updating Bullet 2.x with latest changes. The integration + C-API will follow at some stage.

57 files changed, 1544 insertions, 517 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index 3462e6e472d..7b35df09db6 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -44,7 +44,9 @@ CONCAVE_SHAPES_START_HERE,
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	///used for demo integration FAST/Swift collision library and Bullet
 	FAST_CONCAVE_MESH_PROXYTYPE,
-
+///Used for GIMPACT Trimesh integration
+	GIMPACT_SHAPE_PROXYTYPE,
+	
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
 CONCAVE_SHAPES_END_HERE,
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 3195f996fe0..f9e22057058 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 struct btBroadphaseProxy;
 class btDispatcher;
 class btManifoldResult;
-struct btCollisionObject;
+class btCollisionObject;
 struct btDispatcherInfo;
 class	btPersistentManifold;
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index 75ef338fdde..bbc5bd3f5d0 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;
 class btRigidBody;
-struct	btCollisionObject;
+class	btCollisionObject;
 class btOverlappingPairCache;
 
 enum btCollisionDispatcherId
@@ -42,7 +42,8 @@ struct btDispatcherInfo
 		m_timeOfImpact(1.f),
 		m_useContinuous(false),
 		m_debugDraw(0),
-		m_enableSatConvex(false)
+		m_enableSatConvex(false),
+		m_enableSPU(false)
 	{
 
 	}
@@ -53,6 +54,7 @@ struct btDispatcherInfo
 	bool	m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
 	bool	m_enableSatConvex;
+	bool	m_enableSPU;
 	
 };
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index 1a24c7a7a8c..6281e93eeb4 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -101,6 +101,7 @@ protected:
 	virtual bool	processOverlap(btBroadphasePair& pair)
 	{
 		assert(0);
+		return false;
 	}
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CMakeLists.txt b/extern/bullet2/src/BulletCollision/CMakeLists.txt
index d10bd249149..3169f15199d 100644
--- a/extern/bullet2/src/BulletCollision/CMakeLists.txt
+++ b/extern/bullet2/src/BulletCollision/CMakeLists.txt
@@ -42,6 +42,7 @@ ADD_LIBRARY(LibBulletCollision
 				CollisionShapes/btStaticPlaneShape.cpp
 				CollisionShapes/btStridingMeshInterface.cpp
 				CollisionShapes/btTriangleCallback.cpp
+				CollisionShapes/btTriangleBuffer.cpp
 				CollisionShapes/btTriangleIndexVertexArray.cpp
 				CollisionShapes/btTriangleMesh.cpp
 				CollisionShapes/btTriangleMeshShape.cpp
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index 6d499f508e9..1eaa4a0fd50 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -18,9 +18,9 @@ subject to the following restrictions:
 
 #include <vector>
 
-typedef std::vector<struct btCollisionObject*> btCollisionObjectArray;
+typedef std::vector<class btCollisionObject*> btCollisionObjectArray;
 class btCollisionAlgorithm;
-struct btCollisionObject;
+class btCollisionObject;
 
 struct btCollisionAlgorithmConstructionInfo;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index ebfccef9cb1..c9d21f2d9a3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 
+
 #include "btCollisionDispatcher.h"
 
 
@@ -34,8 +35,8 @@ int gNumManifold = 0;
 	
 btCollisionDispatcher::btCollisionDispatcher(bool noDefaultAlgorithms)
 :m_useIslands(true),
-m_count(0),
 m_convexConvexCreateFunc(0),
+m_count(0),
 m_convexConcaveCreateFunc(0),
 m_swappedConvexConcaveCreateFunc(0),
 m_compoundCreateFunc(0),
@@ -54,7 +55,7 @@ m_emptyCreateFunc(0)
 	}
 }
 
-	
+
 btCollisionDispatcher::btCollisionDispatcher (): 
 	m_useIslands(true),
 		m_count(0)
@@ -150,7 +151,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher = this;
 	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = m_doubleDispatch[body0->m_collisionShape->getShapeType()][body1->m_collisionShape->getShapeType()]
+	btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]
 	->CreateCollisionAlgorithm(ci,body0,body1);
 #else
 	btCollisionAlgorithm* algo = internalFindAlgorithm(body0,body1);
@@ -201,27 +202,27 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher = this;
 	
-	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConvex() )
+	if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConvex() )
 	{
 		return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1);
 	}
 
-	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConcave())
+	if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConcave())
 	{
 		return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
 	}
 
-	if (body1->m_collisionShape->isConvex() && body0->m_collisionShape->isConcave())
+	if (body1->getCollisionShape()->isConvex() && body0->getCollisionShape()->isConcave())
 	{
 		return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
 	}
 
-	if (body0->m_collisionShape->isCompound())
+	if (body0->getCollisionShape()->isCompound())
 	{
 		return new btCompoundCollisionAlgorithm(ci,body0,body1,false);
 	} else
 	{
-		if (body1->m_collisionShape->isCompound())
+		if (body1->getCollisionShape()->isCompound())
 		{
 			return new btCompoundCollisionAlgorithm(ci,body0,body1,true);
 		}
@@ -257,7 +258,7 @@ bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
 		printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
 	}
 		
-	if ((!body0->IsActive()) && (!body1->IsActive()))
+	if ((!body0->isActive()) && (!body1->isActive()))
 		needsCollision = false;
 	
 	return needsCollision ;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 4179bc47e82..9cd2828dcad 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -30,22 +30,22 @@ btCollisionObject::btCollisionObject()
 }
 
 
-void btCollisionObject::SetActivationState(int newState) 
+void btCollisionObject::setActivationState(int newState) 
 { 
 	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 		m_activationState1 = newState;
 }
 
-void btCollisionObject::ForceActivationState(int newState)
+void btCollisionObject::forceActivationState(int newState)
 {
 	m_activationState1 = newState;
 }
 
 void btCollisionObject::activate()
 {
-	if (!(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OJBECT)))
+	if (!(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
 	{
-		SetActivationState(ACTIVE_TAG);
+		setActivationState(ACTIVE_TAG);
 		m_deactivationTime = 0.f;
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 5df3de489cd..b85534c1d15 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -34,8 +34,11 @@ class	btCollisionShape;
 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
 /// They can be added to the btCollisionWorld.
-struct	btCollisionObject
+class	btCollisionObject
 {
+
+protected:
+
 	btTransform	m_worldTransform;
 	btBroadphaseProxy*	m_broadphaseHandle;
 	btCollisionShape*		m_collisionShape;
@@ -48,15 +51,6 @@ struct	btCollisionObject
 	btVector3	m_interpolationLinearVelocity;
 	btVector3	m_interpolationAngularVelocity;
 
-
-	enum CollisionFlags
-	{
-		CF_STATIC_OBJECT= 1,
-		CF_KINEMATIC_OJBECT= 2,
-		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
-	};
-
 	int				m_collisionFlags;
 
 	int				m_islandTag1;
@@ -66,7 +60,7 @@ struct	btCollisionObject
 	btScalar		m_friction;
 	btScalar		m_restitution;
 
-	///users can point to their objects, m_userPointer is not used by Bullet
+	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
 	void*			m_userObjectPointer;
 
 	///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
@@ -81,10 +75,21 @@ struct	btCollisionObject
 	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
 	float			m_ccdSquareMotionThreshold;
 
+public:
+
+	enum CollisionFlags
+	{
+		CF_STATIC_OBJECT= 1,
+		CF_KINEMATIC_OBJECT= 2,
+		CF_NO_CONTACT_RESPONSE = 4,
+		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+	};
+
+
 	inline bool mergesSimulationIslands() const
 	{
 		///static objects, kinematic and object without contact response don't merge islands
-		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) )==0);
+		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
 	}
 
 
@@ -94,12 +99,12 @@ struct	btCollisionObject
 
 	inline bool		isKinematicObject() const
 	{
-		return (m_collisionFlags & CF_KINEMATIC_OJBECT) != 0;
+		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
 	}
 
 	inline bool		isStaticOrKinematicObject() const
 	{
-		return (m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT)) != 0 ;
+		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
 	}
 
 	inline bool		hasContactResponse() const {
@@ -107,27 +112,47 @@ struct	btCollisionObject
 	}
 
 	
-
-
 	btCollisionObject();
 
 
-	void	SetCollisionShape(btCollisionShape* collisionShape)
+	void	setCollisionShape(btCollisionShape* collisionShape)
 	{
 		m_collisionShape = collisionShape;
 	}
 
-	int	GetActivationState() const { return m_activationState1;}
+	const btCollisionShape*	getCollisionShape() const
+	{
+		return m_collisionShape;
+	}
+
+	btCollisionShape*	getCollisionShape()
+	{
+		return m_collisionShape;
+	}
+
 	
-	void SetActivationState(int newState);
 
-	void ForceActivationState(int newState);
+
+	int	getActivationState() const { return m_activationState1;}
+	
+	void setActivationState(int newState);
+
+	void	setDeactivationTime(float time)
+	{
+		m_deactivationTime = time;
+	}
+	float	getDeactivationTime() const
+	{
+		return m_deactivationTime;
+	}
+
+	void forceActivationState(int newState);
 
 	void	activate();
 
-	inline bool IsActive() const
+	inline bool isActive() const
 	{
-		return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
+		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
 	}
 
 		void	setRestitution(float rest)
@@ -147,6 +172,141 @@ struct	btCollisionObject
 		return m_friction;
 	}
 
+	///reserved for Bullet internal usage
+	void*	getInternalOwner()
+	{
+		return m_internalOwner;
+	}
+
+	const void*	getInternalOwner() const
+	{
+		return m_internalOwner;
+	}
+
+	btTransform&	getWorldTransform()
+	{
+		return m_worldTransform;
+	}
+
+	const btTransform&	getWorldTransform() const
+	{
+		return m_worldTransform;
+	}
+
+	void	setWorldTransform(const btTransform& worldTrans)
+	{
+		m_worldTransform = worldTrans;
+	}
+
+
+	btBroadphaseProxy*	getBroadphaseHandle()
+	{
+		return m_broadphaseHandle;
+	}
+
+	const btBroadphaseProxy*	getBroadphaseHandle() const
+	{
+		return m_broadphaseHandle;
+	}
+
+	void	setBroadphaseHandle(btBroadphaseProxy* handle)
+	{
+		m_broadphaseHandle = handle;
+	}
+
+
+	const btTransform&	getInterpolationWorldTransform() const
+	{
+		return m_interpolationWorldTransform;
+	}
+
+	btTransform&	getInterpolationWorldTransform()
+	{
+		return m_interpolationWorldTransform;
+	}
+
+	void	setInterpolationWorldTransform(const btTransform&	trans)
+	{
+		m_interpolationWorldTransform = trans;
+	}
+
+
+	const btVector3&	getInterpolationLinearVelocity() const
+	{
+		return m_interpolationLinearVelocity;
+	}
+
+	const btVector3&	getInterpolationAngularVelocity() const
+	{
+		return m_interpolationAngularVelocity;
+	}
+
+	const int getIslandTag() const
+	{
+		return	m_islandTag1;
+	}
+
+	void	setIslandTag(int tag)
+	{
+		m_islandTag1 = tag;
+	}
+
+	const float			getHitFraction() const
+	{
+		return m_hitFraction; 
+	}
+
+	void	setHitFraction(float hitFraction)
+	{
+		m_hitFraction = hitFraction;
+	}
+
+	
+	const int	getCollisionFlags() const
+	{
+		return m_collisionFlags;
+	}
+
+	void	setCollisionFlags(int flags)
+	{
+		m_collisionFlags = flags;
+	}
+	
+	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
+	float			getCcdSweptSphereRadius() const
+	{
+		return m_ccdSweptSphereRadius;
+	}
+
+	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
+	void	setCcdSweptSphereRadius(float radius)
+	{
+		m_ccdSweptSphereRadius = radius;
+	}
+
+	float 	getCcdSquareMotionThreshold() const
+	{
+		return m_ccdSquareMotionThreshold;
+	}
+
+
+	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
+	void	setCcdSquareMotionThreshold(float ccdSquareMotionThreshold)
+	{
+		m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
+	}
+
+	///users can point to their objects, userPointer is not used by Bullet
+	void*	getUserPointer() const
+	{
+		return m_userObjectPointer;
+	}
+	
+	///users can point to their objects, userPointer is not used by Bullet
+	void	setUserPointer(void* userPointer)
+	{
+		m_userObjectPointer = userPointer;
+	}
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index e24a5c6a0b4..7edd3e8abfe 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -40,6 +40,7 @@ m_ownsBroadphasePairCache(false)
 {
 }
 
+
 btCollisionWorld::btCollisionWorld()
 : m_dispatcher1(new	btCollisionDispatcher()),
 m_broadphasePairCache(new btSimpleBroadphase()),
@@ -60,7 +61,7 @@ btCollisionWorld::~btCollisionWorld()
 	{
 		btCollisionObject* collisionObject= (*i);
 		
-		btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
+		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
 		if (bp)
 		{
 			//
@@ -98,21 +99,22 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 		m_collisionObjects.push_back(collisionObject);
 
 		//calculate new AABB
-		btTransform trans = collisionObject->m_worldTransform;
+		btTransform trans = collisionObject->getWorldTransform();
 
 		btVector3	minAabb;
 		btVector3	maxAabb;
-		collisionObject->m_collisionShape->getAabb(trans,minAabb,maxAabb);
+		collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
 
-		int type = collisionObject->m_collisionShape->getShapeType();
-		collisionObject->m_broadphaseHandle = getBroadphase()->createProxy(
+		int type = collisionObject->getCollisionShape()->getShapeType();
+		collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
 			minAabb,
 			maxAabb,
 			type,
 			collisionObject,
 			collisionFilterGroup,
 			collisionFilterMask
-			);
+			))	;
+
 		
 
 
@@ -132,8 +134,8 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 	btVector3 aabbMin,aabbMax;
 	for (size_t i=0;i<m_collisionObjects.size();i++)
 	{
-		m_collisionObjects[i]->m_collisionShape->getAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
-		m_broadphasePairCache->setAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
+		m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
+		m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax);
 	}
 
 	m_broadphasePairCache->refreshOverlappingPairs();
@@ -155,7 +157,7 @@ void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 	
 	{
 		
-		btBroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
+		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
 		if (bp)
 		{
 			//
@@ -163,7 +165,7 @@ void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 			//
 			getBroadphase()->cleanProxyFromPairs(bp);
 			getBroadphase()->destroyProxy(bp);
-			collisionObject->m_broadphaseHandle = 0;
+			collisionObject->setBroadphaseHandle(0);
 		}
 	}
 
@@ -318,15 +320,7 @@ void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
 	
 	rayToTrans.setOrigin(rayToWorld);
 
-	//do culling based on aabb (rayFrom/rayTo)
-	btVector3 rayAabbMin = rayFromWorld;
-	btVector3 rayAabbMax = rayFromWorld;
-	rayAabbMin.setMin(rayToWorld);
-	rayAabbMax.setMax(rayToWorld);
-
-
-	/// brute force go over all objects. Once there is a broadphase, use that, or
-	/// add a raycast against aabb first.
+	/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
 	
 	std::vector<btCollisionObject*>::iterator iter;
 	
@@ -338,16 +332,16 @@ void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
 
 		//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
 		btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-		collisionObject->m_collisionShape->getAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
-
-		//check aabb overlap
+		collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
 
-		if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
+		float hitLambda = 1.f; //could use resultCallback.m_closestHitFraction, but needs testing
+		btVector3 hitNormal;
+		if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
 		{
 			rayTestSingle(rayFromTrans,rayToTrans,
 				collisionObject,
-					 collisionObject->m_collisionShape,
-					  collisionObject->m_worldTransform,
+					 collisionObject->getCollisionShape(),
+					  collisionObject->getWorldTransform(),
 					  resultCallback);
 			
 		}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index a1cf3a0e5fd..e2b8eb11238 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -194,7 +194,7 @@ public:
 			
 			m_closestHitFraction = rayResult.m_hitFraction;
 			m_collisionObject = rayResult.m_collisionObject;
-			m_hitNormalWorld = m_collisionObject->m_worldTransform.getBasis()*rayResult.m_hitNormalLocal;
+			m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
 			m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
 			return rayResult.m_hitFraction;
 		}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index febd726b556..43887d26a45 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -23,9 +23,9 @@ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlg
 {
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	assert (colObj->m_collisionShape->isCompound());
+	assert (colObj->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
+	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
 	
@@ -33,10 +33,10 @@ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlg
 	for (i=0;i<numChildren;i++)
 	{
 		btCollisionShape* childShape = compoundShape->getChildShape(i);
-		btCollisionShape* orgShape = colObj->m_collisionShape;
-		colObj->m_collisionShape = childShape;
+		btCollisionShape* orgShape = colObj->getCollisionShape();
+		colObj->setCollisionShape( childShape );
 		m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj);
-		colObj->m_collisionShape =orgShape;
+		colObj->setCollisionShape( orgShape );
 	}
 }
 
@@ -56,8 +56,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	assert (colObj->m_collisionShape->isCompound());
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
+	assert (colObj->getCollisionShape()->isCompound());
+	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
 	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
 	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -74,18 +74,18 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 		btCollisionShape* childShape = compoundShape->getChildShape(i);
 
 		//backup
-		btTransform	orgTrans = colObj->m_worldTransform;
-		btCollisionShape* orgShape = colObj->m_collisionShape;
+		btTransform	orgTrans = colObj->getWorldTransform();
+		btCollisionShape* orgShape = colObj->getCollisionShape();
 
 		btTransform childTrans = compoundShape->getChildTransform(i);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->m_worldTransform = newChildWorldTrans;
+		colObj->setWorldTransform( newChildWorldTrans );
 		//the contactpoint is still projected back using the original inverted worldtrans
-		colObj->m_collisionShape = childShape;
+		colObj->setCollisionShape( childShape );
 		m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
 		//revert back
-		colObj->m_collisionShape =orgShape;
-		colObj->m_worldTransform = orgTrans;
+		colObj->setCollisionShape( orgShape);
+		colObj->setWorldTransform(  orgTrans );
 	}
 }
 
@@ -95,9 +95,9 @@ float	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* bod
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	assert (colObj->m_collisionShape->isCompound());
+	assert (colObj->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
+	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
 	//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
 	//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
@@ -116,22 +116,22 @@ float	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* bod
 		btCollisionShape* childShape = compoundShape->getChildShape(i);
 
 		//backup
-		btTransform	orgTrans = colObj->m_worldTransform;
-		btCollisionShape* orgShape = colObj->m_collisionShape;
+		btTransform	orgTrans = colObj->getWorldTransform();
+		btCollisionShape* orgShape = colObj->getCollisionShape();
 
 		btTransform childTrans = compoundShape->getChildTransform(i);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->m_worldTransform = newChildWorldTrans;
+		colObj->setWorldTransform( newChildWorldTrans );
 
-		colObj->m_collisionShape = childShape;
+		colObj->setCollisionShape( childShape );
 		float frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
 		if (frac<hitFraction)
 		{
 			hitFraction = frac;
 		}
 		//revert back
-		colObj->m_collisionShape =orgShape;
-		colObj->m_worldTransform = orgTrans;
+		colObj->setCollisionShape( orgShape);
+		colObj->setWorldTransform( orgTrans);
 	}
 	return hitFraction;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 7cb0bba6206..8ad3967bac2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -89,7 +89,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
 	{
 		btVector3 color(255,255,0);
-		btTransform& tr = ob->m_worldTransform;
+		btTransform& tr = ob->getWorldTransform();
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
@@ -105,14 +105,14 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 
 	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
 	
-	if (m_convexBody->m_collisionShape->isConvex())
+	if (m_convexBody->getCollisionShape()->isConvex())
 	{
 		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
 		tm.setMargin(m_collisionMarginTriangle);
 	
 		
-		btCollisionShape* tmpShape = ob->m_collisionShape;
-		ob->m_collisionShape = &tm;
+		btCollisionShape* tmpShape = ob->getCollisionShape();
+		ob->setCollisionShape( &tm );
 		
 
 		btCollisionAlgorithm* colAlgo = ci.m_dispatcher->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
@@ -124,7 +124,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 //		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		delete colAlgo;
-		ob->m_collisionShape = tmpShape;
+		ob->setCollisionShape( tmpShape );
 
 	}
 
@@ -142,8 +142,8 @@ void	btConvexTriangleCallback::setTimeStepAndCounters(float collisionMarginTrian
 
 	//recalc aabbs
 	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBody->m_worldTransform.inverse() * m_convexBody->m_worldTransform;
-	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->m_collisionShape);
+	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
+	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
 	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
 	convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
 	float extraMargin = collisionMarginTriangle;
@@ -167,14 +167,14 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod
 	btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
 	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
 
-	if (triBody->m_collisionShape->isConcave())
+	if (triBody->getCollisionShape()->isConcave())
 	{
 
 
 		btCollisionObject*	triOb = triBody;
-		ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
+		ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->getCollisionShape());
 		
-		if (convexBody->m_collisionShape->isConvex())
+		if (convexBody->getCollisionShape()->isConvex())
 		{
 			float collisionMarginTriangle = concaveShape->getMargin();
 					
@@ -207,8 +207,8 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 
 	//only perform CCD above a certain threshold, this prevents blocking on the long run
 	//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
-	float squareMot0 = (convexbody->m_interpolationWorldTransform.getOrigin() - convexbody->m_worldTransform.getOrigin()).length2();
-	if (squareMot0 < convexbody->m_ccdSquareMotionThreshold)
+	float squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
+	if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
 	{
 		return 1.f;
 	}
@@ -217,9 +217,9 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 	//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
 	//todo: only do if the motion exceeds the 'radius'
 
-	btTransform triInv = triBody->m_worldTransform.inverse();
-	btTransform convexFromLocal = triInv * convexbody->m_worldTransform;
-	btTransform convexToLocal = triInv * convexbody->m_interpolationWorldTransform;
+	btTransform triInv = triBody->getWorldTransform().inverse();
+	btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
+	btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
 
 	struct LocalTriangleSphereCastCallback	: public btTriangleCallback
 	{
@@ -270,24 +270,25 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 	
 
 	
-	if (triBody->m_collisionShape->isConcave())
+	if (triBody->getCollisionShape()->isConcave())
 	{
 		btVector3 rayAabbMin = convexFromLocal.getOrigin();
 		rayAabbMin.setMin(convexToLocal.getOrigin());
 		btVector3 rayAabbMax = convexFromLocal.getOrigin();
 		rayAabbMax.setMax(convexToLocal.getOrigin());
-		rayAabbMin -= btVector3(convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius);
-		rayAabbMax += btVector3(convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius);
+		float ccdRadius0 = convexbody->getCcdSweptSphereRadius();
+		rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
+		rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
 
 		float curHitFraction = 1.f; //is this available?
 		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
-		convexbody->m_ccdSweptSphereRadius,curHitFraction);
+			convexbody->getCcdSweptSphereRadius(),curHitFraction);
 
-		raycastCallback.m_hitFraction = convexbody->m_hitFraction;
+		raycastCallback.m_hitFraction = convexbody->getHitFraction();
 
 		btCollisionObject* concavebody = triBody;
 
-		ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->m_collisionShape;
+		ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->getCollisionShape();
 		
 		if (triangleMesh)
 		{
@@ -296,9 +297,9 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 	
 
 
-		if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
+		if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
 		{
-			convexbody->m_hitFraction = raycastCallback.m_hitFraction;
+			convexbody->setHitFraction( raycastCallback.m_hitFraction);
 			return raycastCallback.m_hitFraction;
 		}
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index 5347ef05bef..36b0d15eac5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -157,8 +157,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 
 	checkPenetrationDepthSolver();
 
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->m_collisionShape);
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->m_collisionShape);
+	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
+	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
 	
 	btGjkPairDetector::ClosestPointInput input;
 
@@ -170,8 +170,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	
 //	input.m_maximumDistanceSquared = 1e30f;
 	
-	input.m_transformA = body0->m_worldTransform;
-	input.m_transformB = body1->m_worldTransform;
+	input.m_transformA = body0->getWorldTransform();
+	input.m_transformB = body1->getWorldTransform();
 	
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
@@ -190,14 +190,13 @@ float	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
 	float resultFraction = 1.f;
 
 
-	float squareMot0 = (col0->m_interpolationWorldTransform.getOrigin() - col0->m_worldTransform.getOrigin()).length2();
+	float squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
+	float squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
     
-	if (squareMot0 < col0->m_ccdSquareMotionThreshold &&
-		squareMot0 < col0->m_ccdSquareMotionThreshold)
+	if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
+		squareMot1 < col1->getCcdSquareMotionThreshold())
 		return resultFraction;
 
-
-
 	if (disableCcd)
 		return 1.f;
 
@@ -212,26 +211,26 @@ float	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
 		
 	/// Convex0 against sphere for Convex1
 	{
-		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->m_collisionShape);
+		btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
 
-		btSphereShape	sphere1(col1->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape	sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
 		btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
-			col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
+			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
 		{
 		
 			//store result.m_fraction in both bodies
 		
-			if (col0->m_hitFraction	> result.m_fraction)
-				col0->m_hitFraction  = result.m_fraction;
+			if (col0->getHitFraction()> result.m_fraction)
+				col0->setHitFraction( result.m_fraction );
 
-			if (col1->m_hitFraction > result.m_fraction)
-				col1->m_hitFraction  = result.m_fraction;
+			if (col1->getHitFraction() > result.m_fraction)
+				col1->setHitFraction( result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
@@ -245,26 +244,26 @@ float	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
 
 	/// Sphere (for convex0) against Convex1
 	{
-		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->m_collisionShape);
+		btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
 
-		btSphereShape	sphere0(col0->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
+		btSphereShape	sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
 		btConvexCast::CastResult result;
 		btVoronoiSimplexSolver voronoiSimplex;
 		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
 		///Simplification, one object is simplified as a sphere
 		btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
 		//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
-		if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
-			col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
+		if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
+			col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
 		{
 		
 			//store result.m_fraction in both bodies
 		
-			if (col0->m_hitFraction	> result.m_fraction)
-				col0->m_hitFraction  = result.m_fraction;
+			if (col0->getHitFraction()	> result.m_fraction)
+				col0->setHitFraction( result.m_fraction);
 
-			if (col1->m_hitFraction > result.m_fraction)
-				col1->m_hitFraction  = result.m_fraction;
+			if (col1->getHitFraction() > result.m_fraction)
+				col1->setHitFraction( result.m_fraction);
 
 			if (resultFraction > result.m_fraction)
 				resultFraction = result.m_fraction;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 1d3941101b2..cd22f3dd91e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -48,8 +48,8 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 		m_body0(body0),
 		m_body1(body1)
 {
-	m_rootTransA = body0->m_worldTransform;
-	m_rootTransB = body1->m_worldTransform;
+	m_rootTransA = body0->getWorldTransform();
+	m_rootTransB = body1->getWorldTransform();
 }
 
 
@@ -81,8 +81,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	//User can override friction and/or restitution
 	if (gContactAddedCallback &&
 		//and if either of the two bodies requires custom material
-		 ((m_body0->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		   (m_body1->m_collisionFlags & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+		 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+		   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
 	{
 		//experimental feature info, for per-triangle material etc.
 		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index f9aae4e9c9a..3d70689e3eb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -17,10 +17,12 @@ subject to the following restrictions:
 #ifndef MANIFOLD_RESULT_H
 #define MANIFOLD_RESULT_H
 
-#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-struct btCollisionObject;
+class btCollisionObject;
 class btPersistentManifold;
 class btManifoldPoint;
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
 #include "LinearMath/btTransform.h"
 
 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index d6ac86d19bd..be4f8686f30 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -42,8 +42,8 @@ void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
 				((colObj1) && ((colObj1)->mergesSimulationIslands())))
 			{
 
-				m_unionFind.unite((colObj0)->m_islandTag1,
-					(colObj1)->m_islandTag1);
+				m_unionFind.unite((colObj0)->getIslandTag(),
+					(colObj1)->getIslandTag());
 			}
 		}
 	}
@@ -65,8 +65,8 @@ void	btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
 		{
 			
 			btCollisionObject*	collisionObject= (*i);
-			collisionObject->m_islandTag1 = index;
-			collisionObject->m_hitFraction = 1.f;
+			collisionObject->setIslandTag(index);
+			collisionObject->setHitFraction(1.f);
 			index++;
 			
 		}
@@ -98,10 +98,10 @@ void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
 			
 			if (collisionObject->mergesSimulationIslands())
 			{
-				collisionObject->m_islandTag1 = m_unionFind.find(index);
+				collisionObject->setIslandTag( m_unionFind.find(index) );
 			} else
 			{
-				collisionObject->m_islandTag1 = -1;
+				collisionObject->setIslandTag(-1);
 			}
 			index++;
 		}
@@ -113,7 +113,7 @@ inline	int	getIslandId(const btPersistentManifold* lhs)
 	int islandId;
 	const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
 	const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
-	islandId= rcolObj0->m_islandTag1>=0?rcolObj0->m_islandTag1:rcolObj1->m_islandTag1;
+	islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
 	return islandId;
 
 }
@@ -158,19 +158,19 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 			int i = getUnionFind().getElement(idx).m_sz;
 
 			btCollisionObject* colObj0 = collisionObjects[i];
-			if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
+			if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 			{
 				printf("error in island management\n");
 			}
 
-			assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
-			if (colObj0->m_islandTag1 == islandId)
+			assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+			if (colObj0->getIslandTag() == islandId)
 			{
-				if (colObj0->GetActivationState()== ACTIVE_TAG)
+				if (colObj0->getActivationState()== ACTIVE_TAG)
 				{
 					allSleeping = false;
 				}
-				if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
+				if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
 				{
 					allSleeping = false;
 				}
@@ -184,16 +184,16 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 			{
 				int i = getUnionFind().getElement(idx).m_sz;
 				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
+				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
 					printf("error in island management\n");
 				}
 
-				assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
+				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
-				if (colObj0->m_islandTag1 == islandId)
+				if (colObj0->getIslandTag() == islandId)
 				{
-					colObj0->SetActivationState( ISLAND_SLEEPING );
+					colObj0->setActivationState( ISLAND_SLEEPING );
 				}
 			}
 		} else
@@ -205,18 +205,18 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 				int i = getUnionFind().getElement(idx).m_sz;
 
 				btCollisionObject* colObj0 = collisionObjects[i];
-				if ((colObj0->m_islandTag1 != islandId) && (colObj0->m_islandTag1 != -1))
+				if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
 				{
 					printf("error in island management\n");
 				}
 
-				assert((colObj0->m_islandTag1 == islandId) || (colObj0->m_islandTag1 == -1));
+				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
-				if (colObj0->m_islandTag1 == islandId)
+				if (colObj0->getIslandTag() == islandId)
 				{
-					if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
+					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
 					{
-						colObj0->SetActivationState( WANTS_DEACTIVATION);
+						colObj0->setActivationState( WANTS_DEACTIVATION);
 					}
 				}
 			}
@@ -236,17 +236,17 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
 		
 		 //todo: check sleeping conditions!
-		 if (((colObj0) && colObj0->GetActivationState() != ISLAND_SLEEPING) ||
-			((colObj1) && colObj1->GetActivationState() != ISLAND_SLEEPING))
+		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
+			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
 		{
 			//kinematic objects don't merge islands, but wake up all connected objects
-			if (colObj0->isKinematicObject() && colObj0->GetActivationState() != ISLAND_SLEEPING)
+			if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
 			{
-				colObj1->SetActivationState(ACTIVE_TAG);
+				colObj1->setActivationState(ACTIVE_TAG);
 			}
-			if (colObj1->isKinematicObject() && colObj1->GetActivationState() != ISLAND_SLEEPING)
+			if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
 			{
-				colObj0->SetActivationState(ACTIVE_TAG);
+				colObj0->setActivationState(ACTIVE_TAG);
 			}
 
 			//filtering for response
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index d32818444d7..1423c335407 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -57,11 +57,11 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b
 	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
 
 
-	btSphereShape* sphere0 = (btSphereShape*)sphereObj ->m_collisionShape;
+	btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
 
 	btVector3 normalOnSurfaceB;
 	btVector3 pOnBox,pOnSphere;
-	btVector3 sphereCenter = sphereObj->m_worldTransform.getOrigin();
+	btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
 	btScalar radius = sphere0->getRadius();
 	
 	float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
@@ -93,14 +93,14 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
 
 	btScalar margins;
 	btVector3 bounds[2];
-	btBoxShape* boxShape= (btBoxShape*)boxObj->m_collisionShape;
+	btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
 	
 	bounds[0] = -boxShape->getHalfExtents();
 	bounds[1] = boxShape->getHalfExtents();
 
 	margins = boxShape->getMargin();//also add sphereShape margin?
 
-	const btTransform&	m44T = boxObj->m_worldTransform;
+	const btTransform&	m44T = boxObj->getWorldTransform();
 
 	btVector3	boundsVec[2];
 	btScalar	fPenetration;
@@ -209,7 +209,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
 	n[4].setValue(  0.0f,  1.0f,  0.0f );
 	n[5].setValue(  0.0f,  0.0f,  1.0f );
 
-	const btTransform&	m44T = boxObj->m_worldTransform;
+	const btTransform&	m44T = boxObj->getWorldTransform();
 
 	// convert  point in local space
 	prel = m44T.invXform( sphereCenter);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index bb04833ca5a..eb05bf974c5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -44,10 +44,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	if (!m_manifoldPtr)
 		return;
 
-	btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape;
-	btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape;
+	btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
+	btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
 
-	btVector3 diff = col0->m_worldTransform.getOrigin()-  col1->m_worldTransform.getOrigin();
+	btVector3 diff = col0->getWorldTransform().getOrigin()-  col1->getWorldTransform().getOrigin();
 	float len = diff.length();
 	btScalar radius0 = sphere0->getRadius();
 	btScalar radius1 = sphere1->getRadius();
@@ -61,9 +61,9 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 
 	btVector3 normalOnSurfaceB = diff / len;
 	///point on A (worldspace)
-	btVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
+	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
-	btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
+	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index ca589ef8629..6f74c488659 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -48,8 +48,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	if (!m_manifoldPtr)
 		return;
 
-	btSphereShape* sphere = (btSphereShape*)col0->m_collisionShape;
-	btTriangleShape* triangle = (btTriangleShape*)col1->m_collisionShape;
+	btSphereShape* sphere = (btSphereShape*)col0->getCollisionShape();
+	btTriangleShape* triangle = (btTriangleShape*)col1->getCollisionShape();
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -57,8 +57,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = 1e30f;//todo: tighter bounds
-	input.m_transformA = col0->m_worldTransform;
-	input.m_transformB = col1->m_worldTransform;
+	input.m_transformA = col0->getWorldTransform();
+	input.m_transformB = col1->getWorldTransform();
 
 	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index b137eb1150e..e85a36c0b73 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -255,6 +255,37 @@ public:
 		return "Box";
 	}
 
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 6;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		switch (index)
+		{
+		case 0:
+			penetrationVector.setValue(1.f,0.f,0.f);
+			break;
+		case 1:
+			penetrationVector.setValue(-1.f,0.f,0.f);
+			break;
+		case 2:
+			penetrationVector.setValue(0.f,1.f,0.f);
+			break;
+		case 3:
+			penetrationVector.setValue(0.f,-1.f,0.f);
+			break;
+		case 4:
+			penetrationVector.setValue(0.f,0.f,1.f);
+			break;
+		case 5:
+			penetrationVector.setValue(0.f,0.f,-1.f);
+			break;
+		default:
+			assert(0);
+		}
+	}
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
index 3ffde1ba5ed..0de334b3521 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h
@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 //todo: get rid of this btConvexCastResult thing!
 struct btConvexCastResult;
-
+#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
 
 /// btConvexShape is an abstract shape interface.
 /// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
@@ -84,6 +84,17 @@ public:
 		return m_collisionMargin;
 	}
 
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 0;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		assert(0);
+	}
+
+
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index aaadb82eb4b..fde4d95da14 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -20,17 +20,17 @@ subject to the following restrictions:
 btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
 :m_inertiaHalfExtents(inertiaHalfExtents)
 {
-	m_minRadius = 1e30f;
+	float startMargin = 1e30f;
 
 	m_numSpheres = numSpheres;
 	for (int i=0;i<m_numSpheres;i++)
 	{
 		m_localPositions[i] = positions[i];
 		m_radi[i] = radi[i];
-		if (radi[i] < m_minRadius)
-			m_minRadius = radi[i];
+		if (radi[i] < startMargin)
+			startMargin = radi[i];
 	}
-	setMargin(m_minRadius);
+	setMargin(startMargin);
 
 }
 
@@ -64,7 +64,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
 
 	for (i=0;i<m_numSpheres;i++)
 	{
-		vtx = (*pos) +vec*((*rad)-m_minRadius);
+		vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
 		pos++;
 		rad++;
 		newDot = vec.dot(vtx);
@@ -96,7 +96,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
 
 		for (int i=0;i<m_numSpheres;i++)
 		{
-			vtx = (*pos) +vec*((*rad)-m_minRadius);
+			vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
 			pos++;
 			rad++;
 			newDot = vec.dot(vtx);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 6a9151df281..2dde9d3855a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -31,9 +31,7 @@ class btMultiSphereShape : public btConvexShape
 	btVector3	m_inertiaHalfExtents;
 
 	int m_numSpheres;
-	float m_minRadius;
-
-
+	
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
new file mode 100644
index 00000000000..078ba38fdf4
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
@@ -0,0 +1,41 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btTriangleBuffer.h"
+
+
+///example usage of this class:
+//			btTriangleBuffer	triBuf;
+//			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
+//			for (int i=0;i<triBuf.getNumTriangles();i++)
+//			{
+//				const btTriangle& tri = triBuf.getTriangle(i);
+//				//do something useful here with the triangle
+//			}
+
+
+
+
+void btTriangleBuffer::processTriangle(btVector3* triangle,int partId,int  triangleIndex)
+{
+		btTriangle	tri;
+		tri.m_vertex0 = triangle[0];
+		tri.m_vertex1 = triangle[1];
+		tri.m_vertex2 = triangle[2];
+		tri.m_partId = partId;
+		tri.m_triangleIndex = triangleIndex;
+			
+		m_triangleBuffer.push_back(tri);
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
new file mode 100644
index 00000000000..4f421a616c8
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h
@@ -0,0 +1,60 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_BUFFER_H
+#define BT_TRIANGLE_BUFFER_H
+
+#include "btTriangleCallback.h"
+#include <vector>
+
+struct	btTriangle
+{
+	btVector3	m_vertex0;
+	btVector3	m_vertex1;
+	btVector3	m_vertex2;
+	int	m_partId;
+	int	m_triangleIndex;
+};
+
+///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
+class btTriangleBuffer : public btTriangleCallback
+{
+
+	std::vector<btTriangle>	m_triangleBuffer;
+	
+public:
+
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
+	
+	int	getNumTriangles() const
+	{
+		return int(m_triangleBuffer.size());
+	}
+	
+	const btTriangle&	getTriangle(int index) const
+	{
+		return m_triangleBuffer[index];
+	}
+
+	void	clearBuffer()
+	{
+		m_triangleBuffer.clear();
+	}
+	
+};
+
+
+#endif //BT_TRIANGLE_BUFFER_H
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index 690d1e849de..171dcf33b15 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -46,6 +46,15 @@ class btTriangleMesh : public btStridingMeshInterface
 			m_triangles.push_back(tri);
 		}
 
+		int getNumTriangles() const
+		{
+			return m_triangles.size();
+		}
+
+		const btMyTriangle&	getTriangle(int index) const
+		{
+			return m_triangles[index];
+		}
 
 //StridingMeshInterface interface implementation
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 8f0a06f7586..8e6e2daa4fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -157,6 +157,18 @@ public:
 			return "Triangle";
 		}
 
+		virtual int		getNumPreferredPenetrationDirections() const
+		{
+			return 2;
+		}
+		
+		virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+		{
+			calcNormal(penetrationVector);
+			if (index)
+				penetrationVector *= -1.f;
+		}
+
 
 };
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
index 8889699b395..ef2b480fa62 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
@@ -14,8 +14,8 @@ subject to the following restrictions:
 */
 
 
-#ifndef DISCRETE_COLLISION_DETECTOR_INTERFACE_H
-#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
+#ifndef DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+#define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
 
@@ -84,4 +84,4 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
 		}
 };
 
-#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE_H
+#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE1_H
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 4b38ced7f12..507fcaf21f7 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -22,12 +22,13 @@ subject to the following restrictions:
 #include <stdio.h> //for debug printf
 #endif
 
-static const btScalar rel_error = btScalar(1.0e-5);
-btScalar rel_error2 = rel_error * rel_error;
-float maxdist2 = 1.e30f;
+//must be above the machine epsilon
+#define REL_ERROR2 1.0e-6f
+
 
 #ifdef __SPU__
 #include <spu_printf.h>
+#define printf spu_printf
 #endif //__SPU__
 
 btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
@@ -36,7 +37,9 @@ m_penetrationDepthSolver(penetrationDepthSolver),
 m_simplexSolver(simplexSolver),
 m_minkowskiA(objectA),
 m_minkowskiB(objectB),
-m_ignoreMargin(false)
+m_ignoreMargin(false),
+m_lastUsedMethod(-1),
+m_catchDegeneracies(0)
 {
 }
 
@@ -45,6 +48,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 	btScalar distance=0.f;
 	btVector3	normalInB(0.f,0.f,0.f);
 	btVector3 pointOnA,pointOnB;
+	btTransform	localTransA = input.m_transformA;
+	btTransform localTransB = input.m_transformB;
+	btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * 0.5f;
+	localTransA.getOrigin() -= positionOffset;
+	localTransB.getOrigin() -= positionOffset;
 
 	float marginA = m_minkowskiA->getMargin();
 	float marginB = m_minkowskiB->getMargin();
@@ -56,12 +64,16 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 		marginB = 0.f;
 	}
 
-	int curIter = 0;
+	m_curIter = 0;
 	int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
+	m_cachedSeparatingAxis.setValue(0,1,0);
 
 	bool isValid = false;
 	bool checkSimplex = false;
 	bool checkPenetration = true;
+	m_degenerateSimplex = false;
+
+	m_lastUsedMethod = -1;
 
 	{
 		btScalar squaredDistance = SIMD_INFINITY;
@@ -81,8 +93,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 
 			btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
 			btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
-			btPoint3  pWorld = input.m_transformA(pInA);	
-			btPoint3  qWorld = input.m_transformB(qInB);
+			btPoint3  pWorld = localTransA(pInA);	
+			btPoint3  qWorld = localTransB(qInB);
 			
 			btVector3 w	= pWorld - qWorld;
 			delta = m_cachedSeparatingAxis.dot(w);
@@ -101,7 +113,16 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				break;
 			}
 			// are we getting any closer ?
-			if (squaredDistance - delta <= squaredDistance * rel_error2)
+			float f0 = squaredDistance - delta;
+			float f1 = squaredDistance * REL_ERROR2;
+
+			if (f0 <= 0.f)
+			{
+				m_degenerateSimplex = 2;
+			}
+
+			if (f0 >= 0.f && (f0 <= f1))
+			//if (f0 <= f1)
 			{
 				checkSimplex = true;
 				break;
@@ -112,6 +133,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			//calculate the closest point to the origin (update vector v)
 			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
 			{
+				m_degenerateSimplex = 1;
 				checkSimplex = true;
 				break;
 			}
@@ -130,10 +152,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			}
 
 			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
-              if (curIter++ > gGjkMaxIter)   
+              if (m_curIter++ > gGjkMaxIter)   
               {   
                       #if defined(DEBUG) || defined (_DEBUG)   
-                              printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);   
+
+                              printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
                               printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
                               m_cachedSeparatingAxis.getX(),   
                               m_cachedSeparatingAxis.getY(),   
@@ -141,6 +164,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
                               squaredDistance,   
                               m_minkowskiA->getShapeType(),   
                               m_minkowskiB->getShapeType());   
+
                       #endif   
                       break;   
 
@@ -164,20 +188,27 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			normalInB = pointOnA-pointOnB;
 			float lenSqr = m_cachedSeparatingAxis.length2();
 			//valid normal
-			if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
+			//if (lenSqr > (0.1f*margin)) //SIMD_EPSILON*SIMD_EPSILON))
+			if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
 			{
 				float rlen = 1.f / btSqrt(lenSqr );
 				normalInB *= rlen; //normalize
 				btScalar s = btSqrt(squaredDistance);
+			
 				ASSERT(s > btScalar(0.0));
 				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
 				pointOnB += m_cachedSeparatingAxis * (marginB / s);
 				distance = ((1.f/rlen) - margin);
 				isValid = true;
+				m_lastUsedMethod = 1;
+			} else
+			{
+				m_lastUsedMethod = 2;
 			}
 		}
 
-		if (checkPenetration && !isValid)
+		//if (checkPenetration && !isValid)
+		if (checkPenetration && (!isValid || (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex) ))
 		{
 			//penetration case
 		
@@ -185,27 +216,46 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			if (m_penetrationDepthSolver)
 			{
 				// Penetration depth case.
-				isValid = m_penetrationDepthSolver->calcPenDepth( 
+				btVector3 tmpPointOnA,tmpPointOnB;
+				bool isValid2 = m_penetrationDepthSolver->calcPenDepth( 
 					*m_simplexSolver, 
 					m_minkowskiA,m_minkowskiB,
-					input.m_transformA,input.m_transformB,
-					m_cachedSeparatingAxis, pointOnA, pointOnB,
+					localTransA,localTransB,
+					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
 					debugDraw
 					);
 
-				if (isValid)
+				if (isValid2)
 				{
-					normalInB = pointOnB-pointOnA;
-					float lenSqr = normalInB.length2();
+					btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
+					float lenSqr = tmpNormalInB.length2();
 					if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
 					{
-						normalInB /= btSqrt(lenSqr);
-						distance = -(pointOnA-pointOnB).length();
+						tmpNormalInB /= btSqrt(lenSqr);
+						float distance2 = -(tmpPointOnA-tmpPointOnB).length();
+						//only replace valid penetrations when the result is deeper (check)
+						if (!isValid || (distance2 < distance))
+						{
+							distance = distance2;
+							pointOnA = tmpPointOnA;
+							pointOnB = tmpPointOnB;
+							normalInB = tmpNormalInB;
+							isValid = true;
+							m_lastUsedMethod = 3;
+						} else
+						{
+							
+						}
 					} else
 					{
-						isValid = false;
+						//isValid = false;
+						m_lastUsedMethod = 4;
 					}
+				} else
+				{
+					m_lastUsedMethod = 5;
 				}
+				
 			}
 		}
 	}
@@ -219,7 +269,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 
 		output.addContactPoint(
 			normalInB,
-			pointOnB,
+			pointOnB+positionOffset,
 			distance);
 		//printf("gjk add:%f",distance);
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index c4842cd3023..09c1669bd78 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -43,6 +43,12 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
 
 public:
 
+	//some debugging to fix degeneracy problems
+	int			m_lastUsedMethod;
+	int			m_curIter;
+	int			m_degenerateSimplex;
+	int			m_catchDegeneracies;
+
 
 	btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
 	virtual ~btGjkPairDetector() {};
@@ -68,11 +74,13 @@ public:
 		m_penetrationDepthSolver = penetrationDepthSolver;
 	}
 
+	///don't use setIgnoreMargin, it's for Bullet's internal use
 	void	setIgnoreMargin(bool ignoreMargin)
 	{
 		m_ignoreMargin = ignoreMargin;
 	}
 
+
 };
 
 #endif //GJK_PAIR_DETECTOR_H
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index 34daacf26ac..74cf2b7c071 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -20,32 +20,10 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 
 
-struct MyResult : public btDiscreteCollisionDetectorInterface::Result
-{
 
-	MyResult():m_hasResult(false)
-	{
-	}
-	
-	btVector3 m_normalOnBInWorld;
-	btVector3 m_pointInWorld;
-	float m_depth;
-	bool	m_hasResult;
-
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-	}
-	void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
-	{
-		m_normalOnBInWorld = normalOnBInWorld;
-		m_pointInWorld = pointInWorld;
-		m_depth = depth;
-		m_hasResult = true;
-	}
-};
 
 #define NUM_UNITSPHERE_POINTS 42
-static btVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS] = 
+static btVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
 {
 btVector3(0.000000f , -0.000000f,-1.000000f),
 btVector3(0.723608f , -0.525725f,-0.447219f),
@@ -100,6 +78,31 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 												   )
 {
 
+
+	struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
+	{
+
+		btIntermediateResult():m_hasResult(false)
+		{
+		}
+		
+		btVector3 m_normalOnBInWorld;
+		btVector3 m_pointInWorld;
+		float m_depth;
+		bool	m_hasResult;
+
+		virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
+		{
+		}
+		void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
+		{
+			m_normalOnBInWorld = normalOnBInWorld;
+			m_pointInWorld = pointInWorld;
+			m_depth = depth;
+			m_hasResult = true;
+		}
+	};
+
 	//just take fixed number of orientation, and sample the penetration depth in that direction
 	float minProj = 1e30f;
 	btVector3 minNorm;
@@ -110,22 +113,62 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 #define USE_BATCHED_SUPPORT 1
 #ifdef USE_BATCHED_SUPPORT
-	btVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS];
-	btVector3	supportVerticesBBatch[NUM_UNITSPHERE_POINTS];
-	btVector3	seperatingAxisInABatch[NUM_UNITSPHERE_POINTS];
-	btVector3	seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS];
+
+	btVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3	supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3	seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3	seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
 	int i;
 
-	for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
+	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+
+	for (i=0;i<numSampleDirections;i++)
 	{
 		const btVector3& norm = sPenetrationDirections[i];
-		seperatingAxisInABatch[i] = (-norm)* transA.getBasis();
-		seperatingAxisInBBatch[i] = norm * transB.getBasis();
+		seperatingAxisInABatch[i] =  (-norm) * transA.getBasis() ;
+		seperatingAxisInBBatch[i] =  norm   * transB.getBasis() ;
 	}
 
-	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,NUM_UNITSPHERE_POINTS);
-	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,NUM_UNITSPHERE_POINTS);
-	for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
+	{
+		int numPDA = convexA->getNumPreferredPenetrationDirections();
+		if (numPDA)
+		{
+			for (int i=0;i<numPDA;i++)
+			{
+				btVector3 norm;
+				convexA->getPreferredPenetrationDirection(i,norm);
+				norm  = transA.getBasis() * norm;
+				sPenetrationDirections[numSampleDirections] = norm;
+				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+				numSampleDirections++;
+			}
+		}
+	}
+
+	{
+		int numPDB = convexB->getNumPreferredPenetrationDirections();
+		if (numPDB)
+		{
+			for (int i=0;i<numPDB;i++)
+			{
+				btVector3 norm;
+				convexB->getPreferredPenetrationDirection(i,norm);
+				norm  = transB.getBasis() * norm;
+				sPenetrationDirections[numSampleDirections] = norm;
+				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+				numSampleDirections++;
+			}
+		}
+	}
+
+
+
+	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
+	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
+
+	for (i=0;i<numSampleDirections;i++)
 	{
 		const btVector3& norm = sPenetrationDirections[i];
 		seperatingAxisInA = seperatingAxisInABatch[i];
@@ -148,7 +191,40 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		}
 	}	
 #else
-	for (int i=0;i<NUM_UNITSPHERE_POINTS;i++)
+
+	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+
+	{
+		int numPDA = convexA->getNumPreferredPenetrationDirections();
+		if (numPDA)
+		{
+			for (int i=0;i<numPDA;i++)
+			{
+				btVector3 norm;
+				convexA->getPreferredPenetrationDirection(i,norm);
+				norm  = transA.getBasis() * norm;
+				sPenetrationDirections[numSampleDirections] = norm;
+				numSampleDirections++;
+			}
+		}
+	}
+
+	{
+		int numPDB = convexB->getNumPreferredPenetrationDirections();
+		if (numPDB)
+		{
+			for (int i=0;i<numPDB;i++)
+			{
+				btVector3 norm;
+				convexB->getPreferredPenetrationDirection(i,norm);
+				norm  = transB.getBasis() * norm;
+				sPenetrationDirections[numSampleDirections] = norm;
+				numSampleDirections++;
+			}
+		}
+	}
+
+	for (int i=0;i<numSampleDirections;i++)
 	{
 		const btVector3& norm = sPenetrationDirections[i];
 		seperatingAxisInA = (-norm)* transA.getBasis();
@@ -174,10 +250,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	minA += minNorm*convexA->getMargin();
 	minB -= minNorm*convexB->getMargin();
+	//no penetration
+	if (minProj < 0.f)
+		return false;
+
 	minProj += (convexA->getMargin() + convexB->getMargin());
 
 
-	
+
+
 
 //#define DEBUG_DRAW 1
 #ifdef DEBUG_DRAW
@@ -213,7 +294,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	input.m_transformB = transB;
 	input.m_maximumDistanceSquared = 1e30f;//minProj;
 	
-	MyResult res;
+	btIntermediateResult res;
 	gjkdet.getClosestPoints(input,res,debugDraw);
 
 	float correctedMinNorm = minProj - res.m_depth;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 429ad54d517..8d22689ec53 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -164,7 +164,8 @@ float resolveSingleFriction(
 	float combinedFriction = cpd->m_friction;
 	
 	btScalar limit = cpd->m_appliedImpulse * combinedFriction;
-	//if (contactPoint.m_appliedImpulse>0.f)
+	
+	if (cpd->m_appliedImpulse>0.f)
 	//friction
 	{
 		//apply friction in the 2 tangential directions
@@ -182,11 +183,12 @@ float resolveSingleFriction(
 
 			// calculate j that moves us to zero relative velocity
 			j1 = -vrel * cpd->m_jacDiagABInvTangent0;
-			float total = cpd->m_accumulatedTangentImpulse0 + j1;
-			GEN_set_min(total, limit);
-			GEN_set_max(total, -limit);
-			j1 = total - cpd->m_accumulatedTangentImpulse0;
-			cpd->m_accumulatedTangentImpulse0 = total;
+			float oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
+			cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
+			GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit);
+			GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit);
+			j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
+
 		}
 		{
 			// 2nd tangent
@@ -195,11 +197,11 @@ float resolveSingleFriction(
 			
 			// calculate j that moves us to zero relative velocity
 			j2 = -vrel * cpd->m_jacDiagABInvTangent1;
-			float total = cpd->m_accumulatedTangentImpulse1 + j2;
-			GEN_set_min(total, limit);
-			GEN_set_max(total, -limit);
-			j2 = total - cpd->m_accumulatedTangentImpulse1;
-			cpd->m_accumulatedTangentImpulse1 = total;
+			float oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
+			cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
+			GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit);
+			GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit);
+			j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
 		}
 
 #ifdef USE_INTERNAL_APPLY_IMPULSE
@@ -395,4 +397,5 @@ float resolveSingleFrictionEmpty(
 	const btContactSolverInfo& solverInfo)
 {
 	return 0.f;
-};
\ No newline at end of file
+};
+
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index a8ab1bbad3a..b5783f824d4 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -21,6 +21,7 @@ subject to the following restrictions:
 static const btScalar kSign[] = { 1.0f, -1.0f, 1.0f };
 static const int kAxisA[] = { 1, 0, 0 };
 static const int kAxisB[] = { 2, 2, 1 };
+#define GENERIC_D6_DISABLE_WARMSTARTING 1
 
 btGeneric6DofConstraint::btGeneric6DofConstraint()
 {
@@ -47,7 +48,7 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody&
 
 void btGeneric6DofConstraint::buildJacobian()
 {
-	btVector3	normal(0,0,0);
+	btVector3	localNormalInA(0,0,0);
 
 	const btVector3& pivotInA = m_frameInA.getOrigin();
 	const btVector3& pivotInB = m_frameInB.getOrigin();
@@ -64,7 +65,9 @@ void btGeneric6DofConstraint::buildJacobian()
 	{
 		if (isLimited(i))
 		{
-			normal[i] = 1;
+			localNormalInA[i] = 1;
+			btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA;
+
 			
 			// Create linear atom
 			new (&m_jacLinear[i]) btJacobianEntry(
@@ -72,19 +75,24 @@ void btGeneric6DofConstraint::buildJacobian()
 				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
 				m_rbA.getCenterOfMassTransform()*pivotInA - m_rbA.getCenterOfMassPosition(),
 				m_rbB.getCenterOfMassTransform()*pivotInB - m_rbB.getCenterOfMassPosition(),
-				normal,
+				normalWorld,
 				m_rbA.getInvInertiaDiagLocal(),
 				m_rbA.getInvMass(),
 				m_rbB.getInvInertiaDiagLocal(),
 				m_rbB.getInvMass());
 
+			//optionally disable warmstarting
+#ifdef GENERIC_D6_DISABLE_WARMSTARTING
+			m_accumulatedImpulse[i] = 0.f;
+#endif //GENERIC_D6_DISABLE_WARMSTARTING
+
 			// Apply accumulated impulse
-			btVector3 impulse_vector = m_accumulatedImpulse[i] * normal;
+			btVector3 impulse_vector = m_accumulatedImpulse[i] * normalWorld;
 
 			m_rbA.applyImpulse( impulse_vector, rel_pos1);
 			m_rbB.applyImpulse(-impulse_vector, rel_pos2);
 
-			normal[i] = 0;
+			localNormalInA[i] = 0;
 		}
 	}
 
@@ -106,6 +114,10 @@ void btGeneric6DofConstraint::buildJacobian()
 				m_rbA.getInvInertiaDiagLocal(),
 				m_rbB.getInvInertiaDiagLocal());
 
+#ifdef GENERIC_D6_DISABLE_WARMSTARTING
+			m_accumulatedImpulse[i + 3] = 0.f;
+#endif //GENERIC_D6_DISABLE_WARMSTARTING
+
 			// Apply accumulated impulse
 			btVector3 impulse_vector = m_accumulatedImpulse[i + 3] * axis;
 
@@ -115,6 +127,52 @@ void btGeneric6DofConstraint::buildJacobian()
 	}
 }
 
+float getMatrixElem(const btMatrix3x3& mat,int index)
+{
+	int row = index%3;
+	int col = index / 3;
+	return mat[row][col];
+}
+
+///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
+bool	MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
+{
+    // rot =  cy*cz          -cy*sz           sy
+    //        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
+    //       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
+
+///	0..8
+
+	 if (getMatrixElem(mat,2) < 1.0f)
+    {
+        if (getMatrixElem(mat,2) > -1.0f)
+        {
+            xyz[0] = btAtan2(-getMatrixElem(mat,5),getMatrixElem(mat,8));
+            xyz[1] = btAsin(getMatrixElem(mat,2));
+            xyz[2] = btAtan2(-getMatrixElem(mat,1),getMatrixElem(mat,0));
+            return true;
+        }
+        else
+        {
+            // WARNING.  Not unique.  XA - ZA = -atan2(r10,r11)
+            xyz[0] = -btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4));
+            xyz[1] = -SIMD_HALF_PI;
+            xyz[2] = 0.0f;
+            return false;
+        }
+    }
+    else
+    {
+        // WARNING.  Not unique.  XAngle + ZAngle = atan2(r10,r11)
+        xyz[0] = btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4));
+        xyz[1] = SIMD_HALF_PI;
+        xyz[2] = 0.0;
+        return false;
+    }
+	 return false;
+}
+
+
 void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 {
 	btScalar tau = 0.1f;
@@ -126,7 +184,7 @@ void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 	btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
 	btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
 	
-	btVector3 normal(0,0,0);
+	btVector3 localNormalInA(0,0,0);
 	int i;
 
 	// linear
@@ -137,8 +195,10 @@ void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 			btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
 			btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
 		
+			localNormalInA.setValue(0,0,0);
+			localNormalInA[i] = 1;
+			btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA;
 
-			normal[i] = 1;
 			btScalar jacDiagABInv = 1.f / m_jacLinear[i].getDiagonal();
 
 			//velocity error (first order error)
@@ -146,19 +206,59 @@ void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 																	m_rbB.getLinearVelocity(),angvelB);
 		
 			//positional error (zeroth order error)
-			btScalar depth = -(pivotAInW - pivotBInW).dot(normal); 
-			
-			btScalar impulse = (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
-			m_accumulatedImpulse[i] += impulse;
+			btScalar depth = -(pivotAInW - pivotBInW).dot(normalWorld); 
+			btScalar	lo = -1e30f;
+			btScalar	hi = 1e30f;
+		
+			//handle the limits
+			if (m_lowerLimit[i] < m_upperLimit[i])
+			{
+				{
+					if (depth > m_upperLimit[i])
+					{
+						depth -= m_upperLimit[i];
+						lo = 0.f;
+					
+					} else
+					{
+						if (depth < m_lowerLimit[i])
+						{
+							depth -= m_lowerLimit[i];
+							hi = 0.f;
+						} else
+						{
+							continue;
+						}
+					}
+				}
+			}
 
-			btVector3 impulse_vector = normal * impulse;
+			btScalar normalImpulse= (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
+			float oldNormalImpulse = m_accumulatedImpulse[i];
+			float sum = oldNormalImpulse + normalImpulse;
+			m_accumulatedImpulse[i] = sum > hi ? 0.f : sum < lo ? 0.f : sum;
+			normalImpulse = m_accumulatedImpulse[i] - oldNormalImpulse;
+
+			btVector3 impulse_vector = normalWorld * normalImpulse;
 			m_rbA.applyImpulse( impulse_vector, rel_pos1);
 			m_rbB.applyImpulse(-impulse_vector, rel_pos2);
 			
-			normal[i] = 0;
+			localNormalInA[i] = 0;
 		}
 	}
 
+	btVector3	axis;
+	btScalar	angle;
+	btTransform	frameAWorld = m_rbA.getCenterOfMassTransform() * m_frameInA;
+	btTransform	frameBWorld = m_rbB.getCenterOfMassTransform() * m_frameInB;
+
+	btTransformUtil::calculateDiffAxisAngle(frameAWorld,frameBWorld,axis,angle);
+	btQuaternion diff(axis,angle);
+	btMatrix3x3 diffMat (diff);
+	btVector3 xyz;
+	///this is not perfect, we can first check which axis are limited, and choose a more appropriate order
+	MatrixToEulerXYZ(diffMat,xyz);
+
 	// angular
 	for (i=0;i<3;i++)
 	{
@@ -179,13 +279,46 @@ void	btGeneric6DofConstraint::solveConstraint(btScalar	timeStep)
 
 			btScalar rel_pos = kSign[i] * axisA.dot(axisB);
 
+			btScalar	lo = -1e30f;
+			btScalar	hi = 1e30f;
+		
+			//handle the twist limit
+			if (m_lowerLimit[i+3] < m_upperLimit[i+3])
+			{
+				//clamp the values
+				btScalar loLimit =  m_upperLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : -1e30f;
+				btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : 1e30f;
+
+				float projAngle  = -2.*xyz[i];
+				
+				if (projAngle < loLimit)
+				{
+					hi = 0.f;
+					rel_pos = (loLimit - projAngle);
+				} else
+				{
+					if (projAngle > hiLimit)
+					{
+						lo = 0.f;
+						rel_pos = (hiLimit - projAngle);
+					} else
+					{
+						continue;
+					}
+				}
+			}
+		
 			//impulse
-			btScalar impulse = -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
-			m_accumulatedImpulse[i + 3] += impulse;
+			
+			btScalar normalImpulse= -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
+			float oldNormalImpulse = m_accumulatedImpulse[i+3];
+			float sum = oldNormalImpulse + normalImpulse;
+			m_accumulatedImpulse[i+3] = sum > hi ? 0.f : sum < lo ? 0.f : sum;
+			normalImpulse = m_accumulatedImpulse[i+3] - oldNormalImpulse;
 			
 			// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)
 			btVector3 axis = kSign[i] * axisA.cross(axisB);
-			btVector3 impulse_vector = axis * impulse;
+			btVector3 impulse_vector = axis * normalImpulse;
 
 			m_rbA.applyTorqueImpulse( impulse_vector);
 			m_rbB.applyTorqueImpulse(-impulse_vector);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index ac06f718c9e..568bcc40939 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -32,6 +32,27 @@ int totalCpd = 0;
 
 int	gTotalContactPoints = 0;
 
+struct	btOrderIndex
+{
+	short int	m_manifoldIndex;
+	short int	m_pointIndex;
+};
+
+#define SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS 16384
+static btOrderIndex	gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS];
+static unsigned long btSeed2 = 0;
+unsigned long btRand2()
+{
+  btSeed2 = (1664525L*btSeed2 + 1013904223L) & 0xffffffff;
+  return btSeed2;
+}
+
+int btRandInt2 (int n)
+{
+  float a = float(n) / 4294967296.0f;
+  return (int) (float(btRand2()) * a);
+}
+
 bool  MyContactDestroyedCallback(void* userPersistentData)
 {
 	assert (userPersistentData);
@@ -69,52 +90,62 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
 	btProfiler::beginBlock("solve");
 #endif //USE_PROFILE
 
+	int totalPoints = 0;
+
 	{
 		int j;
 		for (j=0;j<numManifolds;j++)
 		{
-			int k=j;
-			prepareConstraints(manifoldPtr[k],info,debugDrawer);
-			solve(manifoldPtr[k],info,0,debugDrawer);
+			prepareConstraints(manifoldPtr[j],info,debugDrawer);
 		}
 	}
-	
-	
-	//should traverse the contacts random order...
-	int i;
-	for ( i = 0;i<numiter-1;i++)
+
 	{
 		int j;
 		for (j=0;j<numManifolds;j++)
 		{
-			int k=j;
-			if (i&1)
-				k=numManifolds-j-1;
-
-			solve(manifoldPtr[k],info,i,debugDrawer);
+			for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
+			{
+				gOrder[totalPoints].m_manifoldIndex = j;
+				gOrder[totalPoints].m_pointIndex = p;
+				totalPoints++;
+			}
 		}
-		
 	}
-#ifdef USE_PROFILE
-	btProfiler::endBlock("solve");
-
-	btProfiler::beginBlock("solveFriction");
-#endif //USE_PROFILE
-
-	//now solve the friction		
-	for (i = 0;i<numiter-1;i++)
+	
+	
+	//should traverse the contacts random order...
+	int iteration;
+	for ( iteration = 0;iteration<numiter-1;iteration++)
 	{
 		int j;
-	for (j=0;j<numManifolds;j++)
+		if ((iteration & 7) == 0) {
+			for (j=0; j<totalPoints; ++j) {
+				btOrderIndex tmp = gOrder[j];
+				int swapi = btRandInt2(j+1);
+				gOrder[j] = gOrder[swapi];
+				gOrder[swapi] = tmp;
+			}
+		}
+
+		for (j=0;j<totalPoints;j++)
 		{
-			int k = j;
-			if (i&1)
-				k=numManifolds-j-1;
-			solveFriction(manifoldPtr[k],info,i,debugDrawer);
+			btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
+			solve( (btRigidBody*)manifold->getBody0(),
+								(btRigidBody*)manifold->getBody1()
+			,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
+		}
+	
+		for (j=0;j<totalPoints;j++)
+		{
+			btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
+			solveFriction((btRigidBody*)manifold->getBody0(),
+				(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
 		}
 	}
+		
 #ifdef USE_PROFILE
-	btProfiler::endBlock("solveFriction");
+	btProfiler::endBlock("solve");
 #endif //USE_PROFILE
 
 	return 0.f;
@@ -225,7 +256,7 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 				
 				btScalar penVel = -cpd->m_penetration/info.m_timeStep;
 
-				if (cpd->m_restitution >= penVel)
+				if (cpd->m_restitution > penVel)
 				{
 					cpd->m_penetration = 0.f;
 				} 				
@@ -233,7 +264,7 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 				
 
 				float relaxation = info.m_damping;
-				cpd->m_appliedImpulse *= relaxation;
+				cpd->m_appliedImpulse =0.f;//*= relaxation;
 				//for friction
 				cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;
 				
@@ -260,8 +291,8 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 
 				btVector3 totalImpulse = 
 	#ifndef NO_FRICTION_WARMSTART
-					cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
-					cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
+					cpd->m_frictionWorldTangential0*cpd->m_accumulatedTangentImpulse0+
+					cpd->m_frictionWorldTangential1*cpd->m_accumulatedTangentImpulse1+
 	#endif //NO_FRICTION_WARMSTART
 					cp.m_normalWorldOnB*cpd->m_appliedImpulse;
 
@@ -304,29 +335,16 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 	}
 }
 
-float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
+float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
 {
 
-	btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
-	btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
-
 	float maxImpulse = 0.f;
 
 	{
-		const int numpoints = manifoldPtr->getNumContacts();
 
 		btVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
 		{
-
-			int j=i;
-			if (iter % 2)
-				j = numpoints-1-i;
-			else
-				j=i;
-
-			btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
-				if (cp.getDistance() <= 0.f)
+			if (cp.getDistance() <= 0.f)
 			{
 
 				if (iter == 0)
@@ -353,24 +371,15 @@ float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldP
 	return maxImpulse;
 }
 
-float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
+float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
 {
-	btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
-	btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
 
 
 	{
-		const int numpoints = manifoldPtr->getNumContacts();
 
 		btVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
 		{
-
-			int j=i;
-			//if (iter % 2)
-			//	j = numpoints-1-i;
-
-			btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
+			
 			if (cp.getDistance() <= 0.f)
 			{
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index e399a5cd734..8264f5071dd 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -29,8 +29,9 @@ class btIDebugDraw;
 /// Applies impulses for combined restitution and penetration recovery and to simulate friction
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
-	float solve(btPersistentManifold* manifold, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-	float solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
+
+	float solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
+	float solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
 	void  prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
 
 	ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index ea7d5c8b903..cb3fa72d440 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #include "btTypedConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
-static btRigidBody s_fixed(0, btTransform::getIdentity(),0);
+static btRigidBody s_fixed(0, 0,0);
 
 btTypedConstraint::btTypedConstraint()
 : m_userConstraintType(-1),
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 1bfc9b33348..125e933ad90 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -56,9 +56,10 @@ subject to the following restrictions:
 
 #include <algorithm>
 
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
+
+btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver)
 :btDynamicsWorld(),
-m_constraintSolver(new btSequentialImpulseConstraintSolver),
+m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
 m_debugDrawer(0),
 m_gravity(0,-10,0),
 m_localTime(1.f/60.f),
@@ -66,10 +67,10 @@ m_profileTimings(0)
 {
 	m_islandManager = new btSimulationIslandManager();
 	m_ownsIslandManager = true;
-	m_ownsConstraintSolver = true;
-
+	m_ownsConstraintSolver = (constraintSolver==0);
 }
 
+
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
 m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
@@ -103,7 +104,7 @@ void	btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
 		if (body)
 		{
 				btTransform predictedTrans;
-				if (body->GetActivationState() != ISLAND_SLEEPING)
+				if (body->getActivationState() != ISLAND_SLEEPING)
 				{
 					if (body->isKinematicObject())
 					{
@@ -117,42 +118,82 @@ void	btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
 
 void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
-	//todo: iterate over awake simulation islands!
-	for (unsigned int i=0;i<m_collisionObjects.size();i++)
+	//debug vehicle wheels
+	
+	
 	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-		if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+		//todo: iterate over awake simulation islands!
+		for (unsigned int i=0;i<m_collisionObjects.size();i++)
 		{
-			btVector3 color(255.f,255.f,255.f);
-			switch(colObj->GetActivationState())
+			btCollisionObject* colObj = m_collisionObjects[i];
+			if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
 			{
-			case  ACTIVE_TAG:
-				color = btVector3(255.f,255.f,255.f); break;
-			case ISLAND_SLEEPING:
-				color =  btVector3(0.f,255.f,0.f);break;
-			case WANTS_DEACTIVATION:
-				color = btVector3(0.f,255.f,255.f);break;
-			case DISABLE_DEACTIVATION:
-				color = btVector3(255.f,0.f,0.f);break;
-			case DISABLE_SIMULATION:
-				color = btVector3(255.f,255.f,0.f);break;
-			default:
+				btVector3 color(255.f,255.f,255.f);
+				switch(colObj->getActivationState())
 				{
-					color = btVector3(255.f,0.f,0.f);
-				}
-			};
+				case  ACTIVE_TAG:
+					color = btVector3(255.f,255.f,255.f); break;
+				case ISLAND_SLEEPING:
+					color =  btVector3(0.f,255.f,0.f);break;
+				case WANTS_DEACTIVATION:
+					color = btVector3(0.f,255.f,255.f);break;
+				case DISABLE_DEACTIVATION:
+					color = btVector3(255.f,0.f,0.f);break;
+				case DISABLE_SIMULATION:
+					color = btVector3(255.f,255.f,0.f);break;
+				default:
+					{
+						color = btVector3(255.f,0.f,0.f);
+					}
+				};
 
-			debugDrawObject(colObj->m_worldTransform,colObj->m_collisionShape,color);
+				debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
+			}
+			btRigidBody* body = btRigidBody::upcast(colObj);
+			if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
+			{
+				if (body->getActivationState() != ISLAND_SLEEPING)
+				{
+					btTransform interpolatedTransform;
+					btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
+						body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
+					body->getMotionState()->setWorldTransform(interpolatedTransform);
+				}
+			}
 		}
-		btRigidBody* body = btRigidBody::upcast(colObj);
-		if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
+	}
+
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+	{
+		for (unsigned int i=0;i<this->m_vehicles.size();i++)
 		{
-			if (body->GetActivationState() != ISLAND_SLEEPING)
+			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
 			{
-				btTransform interpolatedTransform;
-				btTransformUtil::integrateTransform(body->m_interpolationWorldTransform,
-					body->m_interpolationLinearVelocity,body->m_interpolationAngularVelocity,m_localTime,interpolatedTransform);
-				body->getMotionState()->setWorldTransform(interpolatedTransform);
+				btVector3 wheelColor(0,255,255);
+				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
+				{
+					wheelColor.setValue(0,0,255);
+				} else
+				{
+					wheelColor.setValue(255,0,255);
+				}
+
+				//synchronize the wheels with the (interpolated) chassis worldtransform
+				m_vehicles[i]->updateWheelTransform(v,true);
+					
+				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
+
+				btVector3 axle = btVector3(	
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
+					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
+
+
+				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
+				//debug wheels (cylinders)
+				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
 			}
 		}
 	}
@@ -178,8 +219,15 @@ int	btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
 		//variable timestep
 		fixedTimeStep = timeStep;
 		m_localTime = timeStep;
-		numSimulationSubSteps = 1;
-		maxSubSteps = 1;
+		if (btFuzzyZero(timeStep))
+		{
+			numSimulationSubSteps = 0;
+			maxSubSteps = 0;
+		} else
+		{
+			numSimulationSubSteps = 1;
+			maxSubSteps = 1;
+		}
 	}
 
 	//process some debugging flags
@@ -187,7 +235,7 @@ int	btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
 	{
 		gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
 	}
-	if (!btFuzzyZero(timeStep) && numSimulationSubSteps)
+	if (numSimulationSubSteps)
 	{
 
 		saveKinematicState(fixedTimeStep);
@@ -198,6 +246,7 @@ int	btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, flo
 		for (int i=0;i<clampedSimulationSteps;i++)
 		{
 			internalSingleStepSimulation(fixedTimeStep);
+			synchronizeMotionStates();
 		}
 
 	} 
@@ -226,20 +275,23 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 	btContactSolverInfo infoGlobal;
 	infoGlobal.m_timeStep = timeStep;
 	
+
+
 	///solve non-contact constraints
 	solveNoncontactConstraints(infoGlobal);
 	
 	///solve contact constraints
 	solveContactConstraints(infoGlobal);
 
-	///update vehicle simulation
-	updateVehicles(timeStep);
-	
 	///CallbackTriggers();
 
 	///integrate transforms
 	integrateTransforms(timeStep);
-		
+
+	///update vehicle simulation
+	updateVehicles(timeStep);
+
+
 	updateActivationState( timeStep );
 
 	
@@ -268,12 +320,19 @@ void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
 
 void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 {
-	body->setGravity(m_gravity);
-	bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
-	short collisionFilterGroup = isDynamic? btBroadphaseProxy::DefaultFilter : btBroadphaseProxy::StaticFilter;
-	short collisionFilterMask = isDynamic? 	btBroadphaseProxy::AllFilter : 	btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
+	if (!body->isStaticOrKinematicObject())
+	{
+		body->setGravity(m_gravity);
+	}
 
-	addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
+	if (body->getCollisionShape())
+	{
+		bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
+		short collisionFilterGroup = isDynamic? btBroadphaseProxy::DefaultFilter : btBroadphaseProxy::StaticFilter;
+		short collisionFilterMask = isDynamic? 	btBroadphaseProxy::AllFilter : 	btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
+
+		addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
+	}
 }
 
 
@@ -303,12 +362,12 @@ void	btDiscreteDynamicsWorld::updateActivationState(float timeStep)
 
 			if (body->wantsSleeping())
 			{
-				if (body->GetActivationState() == ACTIVE_TAG)
-					body->SetActivationState( WANTS_DEACTIVATION );
+				if (body->getActivationState() == ACTIVE_TAG)
+					body->setActivationState( WANTS_DEACTIVATION );
 			} else
 			{
-				if (body->GetActivationState() != DISABLE_DEACTIVATION)
-					body->SetActivationState( ACTIVE_TAG );
+				if (body->getActivationState() != DISABLE_DEACTIVATION)
+					body->setActivationState( ACTIVE_TAG );
 			}
 		}
 	}
@@ -436,11 +495,11 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
 				((colObj1) && ((colObj1)->mergesSimulationIslands())))
 			{
-				if (colObj0->IsActive() || colObj1->IsActive())
+				if (colObj0->isActive() || colObj1->isActive())
 				{
 
-					getSimulationIslandManager()->getUnionFind().unite((colObj0)->m_islandTag1,
-						(colObj1)->m_islandTag1);
+					getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
+						(colObj1)->getIslandTag());
 				}
 			}
 		}
@@ -501,19 +560,19 @@ void	btDiscreteDynamicsWorld::updateAabbs()
 		//	if (body->IsActive() && (!body->IsStatic()))
 			{
 				btPoint3 minAabb,maxAabb;
-				colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
 				btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
 
 				//moving objects should be moderately sized, probably something wrong if not
 				if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < 1e12f))
 				{
-					bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
+					bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
 				} else
 				{
 					//something went wrong, investigate
 					//this assert is unwanted in 3D modelers (danger of loosing work)
 					assert(0);
-					body->SetActivationState(DISABLE_SIMULATION);
+					body->setActivationState(DISABLE_SIMULATION);
 					
 					static bool reportMe = true;
 					if (reportMe)
@@ -548,7 +607,7 @@ void	btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->isStaticOrKinematicObject()))
+			if (body->isActive() && (!body->isStaticOrKinematicObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
 				body->proceedToTransform( predictedTrans);
@@ -571,11 +630,11 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
 		{
 			if (!body->isStaticOrKinematicObject())
 			{
-				if (body->IsActive())
+				if (body->isActive())
 				{
 					body->applyForces( timeStep);
 					body->integrateVelocities( timeStep);
-					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
 				}
 			}
 		}
@@ -768,3 +827,14 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 		}
 	}
 }
+
+void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+{
+	if (m_ownsConstraintSolver)
+	{
+		delete m_constraintSolver;
+	}
+	m_ownsConstraintSolver = false;
+	m_constraintSolver = solver;
+}
+
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index 77e4ada645c..12939753442 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -86,7 +86,7 @@ public:
 	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
 
 	///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
-	btDiscreteDynamicsWorld();
+	btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver = 0);
 		
 	virtual ~btDiscreteDynamicsWorld();
 
@@ -136,6 +136,7 @@ public:
 
 	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
 
+	virtual void	setConstraintSolver(btConstraintSolver* solver);
 
 };
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index fa916f65505..6023f29b4fb 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -19,6 +19,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
 class btTypedConstraint;
 class btRaycastVehicle;
+class btConstraintSolver;
+
 
 ///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
 class btDynamicsWorld : public btCollisionWorld
@@ -65,6 +67,8 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual void	removeRigidBody(btRigidBody* body) = 0;
 
+		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index a434f5e41dd..db05f37d8c8 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -42,7 +42,13 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
 	m_frictionSolverType(0)
 {
 
-	motionState->getWorldTransform(m_worldTransform);
+	if (motionState)
+	{
+		motionState->getWorldTransform(m_worldTransform);
+	} else
+	{
+		m_worldTransform = btTransform::getIdentity();
+	}
 
 	m_interpolationWorldTransform = m_worldTransform;
 	m_interpolationLinearVelocity.setValue(0,0,0);
@@ -64,7 +70,7 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
 
 }
 
-
+#ifdef OBSOLETE_MOTIONSTATE_LESS
 btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
 : 
 	m_gravity(0.0f, 0.0f, 0.0f),
@@ -100,30 +106,34 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
 
 }
 
+#endif //OBSOLETE_MOTIONSTATE_LESS
+
+
 #define EXPERIMENTAL_JITTER_REMOVAL 1
 #ifdef EXPERIMENTAL_JITTER_REMOVAL
-//Bullet 2.20b has experimental code to reduce jitter just before objects fall asleep/deactivate
-//doesn't work very well yet (value 0 only reduces performance a bit, no difference in functionality)
-float gClippedAngvelThresholdSqr = 0.f;
-float	gClippedLinearThresholdSqr = 0.f;
+//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
+//doesn't work very well yet (value 0 disabled this damping)
+//note there this influences deactivation thresholds!
+float gClippedAngvelThresholdSqr = 0.01f;
+float	gClippedLinearThresholdSqr = 0.01f;
+float	gJitterVelocityDampingFactor = 1.f;
 #endif //EXPERIMENTAL_JITTER_REMOVAL
 
 void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) 
 {
 
 #ifdef EXPERIMENTAL_JITTER_REMOVAL
-	//clip to avoid jitter
-	if (m_angularVelocity.length2() < gClippedAngvelThresholdSqr)
+	//if (wantsSleeping())
 	{
-		m_angularVelocity.setValue(0,0,0);
-		printf("clipped!\n");
+		//clip to avoid jitter
+		if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) &&
+			(m_linearVelocity.length2() < gClippedLinearThresholdSqr))
+		{
+			m_angularVelocity *= gJitterVelocityDampingFactor;
+			m_linearVelocity *= gJitterVelocityDampingFactor;
+		}
 	}
 	
-	if (m_linearVelocity.length2() < gClippedLinearThresholdSqr)
-	{
-		m_linearVelocity.setValue(0,0,0);
-		printf("clipped!\n");
-	}
 #endif //EXPERIMENTAL_JITTER_REMOVAL
 
 	btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index fca3658cb31..c5fecdb87a6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -62,7 +62,11 @@ class btRigidBody  : public btCollisionObject
 
 public:
 
+#ifdef OBSOLETE_MOTIONSTATE_LESS
+	//not supported, please use btMotionState
 	btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
+#endif //OBSOLETE_MOTIONSTATE_LESS
+
 	btRigidBody(float mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
 
 	void			proceedToTransform(const btTransform& newTrans); 
@@ -71,11 +75,11 @@ public:
 	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
 	static const btRigidBody*	upcast(const btCollisionObject* colObj)
 	{
-		return (const btRigidBody*)colObj->m_internalOwner;
+		return (const btRigidBody*)colObj->getInternalOwner();
 	}
 	static btRigidBody*	upcast(btCollisionObject* colObj)
 	{
-		return (btRigidBody*)colObj->m_internalOwner;
+		return (btRigidBody*)colObj->getInternalOwner();
 	}
 	
 	/// continuous collision detection needs prediction
@@ -247,7 +251,7 @@ public:
 
 	inline void	updateDeactivation(float timeStep)
 	{
-		if ( (GetActivationState() == ISLAND_SLEEPING) || (GetActivationState() == DISABLE_DEACTIVATION))
+		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
 			return;
 
 		if ((getLinearVelocity().length2() < gLinearSleepingThreshold*gLinearSleepingThreshold) &&
@@ -257,7 +261,7 @@ public:
 		} else
 		{
 			m_deactivationTime=0.f;
-			SetActivationState(0);
+			setActivationState(0);
 		}
 
 	}
@@ -265,14 +269,14 @@ public:
 	inline bool	wantsSleeping()
 	{
 
-		if (GetActivationState() == DISABLE_DEACTIVATION)
+		if (getActivationState() == DISABLE_DEACTIVATION)
 			return false;
 
 		//disable deactivation
 		if (gDisableDeactivation || (gDeactivationTime == 0.f))
 			return false;
 
-		if ( (GetActivationState() == ISLAND_SLEEPING) || (GetActivationState() == WANTS_DEACTIVATION))
+		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
 			return true;
 
 		if (m_deactivationTime> gDeactivationTime)
@@ -309,6 +313,8 @@ public:
 	void	setMotionState(btMotionState* motionState)
 	{
 		m_optionalMotionState = motionState;
+		if (m_optionalMotionState)
+			motionState->getWorldTransform(m_worldTransform);
 	}
 
 	//for experimental overriding of friction/contact solver func
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 53a088de750..dabf291669d 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -114,12 +114,12 @@ void	btSimpleDynamicsWorld::updateAabbs()
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->isStaticObject()))
+			if (body->isActive() && (!body->isStaticObject()))
 			{
 				btPoint3 minAabb,maxAabb;
-				colObj->m_collisionShape->getAabb(colObj->m_worldTransform, minAabb,maxAabb);
+				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
 				btBroadphaseInterface* bp = getBroadphase();
-				bp->setAabb(body->m_broadphaseHandle,minAabb,maxAabb);
+				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
 			}
 		}
 	}
@@ -134,7 +134,7 @@ void	btSimpleDynamicsWorld::integrateTransforms(float timeStep)
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body)
 		{
-			if (body->IsActive() && (!body->isStaticObject()))
+			if (body->isActive() && (!body->isStaticObject()))
 			{
 				body->predictIntegratedTransform(timeStep, predictedTrans);
 				body->proceedToTransform( predictedTrans);
@@ -155,11 +155,11 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
 		{
 			if (!body->isStaticObject())
 			{
-				if (body->IsActive())
+				if (body->isActive())
 				{
 					body->applyForces( timeStep);
 					body->integrateVelocities( timeStep);
-					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+					body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
 				}
 			}
 		}
@@ -176,11 +176,22 @@ void	btSimpleDynamicsWorld::synchronizeMotionStates()
 		btRigidBody* body = btRigidBody::upcast(colObj);
 		if (body && body->getMotionState())
 		{
-			if (body->GetActivationState() != ISLAND_SLEEPING)
+			if (body->getActivationState() != ISLAND_SLEEPING)
 			{
-				body->getMotionState()->setWorldTransform(body->m_worldTransform);
+				body->getMotionState()->setWorldTransform(body->getWorldTransform());
 			}
 		}
 	}
 
 }
+
+
+void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+{
+	if (m_ownsConstraintSolver)
+	{
+		delete m_constraintSolver;
+	}
+	m_ownsConstraintSolver = false;
+	m_constraintSolver = solver;
+}
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index a65b56c4f57..f74e2460732 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -77,6 +77,8 @@ public:
 
 	void	synchronizeMotionStates();
 
+	virtual void	setConstraintSolver(btConstraintSolver* solver);
+
 };
 
 #endif //BT_SIMPLE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index 7a2043e2b38..700bdb866cd 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -11,6 +11,7 @@
 
 #include "LinearMath/btVector3.h"
 #include "btRaycastVehicle.h"
+
 #include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
 #include "LinearMath/btQuaternion.h"
@@ -23,7 +24,7 @@
 
 
 
-static btRigidBody s_fixedObject( 0,btTransform(btQuaternion(0,0,0,1)),0);
+static btRigidBody s_fixedObject( 0,0,0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
 :m_vehicleRaycaster(raycaster),
@@ -75,8 +76,8 @@ btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con
 	
 	btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
 	
-	updateWheelTransformsWS( wheel );
-	updateWheelTransform(getNumWheels()-1);
+	updateWheelTransformsWS( wheel , false );
+	updateWheelTransform(getNumWheels()-1,false);
 	return wheel;
 }
 
@@ -91,15 +92,18 @@ const btTransform&	btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
 
 }
 
-void	btRaycastVehicle::updateWheelTransform( int wheelIndex )
+void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
 {
 	
 	btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
-	updateWheelTransformsWS(wheel);
+	updateWheelTransformsWS(wheel,interpolatedTransform);
 	btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
 	const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
 	btVector3 fwd = up.cross(right);
 	fwd = fwd.normalize();
+//	up = right.cross(fwd);
+//	up.normalize();
+
 	//rotate around steering over de wheelAxleWS
 	float steering = wheel.m_steering;
 	
@@ -138,16 +142,16 @@ void btRaycastVehicle::resetSuspension()
 	}
 }
 
-void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
+void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
 {
 	wheel.m_raycastInfo.m_isInContact = false;
 
-	btTransform chassisTrans;
-	if (getRigidBody()->getMotionState())
+	btTransform chassisTrans = getChassisWorldTransform();
+	if (interpolatedTransform && (getRigidBody()->getMotionState()))
+	{
 		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
-	else
-		chassisTrans = getRigidBody()->getCenterOfMassTransform();
-	
+	}
+
 	wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
 	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *  wheel.m_wheelDirectionCS ;
 	wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
@@ -155,7 +159,7 @@ void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
 
 btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 {
-	updateWheelTransformsWS( wheel );
+	updateWheelTransformsWS( wheel,false);
 
 	
 	btScalar depth = -1;
@@ -239,12 +243,35 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 }
 
 
+const btTransform& btRaycastVehicle::getChassisWorldTransform() const
+{
+	/*if (getRigidBody()->getMotionState())
+	{
+		btTransform chassisWorldTrans;
+		getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
+		return chassisWorldTrans;
+	}
+	*/
+
+	
+	return getRigidBody()->getCenterOfMassTransform();
+}
+
+
 void btRaycastVehicle::updateVehicle( btScalar step )
 {
+	{
+		for (int i=0;i<getNumWheels();i++)
+		{
+			updateWheelTransform(i,false);
+		}
+	}
+
 
 	m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
 	
-	const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
+	const btTransform& chassisTrans = getChassisWorldTransform();
+
 	btVector3 forwardW (
 		chassisTrans.getBasis()[0][m_indexForwardAxis],
 		chassisTrans.getBasis()[1][m_indexForwardAxis],
@@ -304,10 +331,12 @@ void btRaycastVehicle::updateVehicle( btScalar step )
 
 		if (wheel.m_raycastInfo.m_isInContact)
 		{
+			const btTransform&	chassisWorldTransform = getChassisWorldTransform();
+
 			btVector3 fwd (
-				getRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
-				getRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
-				getRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
+				chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
+				chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
+				chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
 
 			btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
 			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
index a7534c67555..b928248cc2d 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -68,9 +68,8 @@ public:
 	virtual ~btRaycastVehicle() ;
 
 		
-
-
-
+	const btTransform& getChassisWorldTransform() const;
+	
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
@@ -86,7 +85,7 @@ public:
 
 	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
 
-	void	updateWheelTransform( int wheelIndex );
+	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
 	
 	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
 
@@ -103,7 +102,7 @@ public:
 
 	btWheelInfo&	getWheelInfo(int index);
 
-	void	updateWheelTransformsWS(btWheelInfo& wheel );
+	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
 
 	
 	void setBrake(float brake,int wheelIndex);
diff --git a/extern/bullet2/src/LinearMath/CMakeLists.txt b/extern/bullet2/src/LinearMath/CMakeLists.txt
index b9546167534..207eed94a3e 100644
--- a/extern/bullet2/src/LinearMath/CMakeLists.txt
+++ b/extern/bullet2/src/LinearMath/CMakeLists.txt
@@ -5,5 +5,6 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src }
 
 ADD_LIBRARY(LibLinearMath
 btQuickprof.cpp
+btGeometryUtil.cpp
 )
 
diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h
index 1cc7d4ebdf2..2eacb8e242b 100644
--- a/extern/bullet2/src/LinearMath/btAabbUtil2.h
+++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h
@@ -18,6 +18,8 @@ subject to the following restrictions:
 #define AABB_UTIL2
 
 #include "LinearMath/btVector3.h"
+#include "LinearMath/btSimdMinMax.h"
+
 
 #define btMin(a,b) ((a < b ? a : b))
 #define btMax(a,b) ((a > b ? a : b))
@@ -53,5 +55,73 @@ SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
 	return true;
 }
 
+
+SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent) 
+{
+	return (p.getX()  < -halfExtent.getX() ? 0x01 : 0x0) |    
+		   (p.getX() >  halfExtent.getX() ? 0x08 : 0x0) |
+		   (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |    
+		   (p.getY() >  halfExtent.getY() ? 0x10 : 0x0) |
+		   (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |    
+		   (p.getZ() >  halfExtent.getZ() ? 0x20 : 0x0);
+}
+
+
+SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
+								 const btVector3& rayTo, 
+								 const btVector3& aabbMin, 
+								 const btVector3& aabbMax,
+					  btScalar& param, btVector3& normal) 
+{
+	btVector3 aabbHalfExtent = (aabbMax-aabbMin)* 0.5f;
+	btVector3 aabbCenter = (aabbMax+aabbMin)* 0.5f;
+	btVector3	source = rayFrom - aabbCenter;
+	btVector3	target = rayTo - aabbCenter;
+	int	sourceOutcode = btOutcode(source,aabbHalfExtent);
+	int targetOutcode = btOutcode(target,aabbHalfExtent);
+	if ((sourceOutcode & targetOutcode) == 0x0)
+	{
+		btScalar lambda_enter = btScalar(0.0);
+		btScalar lambda_exit  = param;
+		btVector3 r = target - source;
+		int i;
+		btScalar	normSign = 1;
+		btVector3	hitNormal(0,0,0);
+		int bit=1;
+
+		for (int j=0;j<2;j++)
+		{
+			for (i = 0; i != 3; ++i)
+			{
+				if (sourceOutcode & bit)
+				{
+					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					if (lambda_enter <= lambda)
+					{
+						lambda_enter = lambda;
+						hitNormal.setValue(0,0,0);
+						hitNormal[i] = normSign;
+					}
+				}
+				else if (targetOutcode & bit) 
+				{
+					btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+					btSetMin(lambda_exit, lambda);
+				}
+				bit<<=1;
+			}
+			normSign = -1.f;
+		}
+		if (lambda_enter <= lambda_exit)
+		{
+			param = lambda_enter;
+			normal = hitNormal;
+			return true;
+		}
+	}
+	return false;
+}
+
+
 #endif
 
diff --git a/extern/bullet2/src/LinearMath/btDefaultMotionState.h b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
index 805631ac56f..6b85b37fb9e 100644
--- a/extern/bullet2/src/LinearMath/btDefaultMotionState.h
+++ b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
@@ -19,16 +19,25 @@ struct	btDefaultMotionState : public btMotionState
 	}
 
 	///synchronizes world transform from user to physics
-	virtual void	getWorldTransform(btTransform& centerOfMassWorldTrans )
+	virtual void	getWorldTransform(btTransform& centerOfMassWorldTrans ) const 
 	{
 			centerOfMassWorldTrans = 	m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
 	}
 
 	///synchronizes world transform from physics to user
+	///Bullet only calls the update of worldtransform for active objects
 	virtual void	setWorldTransform(const btTransform& centerOfMassWorldTrans)
 	{
 			m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
 	}
+
+	///Bullet gives a callback for objects that are about to be deactivated (put asleep)
+	/// You can intercept this callback for your own bookkeeping. 
+	///Also you can return false to disable deactivation for this object this frame.
+	virtual bool deactivationCallback(void*	userPointer) {
+		return true;
+	}
+
 };
 
 #endif //DEFAULT_MOTION_STATE_H
diff --git a/extern/bullet2/src/LinearMath/btGeometryUtil.cpp b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp
new file mode 100644
index 00000000000..69d061d27d0
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp
@@ -0,0 +1,168 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btGeometryUtil.h"
+
+bool	btGeometryUtil::isPointInsidePlanes(const std::vector<btVector3>& planeEquations, const btVector3& point, float	margin)
+{
+	int numbrushes = planeEquations.size();
+	for (int i=0;i<numbrushes;i++)
+	{
+		const btVector3& N1 = planeEquations[i];
+		float dist = float(N1.dot(point))+float(N1[3])-margin;
+		if (dist>0.f)
+		{
+			return false;
+		}
+	}
+	return true;
+		
+}
+
+
+bool	btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const std::vector<btVector3>& vertices, float	margin)
+{
+	int numvertices = vertices.size();
+	for (int i=0;i<numvertices;i++)
+	{
+		const btVector3& N1 = vertices[i];
+		float dist = float(planeNormal.dot(N1))+float(planeNormal[3])-margin;
+		if (dist>0.f)
+		{
+			return false;
+		}
+	}
+	return true;
+}
+
+bool notExist(const btVector3& planeEquation,const std::vector<btVector3>& planeEquations)
+{
+	int numbrushes = planeEquations.size();
+	for (int i=0;i<numbrushes;i++)
+	{
+		const btVector3& N1 = planeEquations[i];
+		if (planeEquation.dot(N1) > 0.999f)
+		{
+			return false;
+		} 
+	}
+	return true;
+}
+
+void	btGeometryUtil::getPlaneEquationsFromVertices(std::vector<btVector3>& vertices, std::vector<btVector3>& planeEquationsOut )
+{
+		const int numvertices = vertices.size();
+	// brute force:
+	for (int i=0;i<numvertices;i++)
+	{
+		const btVector3& N1 = vertices[i];
+		
+
+		for (int j=i+1;j<numvertices;j++)
+		{
+			const btVector3& N2 = vertices[j];
+				
+			for (int k=j+1;k<numvertices;k++)
+			{
+
+				const btVector3& N3 = vertices[k];
+
+				btVector3 planeEquation,edge0,edge1;
+				edge0 = N2-N1;
+				edge1 = N3-N1;
+				float normalSign = 1.f;
+				for (int ww=0;ww<2;ww++)
+				{
+					planeEquation = normalSign * edge0.cross(edge1);
+					if (planeEquation.length2() > 0.0001f)
+					{
+						planeEquation.normalize();
+						if (notExist(planeEquation,planeEquationsOut))
+						{
+							planeEquation[3] = -planeEquation.dot(N1);
+							
+								//check if inside, and replace supportingVertexOut if needed
+								if (areVerticesBehindPlane(planeEquation,vertices,0.01f))
+								{
+									planeEquationsOut.push_back(planeEquation);
+								}
+						}
+					}
+					normalSign = -1.f;
+				}
+			
+			}
+		}
+	}
+
+}
+
+void	btGeometryUtil::getVerticesFromPlaneEquations(const std::vector<btVector3>& planeEquations , std::vector<btVector3>& verticesOut )
+{
+	const int numbrushes = planeEquations.size();
+	// brute force:
+	for (int i=0;i<numbrushes;i++)
+	{
+		const btVector3& N1 = planeEquations[i];
+		
+
+		for (int j=i+1;j<numbrushes;j++)
+		{
+			const btVector3& N2 = planeEquations[j];
+				
+			for (int k=j+1;k<numbrushes;k++)
+			{
+
+				const btVector3& N3 = planeEquations[k];
+
+				btVector3 n2n3; n2n3 = N2.cross(N3);
+				btVector3 n3n1; n3n1 = N3.cross(N1);
+				btVector3 n1n2; n1n2 = N1.cross(N2);
+				
+				if ( ( n2n3.length2() > 0.0001f ) &&
+					 ( n3n1.length2() > 0.0001f ) &&
+					 ( n1n2.length2() > 0.0001f ) )
+				{
+					//point P out of 3 plane equations:
+
+					//	d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 )  
+					//P =  -------------------------------------------------------------------------  
+					//   N1 . ( N2 * N3 )  
+
+
+					float quotient = (N1.dot(n2n3));
+					if (btFabs(quotient) > 0.000001f)
+					{
+						quotient = -1.f / quotient;
+						n2n3 *= N1[3];
+						n3n1 *= N2[3];
+						n1n2 *= N3[3];
+						btVector3 potentialVertex = n2n3;
+						potentialVertex += n3n1;
+						potentialVertex += n1n2;
+						potentialVertex *= quotient;
+
+						//check if inside, and replace supportingVertexOut if needed
+						if (isPointInsidePlanes(planeEquations,potentialVertex,0.01f))
+						{
+							verticesOut.push_back(potentialVertex);
+						}
+					}
+				}
+			}
+		}
+	}
+}
\ No newline at end of file
diff --git a/extern/bullet2/src/LinearMath/btGeometryUtil.h b/extern/bullet2/src/LinearMath/btGeometryUtil.h
new file mode 100644
index 00000000000..3170c215008
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btGeometryUtil.h
@@ -0,0 +1,39 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_GEOMETRY_UTIL_H
+#define BT_GEOMETRY_UTIL_H
+#include <vector>
+#include "btVector3.h"
+
+class btGeometryUtil
+{
+	public:
+	
+	
+		static void	getPlaneEquationsFromVertices(std::vector<btVector3>& vertices, std::vector<btVector3>& planeEquationsOut );
+
+		static void	getVerticesFromPlaneEquations(const std::vector<btVector3>& planeEquations , std::vector<btVector3>& verticesOut );
+	
+		static bool	isInside(const std::vector<btVector3>& vertices, const btVector3& planeNormal, float	margin);
+		
+		static bool	isPointInsidePlanes(const std::vector<btVector3>& planeEquations, const btVector3& point, float	margin);
+
+		static bool	areVerticesBehindPlane(const btVector3& planeNormal, const std::vector<btVector3>& vertices, float	margin);
+
+};
+
+
+#endif //BT_GEOMETRY_UTIL_H
\ No newline at end of file
diff --git a/extern/bullet2/src/LinearMath/btMotionState.h b/extern/bullet2/src/LinearMath/btMotionState.h
index 4bbb3d44888..a9e212d3c71 100644
--- a/extern/bullet2/src/LinearMath/btMotionState.h
+++ b/extern/bullet2/src/LinearMath/btMotionState.h
@@ -29,10 +29,15 @@ class	btMotionState
 			
 		}
 		
-		virtual void	getWorldTransform(btTransform& worldTrans )=0;
+		virtual void	getWorldTransform(btTransform& worldTrans ) const =0;
 
+		//Bullet only calls the update of worldtransform for active objects
 		virtual void	setWorldTransform(const btTransform& worldTrans)=0;
-
+		
+		//future: when Bullet makes attempt to deactivate object, you can intercept this callback (return false to disable deactivation for this object this frame)
+		virtual bool deactivationCallback(void*	userPointer) {
+			return true;
+		}
 };
 
 #endif //BT_MOTIONSTATE_H
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.cpp b/extern/bullet2/src/LinearMath/btQuickprof.cpp
index 23b8b8b2c40..4d013a65853 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.cpp
+++ b/extern/bullet2/src/LinearMath/btQuickprof.cpp
@@ -1,25 +1,18 @@
-/************************************************************************
-* QuickProf                                                             *
-* Copyright (C) 2006                                                    *
-* Tyler Streeter  tylerstreeter@gmail.com                               *
-* All rights reserved.                                                  *
-* Web: http://quickprof.sourceforge.net                                 *
-*                                                                       *
-* This library is free software; you can redistribute it and/or         *
-* modify it under the terms of EITHER:                                  *
-*   (1) The GNU Lesser bteral Public License as published by the Free  *
-*       Software Foundation; either version 2.1 of the License, or (at  *
-*       your option) any later version. The text of the GNU Lesser      *
-*       bteral Public License is included with this library in the     *
-*       file license-LGPL.txt.                                          *
-*   (2) The BSD-style license that is included with this library in     *
-*       the file license-BSD.txt.                                       *
-*                                                                       *
-* This library is distributed in the hope that it will be useful,       *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-* license-LGPL.txt and license-BSD.txt for more details.                *
-************************************************************************/
+/*
+Copyright (c) 2006 Tyler Streeter
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
 
 // Please visit the project website (http://quickprof.sourceforge.net) 
 // for usage instructions.
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h
index 801ef07a946..ec560c8e33e 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.h
+++ b/extern/bullet2/src/LinearMath/btQuickprof.h
@@ -1,26 +1,18 @@
-/************************************************************************
-* QuickProf                                                             *
-* Copyright (C) 2006                                                    *
-* Tyler Streeter  tylerstreeter@gmail.com                               *
-* All rights reserved.                                                  *
-* Web: http://quickprof.sourceforge.net                                 *
-*                                                                       *
-* This library is free software; you can redistribute it and/or         *
-* modify it under the terms of EITHER:                                  *
-*   (1) The GNU Lesser bteral Public License as published by the Free  *
-*       Software Foundation; either version 2.1 of the License, or (at  *
-*       your option) any later version. The text of the GNU Lesser      *
-*       bteral Public License is included with this library in the     *
-*       file license-LGPL.txt.                                          *
-*   (2) The BSD-style license that is included with this library in     *
-*       the file license-BSD.txt.                                       *
-*                                                                       *
-* This library is distributed in the hope that it will be useful,       *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-* license-LGPL.txt and license-BSD.txt for more details.                *
-************************************************************************/
+/*
+Copyright (c) 2006 Tyler Streeter
 
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+	
 // Please visit the project website (http://quickprof.sourceforge.net) 
 // for usage instructions.
 
@@ -46,6 +38,10 @@
 typedef uint64_t __int64;
 #endif
 
+#if defined (SUNOS) || defined (__SUNOS__) 
+        #include <stdio.h> 
+#endif
+
 #if defined(WIN32) || defined(_WIN32)
 	#define USE_WINDOWS_TIMERS
 	#include <windows.h>
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index dea040a80bd..aa046b89df0 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -88,13 +88,13 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
 #endif
 
 
-const btScalar  SIMD_2_PI         = 6.283185307179586232f;
-const btScalar  SIMD_PI           = SIMD_2_PI * btScalar(0.5f);
-const btScalar  SIMD_HALF_PI		 = SIMD_2_PI * btScalar(0.25f);
-const btScalar  SIMD_RADS_PER_DEG = SIMD_2_PI / btScalar(360.0f);
-const btScalar  SIMD_DEGS_PER_RAD = btScalar(360.0f) / SIMD_2_PI;
-const btScalar  SIMD_EPSILON      = FLT_EPSILON;
-const btScalar  SIMD_INFINITY     = FLT_MAX;
+#define SIMD_2_PI         6.283185307179586232f
+#define SIMD_PI           (SIMD_2_PI * btScalar(0.5f))
+#define SIMD_HALF_PI      (SIMD_2_PI * btScalar(0.25f))
+#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0f))
+#define SIMD_DEGS_PER_RAD  (btScalar(360.0f) / SIMD_2_PI)
+#define SIMD_EPSILON      FLT_EPSILON
+#define SIMD_INFINITY     FLT_MAX
 
 SIMD_FORCE_INLINE bool      btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
 
@@ -114,13 +114,14 @@ SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
 SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
 */
 
-SIMD_FORCE_INLINE int       btSign(btScalar x) {
-    return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
+SIMD_FORCE_INLINE int       btIsNegative(btScalar x) {
+    return x < 0.0f ? 1 : 0;
 }
 
 SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }
 SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; }
 
+#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
 
 
 #endif //SIMD___SCALAR_H
diff --git a/extern/bullet2/src/LinearMath/btSimdMinMax.h b/extern/bullet2/src/LinearMath/btSimdMinMax.h
index 16c31552f88..2731c8b09f3 100644
--- a/extern/bullet2/src/LinearMath/btSimdMinMax.h
+++ b/extern/bullet2/src/LinearMath/btSimdMinMax.h
@@ -16,6 +16,7 @@ subject to the following restrictions:
 
 #ifndef SIMD_MINMAX_H
 #define SIMD_MINMAX_H
+#include "LinearMath/btScalar.h"
 
 template <class T>
 SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) {
diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h
index 12ca634c232..39fa830f4df 100644
--- a/extern/bullet2/src/LinearMath/btTransformUtil.h
+++ b/extern/bullet2/src/LinearMath/btTransformUtil.h
@@ -108,7 +108,16 @@ public:
 	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
 	{
 		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-#ifdef USE_QUATERNION_DIFF
+		btVector3 axis;
+		btScalar  angle;
+		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		angVel = axis * angle / timeStep;
+	}
+
+	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
+	{
+	
+	#ifdef USE_QUATERNION_DIFF
 		btQuaternion orn0 = transform0.getRotation();
 		btQuaternion orn1a = transform1.getRotation();
 		btQuaternion orn1 = orn0.farthest(orn1a);
@@ -118,9 +127,7 @@ public:
 		btQuaternion dorn;
 		dmat.getRotation(dorn);
 #endif//USE_QUATERNION_DIFF
-
-		btVector3 axis;
-		btScalar  angle;
+	
 		angle = dorn.getAngle();
 		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
 		axis[3] = 0.f;
@@ -130,13 +137,8 @@ public:
 			axis = btVector3(1.f,0.f,0.f);
 		else
 			axis /= btSqrt(len);
-
-		
-		angVel = axis * angle / timeStep;
-
 	}
 
-
 };
 
 #endif //SIMD_TRANSFORM_UTIL_H