improved deactivation, exposed more tweakable parameters to python,

fixed some copy/paste bug in inertia/inverse inertia.
colors in deactivation debug

19 files changed, 349 insertions, 125 deletions

diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index c2f3e70180f..125b4b6e0b1 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -4,7 +4,6 @@
 	Version="8.00"
 	Name="Bullet3ContinuousCollision"
 	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
-	SignManifests="true"
 	>
 	<Platforms>
 		<Platform
@@ -278,14 +277,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
-				>
-			</File>
-			<File
 				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
 				>
 			</File>
@@ -438,6 +429,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.h"
+				>
+			</File>
+			<File
 				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
 				>
 			</File>
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
index 12fbd895bb3..1cc62263603 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -38,3 +38,41 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
 
 
 }
+
+
+void	BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	float margin = 0.f;
+	SimdVector3 halfExtents = GetHalfExtents();
+
+	SimdScalar lx=2.f*(halfExtents.x());
+	SimdScalar ly=2.f*(halfExtents.y());
+	SimdScalar lz=2.f*(halfExtents.z());
+
+	inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
+	inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
+	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
+
+
+//		float radius = GetHalfExtents().length();
+//		SimdScalar elem = 0.4f * mass * radius*radius;
+//	inertia[0] = inertia[1] = inertia[2] = elem;
+return;
+/*
+	float margin = GetMargin();
+	SimdVector3 halfExtents = GetHalfExtents();
+
+	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));
+*/
+//		inertia.x() = scaledmass * (y2+z2);
+//		inertia.y() = scaledmass * (x2+z2);
+//		inertia.z() = scaledmass * (x2+y2);
+}
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.h b/extern/bullet/Bullet/CollisionShapes/BoxShape.h
index 755de78dffb..451ae2370b6 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.h
@@ -84,26 +84,7 @@ public:
 
 	
 
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-	{
-		float margin = GetMargin();
-		SimdVector3 halfExtents = GetHalfExtents();
-
-		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));
-
-//		inertia.x() = scaledmass * (y2+z2);
-//		inertia.y() = scaledmass * (x2+z2);
-//		inertia.z() = scaledmass * (x2+y2);
-	}
-
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
 	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
 	{
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
index ad9e41682bf..70ff3c6568b 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
@@ -55,6 +55,10 @@ public:
 		m_cachedSeparatingAxis = seperatingAxis;
 	}
 
+	void	SetPenetrationDepthSolver(ConvexPenetrationDepthSolver*	penetrationDepthSolver)
+	{
+		m_penetrationDepthSolver = penetrationDepthSolver;
+	}
 };
 
 #endif //GJK_PAIR_DETECTOR_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index 16cd219903d..3c094d0bab8 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -14,7 +14,7 @@
 #include "SimdTransform.h"
 #include <assert.h>
 
-float gContactBreakingTreshold = 0.02f;
+float gContactBreakingTreshold = 0.002f;
 
 PersistentManifold::PersistentManifold()
 :m_body0(0),
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
index c430aedad7b..a6f6a4df5a4 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
@@ -139,6 +139,11 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
 		RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject;
 		RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject;
 
+			//todo: move this in the dispatcher
+		if ((convexbody->GetActivationState() == 2) &&(concavebody->GetActivationState() == 2))
+		return;
+
+
 		TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape();
 		
 		if (m_convex.IsConvexShape())
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
index 1b4b9c61917..7be5ff4d145 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -32,6 +32,8 @@
 #include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
 #include "CollisionShapes/SphereShape.h"
 
+#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
+
 
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
@@ -50,22 +52,22 @@ bool gForceBoxBox = false;//false;//true;
 bool gBoxBoxUseGjk = true;//true;//false;
 bool gDisableConvexCollision = false;
 
-
+bool gUseEpa = false;
 
 
 ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 : CollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,&m_simplexSolver,&m_penetrationDepthSolver),
+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_lowLevelOfDetail(false),
+m_useEpa(gUseEpa)
 {
+	CheckPenetrationDepthSolver();
 
-	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
 
@@ -127,6 +129,22 @@ public:
 
 };
 
+void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
+{
+//	if (m_useEpa != gUseEpa)
+	{
+		m_useEpa  = gUseEpa;
+		if (m_useEpa)
+		{
+			//not distributed
+			//m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+		} else
+		{
+			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
+		}
+	}
+	
+}
 bool extra = false;
 
 float gFriction = 0.5f;
@@ -135,13 +153,19 @@ float gFriction = 0.5f;
 //
 void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount, bool useContinuous)
 {
-	
+	CheckPenetrationDepthSolver();
+
 //	printf("ConvexConvexAlgorithm::ProcessCollision\n");
 m_collisionImpulse = 0.f;
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
 	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
 
+	//todo: move this in the dispatcher
+	if ((body0->GetActivationState() == 2) &&(body1->GetActivationState() == 2))
+		return;
+
+
 	if (!m_manifoldPtr)
 		return;
 
@@ -188,6 +212,8 @@ bool disableCcd = false;
 float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
 {
 
+	CheckPenetrationDepthSolver();
+
 	m_collisionImpulse = 0.f;
 	
 	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
@@ -222,7 +248,7 @@ float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,Broad
 	//SubsimplexConvexCast ccd(&voronoiSimplex);
 	//GjkConvexCast ccd(&voronoiSimplex);
 	
-	ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,&m_penetrationDepthSolver);
+	ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,m_penetrationDepthSolver);
 
 	if (disableCcd)
 		return 1.f;
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
index d77d6465d6b..c136e459a32 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h
@@ -16,18 +16,16 @@
 #include "NarrowPhaseCollision/PersistentManifold.h"
 #include "BroadphaseCollision/BroadphaseProxy.h"
 #include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
-#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
-
 
 class ConvexPenetrationDepthSolver;
 
 ///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
 class ConvexConvexAlgorithm : public CollisionAlgorithm
 {
-	//hardcoded penetration and simplex solver, its easy to make this flexible later
-	MinkowskiPenetrationDepthSolver	m_penetrationDepthSolver;
+	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
 	VoronoiSimplexSolver	m_simplexSolver;
 	GjkPairDetector m_gjkPairDetector;
+	bool	m_useEpa;
 public:
 	BroadphaseProxy	m_box0;
 	BroadphaseProxy	m_box1;
@@ -36,6 +34,8 @@ public:
 	PersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
 
+	void	CheckPenetrationDepthSolver();
+
 	
 
 public:
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
index da72d3e0cad..64db510e97e 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
@@ -142,18 +142,21 @@ void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,in
 			for (i=0;i<islandmanifold.size();i++)
 			{
 				 PersistentManifold* manifold = islandmanifold[i];
-				if (((RigidBody*)manifold->GetBody0()))	
+				 RigidBody* body0 = (RigidBody*)manifold->GetBody0();
+				 RigidBody* body1 = (RigidBody*)manifold->GetBody1();
+
+				if (body0)	
 				{
-					if ( ((RigidBody*)manifold->GetBody0())->GetActivationState() == ISLAND_SLEEPING)
+					if ( body0->GetActivationState() == ISLAND_SLEEPING)
 					{
-						((RigidBody*)manifold->GetBody0())->SetActivationState( WANTS_DEACTIVATION );//ACTIVE_TAG;
+						body0->SetActivationState( WANTS_DEACTIVATION);
 					}
 				}
-				if (((RigidBody*)manifold->GetBody1()))	
+				if (body1)	
 				{
-					if ( ((RigidBody*)manifold->GetBody1())->GetActivationState() == ISLAND_SLEEPING)
+					if ( body1->GetActivationState() == ISLAND_SLEEPING)
 					{
-						((RigidBody*)manifold->GetBody1())->SetActivationState(WANTS_DEACTIVATION);//ACTIVE_TAG;
+						body1->SetActivationState(WANTS_DEACTIVATION);
 					}
 				}
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
index 4050e75f90f..0399fdb8a37 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
@@ -97,18 +97,24 @@ typedef SimdScalar dQuaternion[4];
 void dRfromQ1 (dMatrix3 R, const dQuaternion q)
 {
   // q = (s,vx,vy,vz)
-  SimdScalar qq1 = 2*q[1]*q[1];
-  SimdScalar qq2 = 2*q[2]*q[2];
-  SimdScalar qq3 = 2*q[3]*q[3];
-  _R(0,0) = 1 - qq2 - qq3;
+  SimdScalar qq1 = 2.f*q[1]*q[1];
+  SimdScalar qq2 = 2.f*q[2]*q[2];
+  SimdScalar 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 - qq1 - qq3;
+  _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 - qq1 - qq2;
+  _R(2,2) = 1.f - qq1 - qq2;
+  _R(2,3) = 0.f;
+
 }
 
 
@@ -131,8 +137,8 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
 	//convert data
 
 
-	body->m_facc.setValue(0,0,0);
-	body->m_tacc.setValue(0,0,0);
+	body->m_facc.setValue(0,0,0,0);
+	body->m_tacc.setValue(0,0,0,0);
 	
 	//are the indices the same ?
 	for (i=0;i<4;i++)
@@ -147,9 +153,9 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
 	body->m_invI[1+4*1] = 	body->getInvInertiaDiagLocal()[1];
 	body->m_invI[2+4*2] = 	body->getInvInertiaDiagLocal()[2];
 
-	body->m_I[0+0*4] = body->getInvInertiaDiagLocal()[0];
-	body->m_I[1+1*4] = body->getInvInertiaDiagLocal()[1];
-	body->m_I[2+2*4] = body->getInvInertiaDiagLocal()[2];
+	body->m_I[0+0*4] = 1.f/body->getInvInertiaDiagLocal()[0];
+	body->m_I[1+1*4] = 1.f/body->getInvInertiaDiagLocal()[1];
+	body->m_I[2+2*4] = 1.f/body->getInvInertiaDiagLocal()[2];
 	
 
 	/*
@@ -241,7 +247,7 @@ void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Join
 		}
 		assert (m_CurJoint < MAX_JOINTS_1);
 
-		if (manifold->GetContactPoint(i).GetDistance() < 0.f)
+		if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
 		{
 			ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
index 678536cd905..4ceb000d111 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
@@ -420,7 +420,7 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, RigidBody * cons
 		}
 		iMJ_ptr += 12;
 		J_ptr += 12;
-		Ad[i] = sor_w / (sum + cfm[i]);
+		Ad[i] = sor_w / sum;//(sum + cfm[i]);
 	}
 
 	// scale J and b by Ad
@@ -434,7 +434,8 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, RigidBody * cons
 	}
 
 	// scale Ad by CFM
-	for (i=0; i<m; i++) Ad[i] *= cfm[i];
+	for (i=0; i<m; i++) 
+		Ad[i] *= cfm[i];
 
 	// order to solve constraint rows in
 	IndexError *order = (IndexError*) alloca (m*sizeof(IndexError));
@@ -442,8 +443,12 @@ static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, RigidBody * cons
 #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;
+	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
 
@@ -629,17 +634,18 @@ void SolveInternal1 (float global_cfm,
 		// 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]->getAngularVelocity());
-		//dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
 		dCROSS (body[i]->m_tacc,-=,body[i]->getAngularVelocity(),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.
@@ -742,9 +748,11 @@ void SolveInternal1 (float global_cfm,
 		// put v/h + invM*fe into tmp1
 		for (i=0; i<nb; i++) {
 			SimdScalar body_invMass = body[i]->getInvMass();
-			for (j=0; j<3; j++) tmp1[i*6+j] = body[i]->m_facc[j] * body_invMass + body[i]->getLinearVelocity()[j] * stepsize1;
+			for (j=0; j<3; j++) 
+				tmp1[i*6+j] = body[i]->m_facc[j] * body_invMass + body[i]->getLinearVelocity()[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]->getAngularVelocity()[j] * stepsize1;
+			for (j=0; j<3; j++) 
+				tmp1[i*6+3+j] += body[i]->getAngularVelocity()[j] * stepsize1;
 		}
 
 		// put J*tmp1 into rhs
@@ -756,7 +764,7 @@ void SolveInternal1 (float global_cfm,
 
 		// scale CFM
 		for (i=0; i<m; i++) 
-			cfm[i] *= stepsize1;
+			cfm[i] =0.f;//*= stepsize1;
 
 		// load lambda from the value saved on the previous iteration
 		dRealAllocaArray (lambda,m);
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
index bc89bd34c38..0830e871199 100644
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
@@ -128,13 +128,20 @@ void ContactJoint::GetInfo2(Info2 *info)
 		depth = 0.f;
 	
 	info->c[0] = k * depth;
+	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
@@ -151,7 +158,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 	c2[2] = ccc2[2];
 	
 	
-	float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
+	float friction = 30.f;//0.01f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
 	
 	// first friction direction
 	if (m_numRows >= 2) 
@@ -182,13 +189,16 @@ void ContactJoint::GetInfo2(Info2 *info)
 		
 		info->lo[1] = -friction;//-j->contact.surface.mu;
 		info->hi[1] = friction;//j->contact.surface.mu;
-		if (0)//j->contact.surface.mode & dContactApprox1_1) 
+		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;
 		}
 	}
 	
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
index d3b105dc7f6..c0927a96915 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
@@ -4,12 +4,14 @@
 #include "GEN_MinMax.h"
 #include <SimdTransformUtil.h>
 
-float gRigidBodyDamping = 0.5f;
+float gLinearAirDamping = 1.f;
+
 static int uniqueId = 0;
 
 RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution)
 : m_collisionShape(0),
 	m_activationState1(1),
+	m_deactivationTime(0.f),
 	m_hitFraction(1.f),
 	m_gravity(0.0f, 0.0f, 0.0f),
 	m_linearDamping(0.f),
@@ -90,12 +92,13 @@ void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
 
 #include <stdio.h>
 
+
 void RigidBody::applyForces(SimdScalar step)
 {
 	
 	applyCentralForce(m_gravity);	
 	
-	m_linearVelocity *= GEN_clamped((1.f - step * m_linearDamping), 0.0f, 1.0f);
+	m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
 	m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
 	
 }
@@ -150,7 +153,11 @@ SimdQuaternion RigidBody::getOrientation() const
 void RigidBody::setCenterOfMassTransform(const SimdTransform& xform)
 {
 	m_worldTransform = xform;
-	
+	SimdQuaternion orn;
+//	m_worldTransform.getBasis().getRotation(orn);
+//	orn.normalize();
+//	m_worldTransform.setBasis(SimdMatrix3x3(orn));
+
 //	m_worldTransform.getBasis().getRotation(m_orn1);
 	updateInertiaTensor();
 }
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
index 4a61be786ca..4ff987f6eaa 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
@@ -9,6 +9,9 @@ class CollisionShape;
 struct MassProps;
 typedef SimdScalar dMatrix3[4*3];
 
+extern float gLinearAirDamping;
+extern bool gUseEpa;
+
 
 /// RigidBody class for RigidBody Dynamics
 /// 
@@ -170,7 +173,10 @@ public:
 	dMatrix3		m_invI;
 	int				m_islandTag1;//temp
 	int				m_activationState1;//temp
+	float			m_deactivationTime;
+
 	int				m_odeTag;
+	float		m_padding[1024];
 	SimdVector3		m_tacc;//temp
 	SimdVector3		m_facc;
 	SimdScalar		m_hitFraction; //time of impact calculation
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index 19c4632820c..f4634668296 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -7,7 +7,11 @@
 
 class BP_Proxy;
 
-bool gEnableSleeping = false;//false;//true;
+//'temporarily' global variables
+float	gDeactivationTime = 2.f;
+float gLinearSleepingTreshold = 0.8f;
+float gAngularSleepingTreshold = 1.0f;
+
 #include "Dynamics/MassProps.h"
 
 SimdVector3 startVel(0,0,0);//-10000);
@@ -15,8 +19,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 {
 	m_collisionDelay = 0;
 
-	m_sleepingCounter = 0;
-
+	
 	m_MotionState = ci.m_MotionState;
 
 
@@ -190,36 +193,36 @@ void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
 
 }
 
-#ifdef WIN32
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.f;
 
-#else
+void	CcdPhysicsController::UpdateDeactivation(float timeStep)
+{
+	if ( (m_body->GetActivationState() == 2))
+		return;
+	
 
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.0f;
-#endif
+	if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
+		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
+	{
+		m_body->m_deactivationTime += timeStep;
+	} else
+	{
+		m_body->m_deactivationTime=0.f;
+		m_body->SetActivationState(0);
+	}
 
+}
 
 bool CcdPhysicsController::wantsSleeping()
 {
 
-	if (!gEnableSleeping)
+	//disable deactivation
+	if (gDeactivationTime == 0.f)
 		return false;
-
-	if ( (m_body->GetActivationState() == 3) || (m_body->GetActivationState() == 2))
+	//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
+	if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))
 		return true;
 
-	if ((m_body->getLinearVelocity().length2() < gSleepingTreshold*gSleepingTreshold) &&
-		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
-	{
-		m_sleepingCounter++;
-	} else
-	{
-		m_sleepingCounter=0;
-	}
-
-	if (m_sleepingCounter> 150)
+	if (m_body->m_deactivationTime> gDeactivationTime)
 	{
 		return true;
 	}
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index 235931ebab4..e0cba58cb53 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -10,6 +10,11 @@
 #include "SimdScalar.h"	
 class CollisionShape;
 
+extern float gDeactivationTime;
+extern float gLinearSleepingTreshold;
+extern float gAngularSleepingTreshold;
+
+
 struct CcdConstructionInfo
 {
 	CcdConstructionInfo()
@@ -47,7 +52,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	class	PHY_IMotionState*			m_MotionState;
 	CollisionShape*			m_collisionShape;
 
-	int				m_sleepingCounter;
 	public:
 	
 		int				m_collisionDelay;
@@ -121,6 +125,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 		bool	wantsSleeping();
 
+		void	UpdateDeactivation(float timeStep);
+
 		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
 
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 5b6db434f8b..aac699468d0 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -4,7 +4,7 @@
 #include <algorithm>
 #include "SimdTransform.h"
 #include "Dynamics/RigidBody.h"
-#include "BroadphaseCollision/BroadPhaseInterface.h"
+#include "BroadphaseCollision/BroadphaseInterface.h"
 #include "BroadphaseCollision/SimpleBroadphase.h"
 
 #include "CollisionShapes/ConvexShape.h"
@@ -33,8 +33,6 @@ bool useIslands = true;
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
 
-unsigned long gNumIterations = 10;
-
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
 #endif
@@ -88,14 +86,17 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
 :m_dispatcher(dispatcher),
 m_broadphase(bp),
-m_scalingPropagated(false)
+m_scalingPropagated(false),
+m_numIterations(30),
+m_ccdMode(0),
+m_solverType(-1)
 {
+
 	if (!m_dispatcher)
 	{
-		OdeConstraintSolver* solver = new OdeConstraintSolver();
-		//SimpleConstraintSolver* solver= new SimpleConstraintSolver();
-		m_dispatcher = new ToiContactDispatcher(solver);
+		setSolverType(0);
 	}
+
 	if (!m_broadphase)
 	{
 		m_broadphase = new SimpleBroadphase();
@@ -290,7 +291,6 @@ void	CcdPhysicsEnvironment::UpdateActivationState()
 	
 }
 
-bool gPredictCollision = false;//true;//false;
 
 
 /// Perform an integration step of duration 'timeStep'.
@@ -346,7 +346,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	
 	
 	
-	int numsubstep = gNumIterations;
+	int numsubstep = m_numIterations;
 	
 	
 	DispatcherInfo dispatchInfo;
@@ -367,7 +367,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	//contacts
 
 	
-	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
+	m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer);
 
 	for (int g=0;g<numsubstep;g++)
 	{
@@ -439,14 +439,41 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 					
 #ifdef WIN32
 					SimdVector3 color (1,0,0);
+					
+				
+
+				
 					if (m_debugDrawer)
 					{	
 						//draw aabb
+						switch (body->GetActivationState())
+						{
+						case ISLAND_SLEEPING:
+							{
+								color.setValue(0,1,0);
+								break;
+							}
+						case WANTS_DEACTIVATION:
+							{
+								color.setValue(0,0,1);
+								break;
+							}
+						case ACTIVE_TAG:
+							{
+								break;
+							}
+
+							
+						};
 
 						DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
 					}
 #endif
+
 					scene->SetAabb(bp,minAabb,maxAabb);
+
+
+					
 				}
 			}
 			
@@ -454,7 +481,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 
 			
-			if (gPredictCollision)
+			if (m_ccdMode == 3)
 			{
 				DispatcherInfo dispatchInfo;
 				dispatchInfo.m_timeStep = timeStep;
@@ -505,6 +532,9 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 			{
 				CcdPhysicsController* ctrl = (*i);
 				RigidBody* body = ctrl->GetRigidBody();
+
+				ctrl->UpdateDeactivation(timeStep);
+
 				
 				if (ctrl->wantsSleeping())
 				{
@@ -543,26 +573,103 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
 {
-	if (debugMode > 10)
-	{
-		if (m_dispatcher)
-			delete m_dispatcher;
-
-		if (debugMode == 11)
-		{
-			SimpleConstraintSolver* solver= new SimpleConstraintSolver();
-			m_dispatcher = new ToiContactDispatcher(solver);
-		} else
-		{
-			OdeConstraintSolver* solver = new OdeConstraintSolver();
-			m_dispatcher = new ToiContactDispatcher(solver);
-		}
-	}
 	if (m_debugDrawer){
 		m_debugDrawer->SetDebugMode(debugMode);
 	}
 }
 
+void		CcdPhysicsEnvironment::setNumIterations(int numIter)
+{
+	m_numIterations = numIter;
+}
+void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
+{
+	gDeactivationTime = dTime;
+}
+void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
+{
+	gLinearSleepingTreshold = linTresh;
+}
+void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
+{
+	gAngularSleepingTreshold = angTresh;
+}
+void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
+{
+	gContactBreakingTreshold = contactBreakingTreshold;
+	
+}
+
+
+void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
+{
+	m_ccdMode = ccdMode;
+}
+
+
+void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
+{
+	m_dispatcher->SetSor(sor);
+}
+
+void		CcdPhysicsEnvironment::setSolverTau(float tau)
+{
+	m_dispatcher->SetTau(tau);
+}
+void		CcdPhysicsEnvironment::setSolverDamping(float damping)
+{
+	m_dispatcher->SetDamping(damping);
+}
+
+
+void		CcdPhysicsEnvironment::setLinearAirDamping(float damping)
+{
+	gLinearAirDamping = damping;
+}
+
+void		CcdPhysicsEnvironment::setUseEpa(bool epa)
+{
+	gUseEpa = epa;
+}
+
+void		CcdPhysicsEnvironment::setSolverType(int solverType)
+{
+
+	switch (solverType)
+	{
+	case 1:
+		{
+			if (m_solverType != solverType)
+			{
+				if (m_dispatcher)
+					delete m_dispatcher;
+
+				SimpleConstraintSolver* solver= new SimpleConstraintSolver();
+				m_dispatcher = new ToiContactDispatcher(solver);
+				break;
+			}
+		}
+	
+	case 0:
+	default:
+			if (m_solverType != solverType)
+			{
+				if (m_dispatcher)
+					delete m_dispatcher;
+
+				OdeConstraintSolver* solver= new OdeConstraintSolver();
+				m_dispatcher = new ToiContactDispatcher(solver);
+				break;
+			}
+
+	};
+	
+	m_solverType = solverType ;
+}
+
+
+
+
 
 void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 {
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
index be6f6c648c7..8bacbad8914 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
@@ -26,6 +26,9 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	SimdVector3 m_gravity;
 	BroadphaseInterface*	m_broadphase;
 	IDebugDraw*	m_debugDrawer;
+	int	m_numIterations;
+	int	m_ccdMode;
+	int	m_solverType;
 	
 	public:
 		CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -43,6 +46,18 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 			m_debugDrawer = debugDrawer;
 		}
 
+		virtual void		setNumIterations(int numIter);
+		virtual void		setDeactivationTime(float dTime);
+		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
+		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
+		virtual void		setCcdMode(int ccdMode);
+		virtual void		setSolverType(int solverType);
+		virtual void		setSolverSorConstant(float sor);
+		virtual void		setSolverTau(float tau);
+		virtual void		setSolverDamping(float damping);
+		virtual void		setLinearAirDamping(float damping);
+		virtual void		setUseEpa(bool epa) ;
 
 		virtual	void		beginFrame() {};
 		virtual void		endFrame() {};
diff --git a/extern/bullet/LinearMath/SimdQuadWord.h b/extern/bullet/LinearMath/SimdQuadWord.h
index 818b2e6007d..67bcf907693 100644
--- a/extern/bullet/LinearMath/SimdQuadWord.h
+++ b/extern/bullet/LinearMath/SimdQuadWord.h
@@ -99,7 +99,7 @@ class	SimdQuadWord
 		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
 		:m_x(x),m_y(y),m_z(z)
 		//todo, remove this in release/simd ?
-		,m_unusedW(1e30f)
+		,m_unusedW(0.f)
 		{
 		}