.h"
 #include "SimdMatrix3x3.h"
 #include <vector>
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 //todo: get rid of this ConvexCastResult thing!
 struct ConvexCastResult;
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.h b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.h
index 8e0e446a549..c9f1a4acffd 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.h
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.h
@@ -46,4 +46,5 @@ int	m_triangleCount;
 };
 
 
-#endif //CONVEX_TRIANGLE_CALLBACK_H
\ No newline at end of file
+#endif //CONVEX_TRIANGLE_CALLBACK_H
+
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
index 8b1cb66685a..e35464ef1d3 100644
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
@@ -82,4 +82,5 @@ public:
 };
 
 
-#endif //CYLINDER_MINKOWSKI_H
\ No newline at end of file
+#endif //CYLINDER_MINKOWSKI_H
+
diff --git a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp
index 93787081a34..d1d5aa92897 100644
--- a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp
@@ -9,7 +9,7 @@
  * It is provided "as is" without express or implied warranty.
 */
 #include "MultiSphereShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 #include "SimdQuaternion.h"
 
 MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
diff --git a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
index 911bb9af432..ca71ded41c9 100644
--- a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
+++ b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
@@ -89,4 +89,5 @@ public:
 };
 
 
-#endif //OPTIMIZED_BVH_H
\ No newline at end of file
+#endif //OPTIMIZED_BVH_H
+
diff --git a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
index 55f29bab960..e480b8911c7 100644
--- a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
@@ -50,3 +50,28 @@ SimdVector3	PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const S
 	return supVec;
 
 }
+
+void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//not yet, return box inertia
+
+	float margin = GetMargin();
+
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+	SimdScalar lx=2.f*(halfExtents.x()+margin);
+	SimdScalar ly=2.f*(halfExtents.y()+margin);
+	SimdScalar lz=2.f*(halfExtents.z()+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+}
+
diff --git a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h
index 9c3764ae014..f1462e21f97 100644
--- a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h
@@ -27,6 +27,9 @@ public:
 	//brute force implementations
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
+		virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+
 
 	virtual int	GetNumVertices() const = 0 ;
 	virtual int GetNumEdges() const = 0;
diff --git a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h b/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h
index a7533efa5cf..7c61cb661d7 100644
--- a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h
+++ b/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h
@@ -38,10 +38,6 @@ public:
 		m_numVertices = 0;
 	}
 	
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-	{
-		inertia = SimdVector3(1.f,1.f,1.f);
-	}
 
 	virtual int	GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
 
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
index 8c28cca172e..bbffb8137de 100644
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
@@ -10,7 +10,7 @@
  */
 
 #include "SphereShape.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "SimdQuaternion.h"
 
diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp
index 8fd761f06cb..9763a3c02a2 100644
--- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp
@@ -14,3 +14,67 @@ StridingMeshInterface::~StridingMeshInterface()
 {
 
 }
+
+
+void	StridingMeshInterface::InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+	SimdVector3 meshScaling = getScaling();
+
+	int numtotalphysicsverts = 0;
+	int part,graphicssubparts = getNumSubParts();
+	for (part=0;part<graphicssubparts ;part++)
+	{
+		const unsigned char * vertexbase;
+		const unsigned char * indexbase;
+		int indexstride;
+		PHY_ScalarType type;
+		PHY_ScalarType gfxindextype;
+		int stride,numverts,numtriangles;
+		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+
+		numtotalphysicsverts+=numtriangles*3; //upper bound
+
+	
+		int gfxindex;
+		SimdVector3 triangle[3];
+
+		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+		{
+		
+			int	graphicsindex=0;
+
+#ifdef DEBUG_TRIANGLE_MESH
+			printf("triangle indices:\n");
+#endif //DEBUG_TRIANGLE_MESH
+			ASSERT(gfxindextype == PHY_INTEGER);
+			int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
+
+			for (int j=2;j>=0;j--)
+			{
+				
+				graphicsindex = gfxbase[j];
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("%d ,",graphicsindex);
+#endif //DEBUG_TRIANGLE_MESH
+				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+				triangle[j] = SimdVector3(
+					graphicsbase[0]*meshScaling.getX(),
+					graphicsbase[1]*meshScaling.getY(),
+					graphicsbase[2]*meshScaling.getZ());
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
+#endif //DEBUG_TRIANGLE_MESH
+			}
+
+			
+			//check aabb in triangle-space, before doing this
+			callback->InternalProcessTriangleIndex(triangle,part,gfxindex);
+			
+		}
+		
+		unLockReadOnlyVertexBase(part);
+	}
+}
+
diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
index ba8a925c8dd..82f89b4dbe0 100644
--- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
+++ b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
@@ -12,6 +12,7 @@
 #define STRIDING_MESHINTERFACE_H
 
 #include "SimdVector3.h"
+#include "TriangleCallback.h"
 
 /// PHY_ScalarType enumerates possible scalar types.
 /// See the StridingMeshInterface for its use
@@ -38,26 +39,36 @@ class  StridingMeshInterface
 		}
 
 		virtual ~StridingMeshInterface();
+
+
+
+		void	InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+
 		/// get read and write access to a subpart of a triangle mesh
 		/// this subpart has a continuous array of vertices and indices
 		/// in this way the mesh can be handled as chunks of memory with striding
 		/// very similar to OpenGL vertexarray support
 		/// make a call to unLockVertexBase when the read and write access is finished	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
+		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
 		
-
+		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
+	
 		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
 		virtual void	unLockVertexBase(int subpart)=0;
 
+		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
+
+
 		/// getNumSubParts returns the number of seperate subparts
 		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts()=0;
+		virtual int		getNumSubParts() const=0;
 
 		virtual void	preallocateVertices(int numverts)=0;
 		virtual void	preallocateIndices(int numindices)=0;
 
-		const SimdVector3&	getScaling() {
+		const SimdVector3&	getScaling() const {
 			return m_scaling;
 		}
 		void	setScaling(const SimdVector3& scaling)
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp
index 6fc69355c2d..64704dc41fd 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp
@@ -20,4 +20,5 @@ TriangleCallback::~TriangleCallback()
 InternalTriangleIndexCallback::~InternalTriangleIndexCallback()
 {
 
-}
\ No newline at end of file
+}
+
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h
index 0e464d09e8b..cbffeeb9839 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h
@@ -22,4 +22,14 @@ public:
 	virtual void ProcessTriangle(SimdVector3* triangle) = 0;
 };
 
+class InternalTriangleIndexCallback
+{
+public:
+
+	virtual ~InternalTriangleIndexCallback();
+	virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex) = 0;
+};
+
+
+
 #endif //TRIANGLE_CALLBACK_H
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h b/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h
index 4784dc3938f..1e82950a344 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h
@@ -43,4 +43,5 @@ public:
 	virtual void	preallocateVertices(int numverts){}
 	virtual void	preallocateIndices(int numindices){}
 
-};
\ No newline at end of file
+};
+
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp
index d02b9600985..38cccec3e15 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp
@@ -33,7 +33,24 @@ void	TriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& num
 
 }
 
-int		TriangleMesh::getNumSubParts()
+void	TriangleMesh::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+{
+	numverts = 3;
+	*vertexbase = (unsigned char*)&m_triangles[subpart];
+	type = PHY_FLOAT;
+	stride = sizeof(SimdVector3);
+
+
+	numfaces = 1;
+	*indexbase = (unsigned char*) &myindices[0];
+	indicestype = PHY_INTEGER;
+	indexstride = sizeof(int);
+
+}
+
+
+
+int		TriangleMesh::getNumSubParts() const
 {
 	return m_triangles.size();
 }
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
index 0b0b937bf12..891ef6ea91a 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
@@ -46,13 +46,17 @@ class TriangleMesh : public StridingMeshInterface
 
 		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
 
+		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+
 		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
 		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
 		virtual void	unLockVertexBase(int subpart) {}
 
+		virtual void	unLockReadOnlyVertexBase(int subpart) const {}
+
 		/// getNumSubParts returns the number of seperate subparts
 		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts();
+		virtual int		getNumSubParts() const;
 		
 		virtual void	preallocateVertices(int numverts){}
 		virtual void	preallocateIndices(int numindices){}
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
index 0c20f78c1df..743e413307e 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
@@ -13,7 +13,7 @@
 #include "SimdQuaternion.h"
 #include "StridingMeshInterface.h"
 #include "AabbUtil2.h"
-#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "CollisionShapes/CollisionMargin.h"
 
 #include "stdio.h"
 
@@ -21,8 +21,10 @@ TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
 : m_meshInterface(meshInterface),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
 {
+	RecalcLocalAabb();
 }
 
+
 TriangleMeshShape::~TriangleMeshShape()
 {
 		
@@ -34,23 +36,39 @@ TriangleMeshShape::~TriangleMeshShape()
 void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
 
+	SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
+	SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
+	
+	SimdMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	SimdPoint3 center = trans(localCenter);
+
+	SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
+		   abs_b[1].dot(localHalfExtents),
+		  abs_b[2].dot(localHalfExtents));
+	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+	
+}
+
+void	TriangleMeshShape::RecalcLocalAabb()
+{
 	for (int i=0;i<3;i++)
 	{
 		SimdVector3 vec(0.f,0.f,0.f);
 		vec[i] = 1.f;
-		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMax[i] = tmp[i]+m_collisionMargin;
+		SimdVector3 tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
 		vec[i] = -1.f;
-		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		aabbMin[i] = tmp[i]-m_collisionMargin;
+		tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
 	}
 }
 
 
-TriangleCallback::~TriangleCallback()
-{
-
-}
 
 class SupportVertexCallback : public TriangleCallback
 {
@@ -98,6 +116,7 @@ public:
 void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
 {
 	m_meshInterface->setScaling(scaling);
+	RecalcLocalAabb();
 }
 
 const SimdVector3& TriangleMeshShape::getLocalScaling() const
@@ -107,57 +126,43 @@ const SimdVector3& TriangleMeshShape::getLocalScaling() const
 
 
 
+
+
+
+//#define DEBUG_TRIANGLE_MESH
+
+
 void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
 {
 
-	SimdVector3 meshScaling = m_meshInterface->getScaling();
-	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = m_meshInterface->getNumSubParts();
-	for (part=0;part<graphicssubparts ;part++)
+	struct FilteredCallback : public InternalTriangleIndexCallback
 	{
-		unsigned char * vertexbase;
-		unsigned char * indexbase;
-		int indexstride;
-		PHY_ScalarType type;
-		PHY_ScalarType gfxindextype;
-		int stride,numverts,numtriangles;
-		m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-		numtotalphysicsverts+=numtriangles*3; //upper bound
-
-	
-		int gfxindex;
-		SimdVector3 triangle[3];
-
-		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+		TriangleCallback* m_callback;
+		SimdVector3 m_aabbMin;
+		SimdVector3 m_aabbMax;
+
+		FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
+			:m_callback(callback),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax)
 		{
-		
-			int	graphicsindex=0;
-
-			for (int j=2;j>=0;j--)
-			{
-				ASSERT(gfxindextype == PHY_INTEGER);
-				int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
-				graphicsindex = gfxbase[j];
-				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-
-				triangle[j] = SimdVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
-			}
+		}
 
-			if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax))
+		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
+		{
+			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
 			{
 				//check aabb in triangle-space, before doing this
-				callback->ProcessTriangle(triangle);
-	
+				m_callback->ProcessTriangle(triangle);
 			}
 			
 		}
-		
-		m_meshInterface->unLockVertexBase(part);
-	}
 
+	};
+
+	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+
+	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
 
 }
 
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
index 926191bddbb..4f42458f062 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
@@ -22,8 +22,10 @@
 ///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
 class TriangleMeshShape : public CollisionShape
 {
-
+protected:
 	StridingMeshInterface* m_meshInterface;
+	SimdVector3	m_localAabbMin;
+	SimdVector3	m_localAabbMax;
 	float m_collisionMargin;
 
 public:
@@ -41,6 +43,8 @@ public:
 		return LocalGetSupportingVertex(vec);
 	}
 
+	void	RecalcLocalAabb();
+
 	virtual int	GetShapeType() const
 	{
 		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
@@ -48,7 +52,7 @@ public:
 
 	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
 
-	void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
 
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleShape.h
index 60ea95da5d0..570a312da1a 100644
--- a/extern/bullet/Bullet/CollisionShapes/TriangleShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/TriangleShape.h
@@ -143,4 +143,5 @@ public:
 
 };
 
-#endif //OBB_TRIANGLE_MINKOWSKI_H
\ No newline at end of file
+#endif //OBB_TRIANGLE_MINKOWSKI_H
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h
index b8b31377aa7..94f1dafe1bb 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h
@@ -43,4 +43,5 @@ public:
 
 };
 
-#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
\ No newline at end of file
+#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
index 8af37e08032..a8fdbc55414 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
@@ -30,4 +30,5 @@ public:
 
 
 };
-#endif //CONVEX_PENETRATION_DEPTH_H
\ No newline at end of file
+#endif //CONVEX_PENETRATION_DEPTH_H
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
index 45d7403586f..4c129848fe0 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
@@ -154,4 +154,5 @@ bool	GjkConvexCast::calcTimeOfImpact(
 	}
 
 	return false;
-}
\ No newline at end of file
+}
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h
index a1bcc615010..3d3c5de4110 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h
@@ -13,7 +13,8 @@
 #ifndef GJK_CONVEX_CAST_H
 #define GJK_CONVEX_CAST_H
 
-#include "CollisionMargin.h"
+#include <CollisionShapes/CollisionMargin.h>
+
 #include "SimdVector3.h"
 #include "ConvexCast.h"
 class ConvexShape;
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
index f6311a9eba5..bfef4a91682 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
@@ -17,7 +17,7 @@
 #include "DiscreteCollisionDetectorInterface.h"
 #include "SimdPoint3.h"
 
-#include "CollisionMargin.h"
+#include <CollisionShapes/CollisionMargin.h>
 
 class ConvexShape;
 #include "SimplexSolverInterface.h"
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
index bb45e5215f3..98e45f6d1df 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
@@ -30,4 +30,5 @@ void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWor
 	{
 		m_manifoldPtr->AddManifoldPoint(newPt);
 	}
-}
\ No newline at end of file
+}
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
index 1926501b84b..6ff503e7322 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
@@ -131,7 +131,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 
 	if (res.m_hasResult)
 	{
-		pa = res.m_pointInWorld - res.m_normalOnBInWorld*res.m_depth;
+		pa = res.m_pointInWorld - res.m_normalOnBInWorld*0.1f*res.m_depth;
 		pb = res.m_pointInWorld;
 	}
 	return res.m_hasResult;
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h b/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h
index f39fa090ae4..e4f22b69f46 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h
@@ -33,4 +33,5 @@ struct PointCollector : public DiscreteCollisionDetectorInterface::Result
 	}
 };
 
-#endif //POINT_COLLECTOR_H
\ No newline at end of file
+#endif //POINT_COLLECTOR_H
+
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h
index 8fc97bb3b40..a1d34dcb2f6 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h
@@ -37,4 +37,5 @@ public:
 	virtual void ProcessTriangle(SimdVector3* triangle);
 };
 
-#endif //RAYCAST_TRI_CALLBACK_H
\ No newline at end of file
+#endif //RAYCAST_TRI_CALLBACK_H
+
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
index 3f356c703d7..fef5ef281b2 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -38,7 +38,7 @@
 ///It improves the penetration depth handling dramatically
 //#define USE_EPA
 #ifdef USE_EPA
-#include "NarrowPhaseCollision/Solid3EpaPenetrationDepth.h"
+#include "../Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h"
 bool gUseEpa = true;
 #else
 bool gUseEpa = false;
@@ -68,11 +68,10 @@ ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const Collis
 m_gjkPairDetector(0,0,&m_simplexSolver,0),
 m_box0(*proxy0),
 m_box1(*proxy1),
-m_collisionImpulse(0.f),
 m_ownManifold (false),
 m_manifoldPtr(mf),
 m_lowLevelOfDetail(false),
-m_useEpa(gUseEpa)
+m_useEpa(!gUseEpa)
 {
 	CheckPenetrationDepthSolver();
 
@@ -137,30 +136,34 @@ public:
 
 };
 
+static MinkowskiPenetrationDepthSolver	gPenetrationDepthSolver;
+
+#ifdef USE_EPA
+Solid3EpaPenetrationDepth	gSolidEpaPenetrationSolver;
+#endif //USE_EPA
+
 void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
 {
-//	if (m_useEpa != gUseEpa)
+	if (m_useEpa != gUseEpa)
 	{
 		m_useEpa  = gUseEpa;
 		if (m_useEpa)
 		{
 			//not distributed, see top of this file
 			#ifdef USE_EPA
-			m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gSolidEpaPenetrationSolver);
 			#else
-			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
 			#endif
 			
 		} else
 		{
-			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
+			m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
 		}
 	}
 	
 }
-bool extra = false;
 
-float gFriction = 0.5f;
 //
 // box-box collision algorithm, for simplicity also applies resolution-impulse
 //
@@ -169,7 +172,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	CheckPenetrationDepthSolver();
 
 //	printf("ConvexConvexAlgorithm::ProcessCollision\n");
-m_collisionImpulse = 0.f;
+
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
@@ -227,7 +230,7 @@ float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
 
 	CheckPenetrationDepthSolver();
 
-	m_collisionImpulse = 0.f;
+
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
index 8b16687f192..b560e8d4c15 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
@@ -29,7 +29,7 @@ class ConvexConvexAlgorithm : public CollisionAlgorithm
 public:
 	BroadphaseProxy	m_box0;
 	BroadphaseProxy	m_box1;
-	float			m_collisionImpulse;
+
 	bool	m_ownManifold;
 	PersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index 01c2dbf031d..0c400a84dca 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -27,8 +27,8 @@ SimdScalar contactTau = .02f;//0.02f;//*0.02f;
 
 SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 {
-	return 0.f;
-//	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
+//	return 0.f;
+	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
 }
 
 
@@ -139,28 +139,31 @@ SimdScalar rel_vel;
 */	
 	rel_vel = normal.dot(vel);
 	
-//	if (rel_vel< 0.f)//-SIMD_EPSILON) 
-//	{
 	float combinedRestitution = body1.getRestitution() * body2.getRestitution();
 
-	SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
-//	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+	SimdScalar restitution = restitutionCurve(rel_vel, combinedRestitution);
 
-	SimdScalar timeCorrection = 0.5f / solverInfo.m_timeStep ;
+	SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
 
 	float damping = solverInfo.m_damping ;
-	float tau = solverInfo.m_tau;
-
+	float Kerp = solverInfo.m_tau;
+	
 	if (useGlobalSettingContacts)
 	{
 		damping = contactDamping;
-		tau = contactTau;
+		Kerp = contactTau;
 	} 
-	SimdScalar penetrationImpulse = (-distance* tau *timeCorrection)  * jacDiagABInv;
-		
 
+	float Kcor = Kerp *Kfps;
+
+
+	SimdScalar positionalError = Kcor *-distance;
+	//jacDiagABInv;
+	SimdScalar velocityError = -(1.0f + restitution) * damping * rel_vel;
+
+	SimdScalar penetrationImpulse = positionalError * jacDiagABInv;
 
-	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel * jacDiagABInv;
+	SimdScalar	velocityImpulse = velocityError * jacDiagABInv;
 
 	SimdScalar friction_impulse = 0.f;
 
@@ -177,11 +180,11 @@ SimdScalar rel_vel;
 
 		{
 		
-				SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	SimdVector3 vel = vel1 - vel2;
-	
-	rel_vel = normal.dot(vel);
+		SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+		SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+		SimdVector3 vel = vel1 - vel2;
+		
+		rel_vel = normal.dot(vel);
 
 #define PER_CONTACT_FRICTION
 #ifdef PER_CONTACT_FRICTION
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h b/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
index ebf58c34485..3a89f2ad1fd 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
@@ -16,7 +16,7 @@
 
 
 //notes:
-// Another memory optimization would be to store m_MbJ in the remaining 3 w components
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
 // which makes the JacobianEntry memory layout 16 bytes
 // if you only are interested in angular part, just feed massInvA and massInvB zero
 
@@ -32,59 +32,59 @@ public:
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA,
 		const SimdVector3& inertiaInvB,
 		const SimdScalar massInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(normal));
-		m_bJ = world2B*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ) + massInvB + m_MbJ.dot(m_bJ);
+		m_aJ = world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2B*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 	}
 
 		//angular constraint between two different rigidbodies
-	JacobianEntry(const SimdVector3& normal,
+	JacobianEntry(const SimdVector3& jointAxis,
 		const SimdMatrix3x3& world2A,
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& inertiaInvA,
 		const SimdVector3& inertiaInvB)
-		:m_normalAxis(normal)
+		:m_jointAxis(m_jointAxis)
 	{
-		m_aJ= world2A*normal;
-		m_bJ = world2B*-normal;
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = inertiaInvB * m_bJ;
-		m_jacDiagAB =  m_MaJ.dot(m_aJ) + m_MbJ.dot(m_bJ);
+		m_aJ= world2A*m_jointAxis;
+		m_bJ = world2B*-m_jointAxis;
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 	}
 
 	//constraint on one rigidbody
 	JacobianEntry(
 		const SimdMatrix3x3& world2A,
 		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& normal,
+		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA)
-		:m_normalAxis(normal)
+		:m_jointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(normal));
-		m_bJ = world2A*(rel_pos2.cross(normal));
-		m_MaJ	= inertiaInvA * m_aJ;
-		m_MbJ = SimdVector3(0.f,0.f,0.f);
-		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ);
+		m_aJ= world2A*(rel_pos1.cross(m_jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(m_jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = SimdVector3(0.f,0.f,0.f);
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 	}
 
-	SimdScalar	getDiagonal() const { return m_jacDiagAB; }
+	SimdScalar	getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdScalar lin = massInvA * jacA.m_normalAxis.dot(jacB.m_normalAxis);
-		SimdScalar ang = jacA.m_MaJ.dot(jacB.m_aJ);
+		SimdScalar lin = massInvA * jacA.m_jointAxis.dot(jacB.m_jointAxis);
+		SimdScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
 		return lin + ang;
 	}
 
@@ -94,9 +94,9 @@ public:
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdVector3 lin = jacA.m_normalAxis * jacB.m_normalAxis;
-		SimdVector3 ang0 = jacA.m_MaJ * jacB.m_aJ;
-		SimdVector3 ang1 = jacA.m_MbJ * jacB.m_bJ;
+		SimdVector3 lin = jacA.m_jointAxis* jacB.m_jointAxis;
+		SimdVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		SimdVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
 		SimdVector3 lin0 = massInvA * lin ;
 		SimdVector3 lin1 = massInvB * lin;
 		SimdVector3 sum = ang0+ang1+lin0+lin1;
@@ -108,7 +108,7 @@ public:
 		SimdVector3 linrel = linvelA - linvelB;
 		SimdVector3 angvela  = angvelA * m_aJ;
 		SimdVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_normalAxis;
+		linrel *= m_jointAxis;
 		angvela += angvelb;
 		angvela += linrel;
 		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
@@ -116,13 +116,13 @@ public:
 	}
 //private:
 
-	SimdVector3	m_normalAxis;
+	SimdVector3	m_jointAxis;
 	SimdVector3	m_aJ;
 	SimdVector3	m_bJ;
-	SimdVector3	m_MaJ;
-	SimdVector3	m_MbJ;
+	SimdVector3	m_0MinvJt;
+	SimdVector3	m_1MinvJt;
 	//Optimization: can be stored in the w/last component of one of the vectors
-	SimdScalar	m_jacDiagAB;
+	SimdScalar	m_Adiag;
 
 };
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
index aa0beab7786..acb6728deeb 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
@@ -33,11 +33,15 @@
 #include <string.h>
 #include <stdio.h>
 
-#ifdef WIN32
+#if defined (WIN32)
 #include <malloc.h>
 #else
+#if defined (__FreeBSD__)
+#include <stdlib.h>
+#else
 #include <alloca.h>
 #endif
+#endif
 
 class BU_Joint;
 
@@ -45,7 +49,7 @@ class BU_Joint;
 
 OdeConstraintSolver::OdeConstraintSolver():
 m_cfm(1e-5f),
-m_erp(0.3f)
+m_erp(0.4f)
 {
 }
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
index 4111de679d0..849e57d1088 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
@@ -231,4 +231,5 @@ void Solve2LinearConstraint::resolveAngularConstraint(	const SimdMatrix3x3& invI
 											SimdScalar& imp0,SimdScalar& imp1)
 {
 
-}
\ No newline at end of file
+}
+
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
index ea9240c2bcf..311fd8b5eed 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
@@ -39,11 +39,15 @@
 #include <string.h>
 #include <stdio.h>
 
-#ifdef WIN32
+#if defined (WIN32)
 #include <malloc.h>
 #else
+#if defined (__FreeBSD__)
+#include <stdlib.h>
+#else
 #include <alloca.h>
 #endif
+#endif
 
 #include "Dynamics/BU_Joint.h"
 #include "ContactSolverInfo.h"
@@ -838,4 +842,4 @@ void SolveInternal1 (float global_cfm,
 }
 
 
-#endif //USE_SOR_SOLVER
\ No newline at end of file
+#endif //USE_SOR_SOLVER
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.h b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.h
index 7edeaba3dd1..37fe09c2607 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.h
@@ -41,4 +41,5 @@ int dRandInt2 (int n);
 
 #endif //SOR_LCP_H
 
-#endif //USE_SOR_SOLVER
\ No newline at end of file
+#endif //USE_SOR_SOLVER
+
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
index b60b4eefe34..0a988adcc75 100644
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
@@ -165,7 +165,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 	c2[2] = ccc2[2];
 	
 	
-	float friction = 10.1f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
+	float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
 	
 	// first friction direction
 	if (m_numRows >= 2) 
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h
index 54cc5283da0..4e1dc8e1669 100644
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h
+++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h
@@ -30,4 +30,6 @@ public:
 	
 
 };
-#endif //CONTACT_JOINT_H
\ No newline at end of file
+
+#endif //CONTACT_JOINT_H
+
diff --git a/extern/bullet/BulletDynamics/Dynamics/MassProps.h b/extern/bullet/BulletDynamics/Dynamics/MassProps.h
index 892e1c0b9a8..e0e4e87bc8a 100644
--- a/extern/bullet/BulletDynamics/Dynamics/MassProps.h
+++ b/extern/bullet/BulletDynamics/Dynamics/MassProps.h
@@ -15,4 +15,5 @@ struct MassProps {
 };
 
 
-#endif
\ No newline at end of file
+#endif
+
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
index a6c0fda96f3..f7c31dd0d68 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
@@ -58,11 +58,6 @@ void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
 void	RigidBody::SetCollisionShape(CollisionShape* mink)
 {
 	m_collisionShape = mink;
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	m_collisionShape ->GetAabb(ident,aabbMin,aabbMax);
-	SimdVector3 diag = (aabbMax-aabbMin)*0.5f;
 }
 
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index 5ddacd05d05..919d1f9e58c 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -39,10 +39,12 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
 
 	m_body = new RigidBody(mp,0,0,ci.m_friction,ci.m_restitution);
+
+	m_body->SetCollisionShape( ci.m_collisionShape);
+
 	
 	m_broadphaseHandle = ci.m_broadphaseHandle;
 
-	m_collisionShape = ci.m_collisionShape;
 
 	//
 	// init the rigidbody properly
@@ -67,7 +69,6 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 CcdPhysicsController::~CcdPhysicsController()
 {
 	//will be reference counted, due to sharing
-	//delete m_collisionShape;
 	delete m_MotionState;
 	delete m_body;
 }
@@ -89,12 +90,18 @@ bool		CcdPhysicsController::SynchronizeMotionStates(float time)
 	m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
 	
 	SimdVector3 scaling(scale[0],scale[1],scale[2]);
-	m_collisionShape->setLocalScaling(scaling);
-
+	m_body->GetCollisionShape()->setLocalScaling(scaling);
 
 	return true;
 }
 
+CollisionShape*	CcdPhysicsController::GetCollisionShape() 
+{ 
+	return m_body->GetCollisionShape();
+}
+
+
+
 		/**
 			WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
 		*/
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index 4f189b7f324..478e0e66a39 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -53,7 +53,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 {
 	RigidBody* m_body;
 	class	PHY_IMotionState*			m_MotionState;
-	CollisionShape*			m_collisionShape;
 	void*		m_newClientInfo;
 
 	void GetWorldOrientation(SimdMatrix3x3& mat);
@@ -71,7 +70,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		RigidBody* GetRigidBody() { return m_body;}
 
-		CollisionShape*	GetCollisionShape() { return m_collisionShape;}
+		CollisionShape*	GetCollisionShape();
 		////////////////////////////////////
 		// PHY_IPhysicsController interface
 		////////////////////////////////////
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index b68e730b4c6..558f294344a 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -118,6 +118,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	
 	BroadphaseInterface* scene =  m_broadphase;
 	
+
 	CollisionShape* shapeinterface = ctrl->GetCollisionShape();
 	
 	assert(shapeinterface);
@@ -171,7 +172,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 			maxAabb);
 	}
 	
-	body->SetCollisionShape( shapeinterface );
+	
 	
 	
 	
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp
index b8521ffaf87..1bf92b4effc 100644
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp
@@ -13,10 +13,6 @@
 
 #include "PHY_IMotionState.h"
 
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
 PHY_IMotionState::~PHY_IMotionState()
 {
 
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp
index b051a45bd13..655763d0bf6 100644
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp
@@ -13,10 +13,6 @@
 
 #include "PHY_IPhysicsController.h"
 
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
 PHY_IPhysicsController::~PHY_IPhysicsController()
 {
 
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp
index 1794606edf3..f59efad561a 100644
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp
@@ -13,10 +13,6 @@
 
 #include "PHY_IPhysicsEnvironment.h"
 
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
 /**
 *	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
 *	A derived class may be able to 'construct' entities by loading and/or converting
diff --git a/extern/bullet/LinearMath/AabbUtil2.h b/extern/bullet/LinearMath/AabbUtil2.h
index 27172f93139..77271e13202 100644
--- a/extern/bullet/LinearMath/AabbUtil2.h
+++ b/extern/bullet/LinearMath/AabbUtil2.h
@@ -64,4 +64,5 @@ SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const SimdVector3 *vertices,
 	return true;
 }
 
-#endif
\ No newline at end of file
+#endif
+
diff --git a/extern/bullet/LinearMath/IDebugDraw.h b/extern/bullet/LinearMath/IDebugDraw.h
index be2e421a77e..7734eccf510 100644
--- a/extern/bullet/LinearMath/IDebugDraw.h
+++ b/extern/bullet/LinearMath/IDebugDraw.h
@@ -57,4 +57,5 @@ class	IDebugDraw
 
 };
 
-#endif //IDEBUG_DRAW__H
\ No newline at end of file
+#endif //IDEBUG_DRAW__H
+
diff --git a/extern/bullet/LinearMath/SimdQuadWord.h b/extern/bullet/LinearMath/SimdQuadWord.h
index 492981fb303..a9967682d61 100644
--- a/extern/bullet/LinearMath/SimdQuadWord.h
+++ b/extern/bullet/LinearMath/SimdQuadWord.h
@@ -109,6 +109,38 @@ class	SimdQuadWord
 		}
 
 
+		SIMD_FORCE_INLINE void	setMax(const SimdQuadWord& other)
+		{
+			if (other.m_x > m_x)
+				m_x = other.m_x;
+
+			if (other.m_y > m_y)
+				m_y = other.m_y;
+
+			if (other.m_z > m_z)
+				m_z = other.m_z;
+
+			if (other.m_unusedW > m_unusedW)
+				m_unusedW = other.m_unusedW;
+		}
+
+		SIMD_FORCE_INLINE void	setMin(const SimdQuadWord& other)
+		{
+			if (other.m_x < m_x)
+				m_x = other.m_x;
+
+			if (other.m_y < m_y)
+				m_y = other.m_y;
+
+			if (other.m_z < m_z)
+				m_z = other.m_z;
+
+			if (other.m_unusedW < m_unusedW)
+				m_unusedW = other.m_unusedW;
+		}
+
+
+
 };
 
 #endif //SIMD_QUADWORD_H
diff --git a/extern/bullet/LinearMath/SimdScalar.h b/extern/bullet/LinearMath/SimdScalar.h
index 4ea359db1b6..f20de0d06d9 100644
--- a/extern/bullet/LinearMath/SimdScalar.h
+++ b/extern/bullet/LinearMath/SimdScalar.h
@@ -39,7 +39,8 @@ DEALINGS IN THE SOFTWARE.
 #include <float.h>
 
 #ifdef WIN32
-
+#pragma warning(disable:4530)
+#pragma warning(disable:4996)
 #ifdef __MINGW32__
 #define SIMD_FORCE_INLINE inline
 #else
@@ -59,8 +60,6 @@ DEALINGS IN THE SOFTWARE.
 #endif
 
 
-
-
 #define ASSERT assert
 
 #endif
@@ -119,6 +118,16 @@ SIMD_FORCE_INLINE bool	SimdEqual(SimdScalar a, SimdScalar eps) {
 SIMD_FORCE_INLINE bool	SimdGreaterEqual (SimdScalar a, SimdScalar eps) {
 	return (!((a) <= eps));
 }
+
+/*SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tanf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atanf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2f(x, y); }
+*/
+
 SIMD_FORCE_INLINE int       SimdSign(SimdScalar x) {
     return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
 }
diff --git a/extern/bullet/LinearMath/SimdTransformUtil.h b/extern/bullet/LinearMath/SimdTransformUtil.h
index 179e2f51daa..ab3d3f45a30 100644
--- a/extern/bullet/LinearMath/SimdTransformUtil.h
+++ b/extern/bullet/LinearMath/SimdTransformUtil.h
@@ -91,4 +91,5 @@ public:
 
 };
 
-#endif //SIMD_TRANSFORM_UTIL_H
\ No newline at end of file
+#endif //SIMD_TRANSFORM_UTIL_H
+