Removed old Blender/extern/bullet, and upgraded game engine to use Bullet 2.x

All platforms/build systems: either upgrade to use extern/bullet2, or disable the game engine until the build is fixed.

214 files changed, 0 insertions, 34053 deletions

diff --git a/extern/bullet/Bullet/BLI_Bullet.dsp b/extern/bullet/Bullet/BLI_Bullet.dsp
deleted file mode 100644
index a7357ef7976..00000000000
--- a/extern/bullet/Bullet/BLI_Bullet.dsp
+++ /dev/null
@@ -1,610 +0,0 @@
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diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp
deleted file mode 100644
index 235afa1f9fe..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp
+++ /dev/null
@@ -1,502 +0,0 @@
-
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-
-//
-// AxisSweep3
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// 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 "AxisSweep3.h"
-
-#include <assert.h>
-
-BroadphaseProxy*	AxisSweep3::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-{
-		unsigned short handleId = AddHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
-		
-		Handle* handle = GetHandle(handleId);
-				
-		return handle;
-}
-
-void	AxisSweep3::DestroyProxy(BroadphaseProxy* proxy)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	RemoveHandle(handle->m_handleId);
-}
-
-void	AxisSweep3::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
-{
-	Handle* handle = static_cast<Handle*>(proxy);
-	UpdateHandle(handle->m_handleId,aabbMin,aabbMax);
-}
-
-
-
-
-
-
-AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles, int maxOverlaps)
-:OverlappingPairCache(maxOverlaps)
-{
-	//assert(bounds.HasVolume());
-
-	// 1 handle is reserved as sentinel
-	assert(maxHandles > 1 && maxHandles < 32767);
-
-	// doesn't need this limit right now, but I may want to use unsigned short indexes into overlaps array
-	assert(maxOverlaps > 0 && maxOverlaps < 65536);
-
-	// init bounds
-	m_worldAabbMin = worldAabbMin;
-	m_worldAabbMax = worldAabbMax;
-
-	SimdVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
-
-	m_quantize = SimdVector3(65535.0f,65535.0f,65535.0f) / aabbSize;
-
-	// allocate handles buffer and put all handles on free list
-	m_pHandles = new Handle[maxHandles];
-	m_maxHandles = maxHandles;
-	m_numHandles = 0;
-
-	// handle 0 is reserved as the null index, and is also used as the sentinel
-	m_firstFreeHandle = 1;
-	{
-		for (int i = m_firstFreeHandle; i < maxHandles; i++)
-			m_pHandles[i].SetNextFree(i + 1);
-		m_pHandles[maxHandles - 1].SetNextFree(0);
-	}
-
-	{
-	// allocate edge buffers
-	for (int i = 0; i < 3; i++)
-		m_pEdges[i] = new Edge[maxHandles * 2];
-	}
-	//removed overlap management
-
-	// make boundary sentinels
-	
-	m_pHandles[0].m_clientObject = 0;
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_minEdges[axis] = 0;
-		m_pHandles[0].m_maxEdges[axis] = 1;
-
-		m_pEdges[axis][0].m_pos = 0;
-		m_pEdges[axis][0].m_handle = 0;
-		m_pEdges[axis][1].m_pos = 0xffff;
-		m_pEdges[axis][1].m_handle = 0;
-	}
-}
-
-AxisSweep3::~AxisSweep3()
-{
-	
-	for (int i = 2; i >= 0; i--)
-		delete[] m_pEdges[i];
-	delete[] m_pHandles;
-}
-
-void AxisSweep3::Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const
-{
-	SimdPoint3 clampedPoint(point);
-	/*
-	if (isMax)
-		clampedPoint += SimdVector3(10,10,10);
-	else
-	{
-		clampedPoint -= SimdVector3(10,10,10);
-	}
-	*/
-
-
-	clampedPoint.setMax(m_worldAabbMin);
-	clampedPoint.setMin(m_worldAabbMax);
-
-	SimdVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax);
-	out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax);
-	out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax);
-	
-}
-
-
-
-unsigned short AxisSweep3::AllocHandle()
-{
-	assert(m_firstFreeHandle);
-
-	unsigned short handle = m_firstFreeHandle;
-	m_firstFreeHandle = GetHandle(handle)->GetNextFree();
-	m_numHandles++;
-
-	return handle;
-}
-
-void AxisSweep3::FreeHandle(unsigned short handle)
-{
-	assert(handle > 0 && handle < m_maxHandles);
-
-	GetHandle(handle)->SetNextFree(m_firstFreeHandle);
-	m_firstFreeHandle = handle;
-
-	m_numHandles--;
-}
-
-
-
-unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
-{
-	// quantize the bounds
-	unsigned short min[3], max[3];
-	Quantize(min, aabbMin, 0);
-	Quantize(max, aabbMax, 1);
-
-	// allocate a handle
-	unsigned short handle = AllocHandle();
-	assert(handle!= 0xcdcd);
-
-	Handle* pHandle = GetHandle(handle);
-	
-	pHandle->m_handleId = handle;
-	//pHandle->m_pOverlaps = 0;
-	pHandle->m_clientObject = pOwner;
-	pHandle->m_collisionFilterGroup = collisionFilterGroup;
-	pHandle->m_collisionFilterMask = collisionFilterMask;
-
-	// compute current limit of edge arrays
-	int limit = m_numHandles * 2;
-
-	// insert new edges just inside the max boundary edge
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] += 2;
-
-		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
-
-		m_pEdges[axis][limit - 1].m_pos = min[axis];
-		m_pEdges[axis][limit - 1].m_handle = handle;
-
-		m_pEdges[axis][limit].m_pos = max[axis];
-		m_pEdges[axis][limit].m_handle = handle;
-
-		pHandle->m_minEdges[axis] = limit - 1;
-		pHandle->m_maxEdges[axis] = limit;
-	}
-
-	// now sort the new edges to their correct position
-	SortMinDown(0, pHandle->m_minEdges[0], false);
-	SortMaxDown(0, pHandle->m_maxEdges[0], false);
-	SortMinDown(1, pHandle->m_minEdges[1], false);
-	SortMaxDown(1, pHandle->m_maxEdges[1], false);
-	SortMinDown(2, pHandle->m_minEdges[2], true);
-	SortMaxDown(2, pHandle->m_maxEdges[2], true);
-
-	//PrintAxis(1);
-
-	return handle;
-}
-
-
-void AxisSweep3::RemoveHandle(unsigned short handle)
-{
-	Handle* pHandle = GetHandle(handle);
-
-	RemoveOverlappingPairsContainingProxy(pHandle);
-
-
-	// compute current limit of edge arrays
-	int limit = m_numHandles * 2;
-	int axis;
-
-	for (axis = 0;axis<3;axis++)
-	{
-		Edge* pEdges = m_pEdges[axis];
-		int maxEdge= pHandle->m_maxEdges[axis];
-		pEdges[maxEdge].m_pos = 0xffff;
-		int minEdge = pHandle->m_minEdges[axis];
-		pEdges[minEdge].m_pos = 0xffff;
-	}
-
-	// remove the edges by sorting them up to the end of the list
-	for ( axis = 0; axis < 3; axis++)
-	{
-		Edge* pEdges = m_pEdges[axis];
-		int max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = 0xffff;
-
-		SortMaxUp(axis,max,false);
-		
-		int i = pHandle->m_minEdges[axis];
-		pEdges[i].m_pos = 0xffff;
-
-		SortMinUp(axis,i,false);
-
-		pEdges[limit-1].m_handle = 0;
-		pEdges[limit-1].m_pos = 0xffff;
-
-	}
-
-	// free the handle
-	FreeHandle(handle);
-
-	
-}
-
-bool AxisSweep3::TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
-{
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	for (int axis = 0; axis < 3; axis++)
-	{ 
-		if (axis != ignoreAxis)
-		{
-			if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || 
-				pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) 
-			{ 
-				return false; 
-			} 
-		}
-	} 
-
-	//optimization 2: only 2 axis need to be tested
-
-	/*for (int axis = 0; axis < 3; axis++)
-	{
-		if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
-			m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
-		{
-			return false;
-		}
-	}
-	*/
-
-	return true;
-}
-
-void AxisSweep3::UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax)
-{
-//	assert(bounds.IsFinite());
-	//assert(bounds.HasVolume());
-
-	Handle* pHandle = GetHandle(handle);
-
-	// quantize the new bounds
-	unsigned short min[3], max[3];
-	Quantize(min, aabbMin, 0);
-	Quantize(max, aabbMax, 1);
-
-	// update changed edges
-	for (int axis = 0; axis < 3; axis++)
-	{
-		unsigned short emin = pHandle->m_minEdges[axis];
-		unsigned short emax = pHandle->m_maxEdges[axis];
-
-		int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
-		int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
-
-		m_pEdges[axis][emin].m_pos = min[axis];
-		m_pEdges[axis][emax].m_pos = max[axis];
-
-		// expand (only adds overlaps)
-		if (dmin < 0)
-			SortMinDown(axis, emin);
-
-		if (dmax > 0)
-			SortMaxUp(axis, emax);
-
-		// shrink (only removes overlaps)
-		if (dmin > 0)
-			SortMinUp(axis, emin);
-
-		if (dmax < 0)
-			SortMaxDown(axis, emax);
-	}
-
-	//PrintAxis(1);
-}
-
-// sorting a min edge downwards can only ever *add* overlaps
-void AxisSweep3::SortMinDown(int axis, unsigned short edge, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = GetHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = GetHandle(pPrev->m_handle);
-
-		if (pPrev->IsMax())
-		{
-			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			if (updateOverlaps && TestOverlap(axis,pHandleEdge, pHandlePrev))
-			{
-				AddOverlappingPair(pHandleEdge,pHandlePrev);
-
-				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_maxEdges[axis]++;
-		}
-		else
-			pHandlePrev->m_minEdges[axis]++;
-
-		pHandleEdge->m_minEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-}
-
-// sorting a min edge upwards can only ever *remove* overlaps
-void AxisSweep3::SortMinUp(int axis, unsigned short edge, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = GetHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos > pNext->m_pos)
-	{
-		Handle* pHandleNext = GetHandle(pNext->m_handle);
-
-		if (pNext->IsMax())
-		{
-			// if next edge is maximum remove any overlap between the two handles
-			if (updateOverlaps)
-			{
-				Handle* handle0 = GetHandle(pEdge->m_handle);
-				Handle* handle1 = GetHandle(pNext->m_handle);
-				BroadphasePair* pair = FindPair(handle0,handle1);
-				//assert(pair);
-				if (pair)
-				{
-					RemoveOverlappingPair(*pair);
-				}
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_maxEdges[axis]--;
-		}
-		else
-			pHandleNext->m_minEdges[axis]--;
-
-		pHandleEdge->m_minEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
-
-// sorting a max edge downwards can only ever *remove* overlaps
-void AxisSweep3::SortMaxDown(int axis, unsigned short edge, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = GetHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = GetHandle(pPrev->m_handle);
-
-		if (!pPrev->IsMax())
-		{
-			// if previous edge was a minimum remove any overlap between the two handles
-			if (updateOverlaps)
-			{
-				Handle* handle0 = GetHandle(pEdge->m_handle);
-				Handle* handle1 = GetHandle(pPrev->m_handle);
-				BroadphasePair* pair = FindPair(handle0,handle1);
-				//assert(pair);
-
-				if (pair)
-				{
-					RemoveOverlappingPair(*pair);
-				}
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;;
-		}
-		else
-			pHandlePrev->m_maxEdges[axis]++;
-
-		pHandleEdge->m_maxEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-}
-
-// sorting a max edge upwards can only ever *add* overlaps
-void AxisSweep3::SortMaxUp(int axis, unsigned short edge, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = GetHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos > pNext->m_pos)
-	{
-		Handle* pHandleNext = GetHandle(pNext->m_handle);
-
-		if (!pNext->IsMax())
-		{
-			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && TestOverlap(axis, pHandleEdge, pHandleNext))
-			{
-				Handle* handle0 = GetHandle(pEdge->m_handle);
-				Handle* handle1 = GetHandle(pNext->m_handle);
-				AddOverlappingPair(handle0,handle1);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_minEdges[axis]--;
-		}
-		else
-			pHandleNext->m_maxEdges[axis]--;
-
-		pHandleEdge->m_maxEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h
deleted file mode 100644
index 0a4a75d523a..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h
+++ /dev/null
@@ -1,115 +0,0 @@
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// AxisSweep3.h
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// 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 AXIS_SWEEP_3_H
-#define AXIS_SWEEP_3_H
-
-#include "SimdPoint3.h"
-#include "SimdVector3.h"
-#include "OverlappingPairCache.h"
-#include "BroadphaseProxy.h"
-
-/// AxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
-/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
-/// The TestOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
-class AxisSweep3 : public OverlappingPairCache
-{
-
-public:
-	
-
-	class Edge
-	{
-	public:
-		unsigned short m_pos;			// low bit is min/max
-		unsigned short m_handle;
-
-		unsigned short IsMax() const {return m_pos & 1;}
-	};
-
-public:
-	class Handle : public BroadphaseProxy
-	{
-	public:
-		
-		// indexes into the edge arrays
-		unsigned short m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
-		unsigned short m_handleId;
-		unsigned short m_pad;
-		
-		//void* m_pOwner; this is now in BroadphaseProxy.m_clientObject
-	
-		inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
-		inline unsigned short GetNextFree() const {return m_minEdges[0];}
-	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
-
-	
-private:
-	SimdPoint3 m_worldAabbMin;						// overall system bounds
-	SimdPoint3 m_worldAabbMax;						// overall system bounds
-
-	SimdVector3 m_quantize;						// scaling factor for quantization
-
-	int m_numHandles;						// number of active handles
-	int m_maxHandles;						// max number of handles
-	Handle* m_pHandles;						// handles pool
-	unsigned short m_firstFreeHandle;		// free handles list
-
-	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
-
-
-	// allocation/deallocation
-	unsigned short AllocHandle();
-	void FreeHandle(unsigned short handle);
-	
-
-	bool TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
-
-	//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
-	//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
-
-	void Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const;
-
-	void SortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
-	void SortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
-	void SortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
-	void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
-
-public:
-	AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 1024, int maxOverlaps = 8192);
-	virtual	~AxisSweep3();
-
-	virtual void	RefreshOverlappingPairs()
-	{
-		//this is replace by sweep and prune
-	}
-	
-	unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
-	void RemoveHandle(unsigned short handle);
-	void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
-	inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
-
-
-	//Broadphase Interface
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
-	virtual void	DestroyProxy(BroadphaseProxy* proxy);
-	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
-
-};
-
-#endif //AXIS_SWEEP_3_H
diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h
deleted file mode 100644
index 3ca273bde54..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef		BROADPHASE_INTERFACE_H
-#define 	BROADPHASE_INTERFACE_H
-
-
-
-struct DispatcherInfo;
-class Dispatcher;
-struct BroadphaseProxy;
-#include "SimdVector3.h"
-
-///BroadphaseInterface for aabb-overlapping object pairs
-class BroadphaseInterface
-{
-public:
-	virtual ~BroadphaseInterface() {}
-
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
-	virtual void	DestroyProxy(BroadphaseProxy* proxy)=0;
-	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
-	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
-	
-
-};
-
-#endif //BROADPHASE_INTERFACE_H
diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.cpp b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.cpp
deleted file mode 100644
index 61bcdc4b610..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BroadphaseProxy.h"
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
deleted file mode 100644
index 35b2dc866f1..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BROADPHASE_PROXY_H
-#define BROADPHASE_PROXY_H
-
-
-
-/// Dispatcher uses these types
-/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
-/// to facilitate type checking
-enum BroadphaseNativeTypes
-{
-// polyhedral convex shapes
-	BOX_SHAPE_PROXYTYPE,
-	TRIANGLE_SHAPE_PROXYTYPE,
-	TETRAHEDRAL_SHAPE_PROXYTYPE,
-	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
-	CONVEX_HULL_SHAPE_PROXYTYPE,
-//implicit convex shapes
-IMPLICIT_CONVEX_SHAPES_START_HERE,
-	SPHERE_SHAPE_PROXYTYPE,
-	MULTI_SPHERE_SHAPE_PROXYTYPE,
-	CONE_SHAPE_PROXYTYPE,
-	CONVEX_SHAPE_PROXYTYPE,
-	CYLINDER_SHAPE_PROXYTYPE,
-	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
-	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
-//concave shapes
-CONCAVE_SHAPES_START_HERE,
-	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
-	TRIANGLE_MESH_SHAPE_PROXYTYPE,
-	EMPTY_SHAPE_PROXYTYPE,
-	STATIC_PLANE_PROXYTYPE,
-CONCAVE_SHAPES_END_HERE,
-
-	COMPOUND_SHAPE_PROXYTYPE,
-
-	MAX_BROADPHASE_COLLISION_TYPES
-};
-
-
-///BroadphaseProxy
-struct BroadphaseProxy
-{
-	
-	//Usually the client CollisionObject or Rigidbody class
-	void*	m_clientObject;
-	short int m_collisionFilterGroup;
-	short int m_collisionFilterMask;
-
-	//used for memory pools
-	BroadphaseProxy() :m_clientObject(0){}
-
-	BroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
-		:m_clientObject(userPtr),
-		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask)
-	{
-	}
-	
-};
-
-class CollisionAlgorithm;
-
-struct BroadphaseProxy;
-
-#define SIMPLE_MAX_ALGORITHMS 2
-
-/// contains a pair of aabb-overlapping objects
-struct BroadphasePair
-{
-	BroadphasePair ()
-		:
-	m_pProxy0(0),
-		m_pProxy1(0)
-	{
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-		{
-			m_algorithms[i] = 0;
-		}
-	}
-
-	BroadphasePair(const BroadphasePair& other)
-		:		m_pProxy0(other.m_pProxy0),
-				m_pProxy1(other.m_pProxy1)
-	{
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-		{
-			m_algorithms[i] = other.m_algorithms[i];
-		}
-	}
-	BroadphasePair(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-		:
-		m_pProxy0(&proxy0),
-		m_pProxy1(&proxy1)
-	{
-		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-	{
-			m_algorithms[i] = 0;
-		}
-
-	}
-
-	
-	BroadphaseProxy* m_pProxy0;
-	BroadphaseProxy* m_pProxy1;
-	
-	mutable CollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
-};
-
-#endif //BROADPHASE_PROXY_H
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.cpp b/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.cpp
deleted file mode 100644
index d63966c83cf..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CollisionAlgorithm.h"
-#include "Dispatcher.h"
-
-CollisionAlgorithm::CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
-{
-	m_dispatcher = ci.m_dispatcher;
-}
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h b/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h
deleted file mode 100644
index 9368a16f227..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_ALGORITHM_H
-#define COLLISION_ALGORITHM_H
-
-struct BroadphaseProxy;
-class Dispatcher;
-
-struct CollisionAlgorithmConstructionInfo
-{
-	CollisionAlgorithmConstructionInfo()
-		:m_dispatcher(0)
-	{
-	}
-	CollisionAlgorithmConstructionInfo(Dispatcher* dispatcher,int temp)
-		:m_dispatcher(dispatcher)
-	{
-	}
-
-	Dispatcher*	m_dispatcher;
-
-	int	GetDispatcherId();
-
-};
-
-
-///CollisionAlgorithm is an collision interface that is compatible with the Broadphase and Dispatcher.
-///It is persistent over frames
-class CollisionAlgorithm
-{
-
-protected:
-
-	Dispatcher*	m_dispatcher;
-
-protected:
-	int	GetDispatcherId();
-	
-public:
-
-	CollisionAlgorithm() {};
-
-	CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
-
-	virtual ~CollisionAlgorithm() {};
-
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
-
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
-
-};
-
-
-#endif //COLLISION_ALGORITHM_H
diff --git a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.cpp b/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.cpp
deleted file mode 100644
index a73c7eac39e..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "Dispatcher.h"
-
-Dispatcher::~Dispatcher()
-{
-
-}
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h b/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h
deleted file mode 100644
index 5edfbbdd3b5..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/Dispatcher.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef _DISPATCHER_H
-#define _DISPATCHER_H
-
-class CollisionAlgorithm;
-struct BroadphaseProxy;
-class RigidBody;
-struct	CollisionObject;
-class ManifoldResult;
-class OverlappingPairCache;
-
-enum CollisionDispatcherId
-{
-	RIGIDBODY_DISPATCHER = 0,
-	USERCALLBACK_DISPATCHER
-};
-
-class PersistentManifold;
-
-struct DispatcherInfo
-{
-	enum DispatchFunc
-	{
-		DISPATCH_DISCRETE = 1,
-		DISPATCH_CONTINUOUS
-	};
-	DispatcherInfo()
-		:m_dispatchFunc(DISPATCH_DISCRETE),
-		m_timeOfImpact(1.f),
-		m_useContinuous(false),
-		m_debugDraw(0),
-		m_enableSatConvex(false)
-	{
-
-	}
-	float	m_timeStep;
-	int		m_stepCount;
-	int		m_dispatchFunc;
-	float	m_timeOfImpact;
-	bool	m_useContinuous;
-	class IDebugDraw*	m_debugDraw;
-	bool	m_enableSatConvex;
-	
-};
-
-/// Dispatcher can be used in combination with broadphase to dispatch overlapping pairs.
-/// For example for pairwise collision detection or user callbacks (game logic).
-class Dispatcher
-{
-
-
-public:
-	virtual ~Dispatcher() ;
-
-	virtual CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
-
-	//
-	// asume dispatchers to have unique id's in the range [0..max dispacher]
-	//
-	virtual int GetUniqueId() = 0;
-
-	virtual PersistentManifold*	GetNewManifold(void* body0,void* body1)=0;
-
-	virtual void ReleaseManifold(PersistentManifold* manifold)=0;
-
-	virtual void ClearManifold(PersistentManifold* manifold)=0;
-
-	virtual bool	NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
-
-	virtual bool	NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)=0;
-
-	virtual	ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold) =0;
-
-	virtual	void	ReleaseManifoldResult(ManifoldResult*)=0;
-
-	virtual void	DispatchAllCollisionPairs(struct BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)=0;
-
-	virtual int GetNumManifolds() const = 0;
-
-	virtual PersistentManifold* GetManifoldByIndexInternal(int index) = 0;
-
-};
-
-
-#endif //_DISPATCHER_H
diff --git a/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.cpp b/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.cpp
deleted file mode 100644
index df535044df1..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "OverlappingPairCache.h"
-
-#include "Dispatcher.h"
-#include "CollisionAlgorithm.h"
-
-
-OverlappingPairCache::OverlappingPairCache(int maxOverlap):
-m_blockedForChanges(false),
-m_NumOverlapBroadphasePair(0),
-m_maxOverlap(maxOverlap)
-{
-	m_OverlappingPairs = new BroadphasePair[maxOverlap];
-}
-
-
-OverlappingPairCache::~OverlappingPairCache()
-{
-	delete [] m_OverlappingPairs;
-}
-
-
-void	OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
-{
-	CleanOverlappingPair(pair);
-	int	index = &pair - &m_OverlappingPairs[0];
-	//remove efficiently, swap with the last
-	m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
-	m_NumOverlapBroadphasePair--;
-}
-
-
-void	OverlappingPairCache::CleanOverlappingPair(BroadphasePair& pair)
-{
-	for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
-	{
-		if (pair.m_algorithms[dispatcherId])
-		{
-			{
-				delete pair.m_algorithms[dispatcherId];
-				pair.m_algorithms[dispatcherId]=0;
-			}
-		}
-	}
-}
-
-
-
-
-
-void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-{
-	//don't add overlap with own
-	assert(proxy0 != proxy1);
-
-	if (!NeedsCollision(proxy0,proxy1))
-		return;
-
-
-	BroadphasePair pair(*proxy0,*proxy1);
-	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
-
-	int i;
-	for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-	{
-		assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
-		m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
-	}
-
-	if (m_NumOverlapBroadphasePair >= m_maxOverlap)
-	{
-		//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
-#ifdef DEBUG
-		assert(0);
-#endif 
-	} else
-	{
-		m_NumOverlapBroadphasePair++;
-	}
-
-
-}
-
-
-BroadphasePair*	OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-{
-	BroadphasePair* foundPair = 0;
-
-	int i;
-	for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
-	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
-		if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
-			((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
-		{
-			foundPair = &pair;
-			return foundPair;
-		}
-	}	
-
-	return foundPair;
-}
-
-
-
-void	OverlappingPairCache::CleanProxyFromPairs(BroadphaseProxy* proxy)
-{
-	for (int i=0;i<m_NumOverlapBroadphasePair;i++)
-	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
-		if (pair.m_pProxy0 == proxy ||
-			pair.m_pProxy1 == proxy)
-		{
-			CleanOverlappingPair(pair);
-		}
-	}
-}
-
-void	OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
-{
-	int i;
-	for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
-	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
-		if (pair.m_pProxy0 == proxy ||
-			pair.m_pProxy1 == proxy)
-		{
-			RemoveOverlappingPair(pair);
-		}
-	}
-}
-
-
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.h b/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.h
deleted file mode 100644
index 0fba0b2e558..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/OverlappingPairCache.h
+++ /dev/null
@@ -1,85 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef OVERLAPPING_PAIR_CACHE_H
-#define OVERLAPPING_PAIR_CACHE_H
-
-
-#include "BroadphaseInterface.h"
-#include "BroadphaseProxy.h"
-#include "SimdPoint3.h"
-
-
-///OverlappingPairCache maintains the objects with overlapping AABB
-///Typically managed by the Broadphase, Axis3Sweep or SimpleBroadphase
-class	OverlappingPairCache : public BroadphaseInterface
-{
-
-	BroadphasePair*	m_OverlappingPairs;
-	int	m_NumOverlapBroadphasePair;
-	int m_maxOverlap;
-	
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool		m_blockedForChanges;
-
-	
-	public:
-		
-	OverlappingPairCache(int maxOverlap);	
-	virtual ~OverlappingPairCache();
-	
-	int		GetNumOverlappingPairs() const
-	{
-		return m_NumOverlapBroadphasePair;
-	}
-
-	BroadphasePair& GetOverlappingPair(int index)
-	{
-		return m_OverlappingPairs[index];
-	}
-
-	void	RemoveOverlappingPair(BroadphasePair& pair);
-
-	void	CleanOverlappingPair(BroadphasePair& pair);
-	
-	void	AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-
-	BroadphasePair*	FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-	
-	
-	
-	void	CleanProxyFromPairs(BroadphaseProxy* proxy);
-
-	void	RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);
-
-
-	inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
-	{
-		bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-		
-		return collides;
-	}
-		
-	
-
-	virtual void	RefreshOverlappingPairs() =0;
-
-
-
-
-};
-#endif //OVERLAPPING_PAIR_CACHE_H
\ No newline at end of file
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
deleted file mode 100644
index 5a648e1d306..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "SimpleBroadphase.h"
-#include <BroadphaseCollision/Dispatcher.h>
-#include <BroadphaseCollision/CollisionAlgorithm.h>
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "SimdMatrix3x3.h"
-#include <vector>
-
-
-void	SimpleBroadphase::validate()
-{
-	for (int i=0;i<m_numProxies;i++)
-	{
-		for (int j=i+1;j<m_numProxies;j++)
-		{
-			assert(m_pProxies[i] != m_pProxies[j]);
-		}
-	}
-	
-}
-
-SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
-	:OverlappingPairCache(maxOverlap),
-	m_firstFreeProxy(0),
-	m_numProxies(0),
-	m_maxProxies(maxProxies)
-{
-
-	m_proxies = new SimpleBroadphaseProxy[maxProxies];
-	m_freeProxies = new int[maxProxies];
-	m_pProxies = new SimpleBroadphaseProxy*[maxProxies];
-	
-
-	int i;
-	for (i=0;i<m_maxProxies;i++)
-	{
-		m_freeProxies[i] = i;
-	}
-}
-
-SimpleBroadphase::~SimpleBroadphase()
-{
-	delete[] m_proxies;
-	delete []m_freeProxies;
-	delete [] m_pProxies;
-
-	/*int i;
-	for (i=m_numProxies-1;i>=0;i--)
-	{
-		BP_Proxy* proxy = m_pProxies[i]; 
-		destroyProxy(proxy);
-	}
-	*/
-}
-
-
-BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
-{
-	if (m_numProxies >= m_maxProxies)
-	{
-		assert(0);
-		return 0; //should never happen, but don't let the game crash ;-)
-	}
-	assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
-
-	int freeIndex= m_freeProxies[m_firstFreeProxy];
-	SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
-	m_firstFreeProxy++;
-
-	SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
-		
-	int index = proxy - proxy1;
-	assert(index == freeIndex);
-
-	m_pProxies[m_numProxies] = proxy;
-	m_numProxies++;
-	//validate();
-
-	return proxy;
-}
-
-
-
-void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg)
-{
-		
-		int i;
-		
-		SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxyOrg);
-		SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
-	
-		int index = proxy0 - proxy1;
-		assert (index < m_maxProxies);
-		m_freeProxies[--m_firstFreeProxy] = index;
-
-		RemoveOverlappingPairsContainingProxy(proxyOrg);
-
-		
-		for (i=0;i<m_numProxies;i++)
-		{
-			if (m_pProxies[i] == proxyOrg)
-			{
-				m_pProxies[i] = m_pProxies[m_numProxies-1];
-				break;
-			}
-		}
-		m_numProxies--;
-		//validate();
-		
-}
-
-void	SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
-{
-	SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy);
-	sbp->m_min = aabbMin;
-	sbp->m_max = aabbMax;
-}
-
-
-
-
-
-	
-
-
-
-bool	SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1)
-{
-	return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
-		   proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
-		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
-
-}
-void	SimpleBroadphase::RefreshOverlappingPairs()
-{
-	//first check for new overlapping pairs
-	int i,j;
-
-	for (i=0;i<m_numProxies;i++)
-	{
-		BroadphaseProxy* proxy0 = m_pProxies[i];
-		for (j=i+1;j<m_numProxies;j++)
-		{
-			BroadphaseProxy* proxy1 = m_pProxies[j];
-			SimpleBroadphaseProxy* p0 = GetSimpleProxyFromProxy(proxy0);
-			SimpleBroadphaseProxy* p1 = GetSimpleProxyFromProxy(proxy1);
-
-			if (AabbOverlap(p0,p1))
-			{
-				if ( !FindPair(proxy0,proxy1))
-				{
-					AddOverlappingPair(proxy0,proxy1);
-				}
-			}
-
-		}
-	}
-
-	//then remove non-overlapping ones
-	for (i=0;i<GetNumOverlappingPairs();i++)
-	{
-		BroadphasePair& pair = GetOverlappingPair(i);
-
-		SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
-		SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
-		if (!AabbOverlap(proxy0,proxy1))
-		{
-            RemoveOverlappingPair(pair);
-		}
-	}
-
-	
-
-}
-
-
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h
deleted file mode 100644
index e67c7105687..00000000000
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SIMPLE_BROADPHASE_H
-#define SIMPLE_BROADPHASE_H
-
-
-#include "OverlappingPairCache.h"
-
-
-struct SimpleBroadphaseProxy : public BroadphaseProxy
-{
-	SimdVector3	m_min;
-	SimdVector3	m_max;
-	
-	SimpleBroadphaseProxy() {};
-
-	SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-	:BroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
-	m_min(minpt),m_max(maxpt)		
-	{
-	}
-	
-
-};
-
-///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class SimpleBroadphase : public OverlappingPairCache
-{
-
-	SimpleBroadphaseProxy*	m_proxies;
-	int*				m_freeProxies;
-	int				m_firstFreeProxy;
-
-	SimpleBroadphaseProxy** m_pProxies;
-	int				m_numProxies;
-
-	
-
-	int m_maxProxies;
-	
-	
-	inline SimpleBroadphaseProxy*	GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
-	{
-		SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
-		return proxy0;
-	}
-
-	bool	AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
-
-	void	validate();
-
-protected:
-
-
-	virtual void	RefreshOverlappingPairs();
-public:
-	SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
-	virtual ~SimpleBroadphase();
-
-
-	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
-
-
-	virtual void	DestroyProxy(BroadphaseProxy* proxy);
-	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
-		
-	
-	
-
-
-
-};
-
-
-
-#endif //SIMPLE_BROADPHASE_H
-
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deleted file mode 100644
index 2e4ffaf6738..00000000000
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deleted file mode 100644
index 933b00fa238..00000000000
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-				RelativePath=".\CollisionShapes\PolyhedralConvexShape.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\PolyhedralConvexShape.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\Simplex1to4Shape.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\Simplex1to4Shape.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\SphereShape.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\SphereShape.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\StridingMeshInterface.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\StridingMeshInterface.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleCallback.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleCallback.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMesh.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleMeshShape.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionShapes\TriangleShape.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="BroadphaseCollision"
-			>
-			<File
-				RelativePath=".\BroadphaseCollision\AxisSweep3.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\AxisSweep3.h"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\BroadPhaseInterface.h"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\BroadphaseProxy.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\BroadphaseProxy.h"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.h"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\Dispatcher.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\Dispatcher.h"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\SimpleBroadphase.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\BroadphaseCollision\SimpleBroadphase.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="LinearAlgebra"
-			>
-			<File
-				RelativePath="..\LinearMath\AabbUtil2.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\GEN_List.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\GEN_MinMax.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\GEN_random.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\IDebugDraw.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdMatrix3x3.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdMinMax.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdPoint3.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdQuadword.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdQuaternion.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdScalar.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdTransform.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdTransformUtil.h"
-				>
-			</File>
-			<File
-				RelativePath="..\LinearMath\SimdVector3.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="CollisionDispatch"
-			>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionDispatcher.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionDispatcher.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionObject.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionObject.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionWorld.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\CollisionWorld.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ManifoldResult.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\ManifoldResult.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\UnionFind.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CollisionDispatch\UnionFind.h"
-				>
-			</File>
-		</Filter>
-		<File
-			RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp"
-			>
-		</File>
-		<File
-			RelativePath=".\CollisionShapes\BvhTriangleMeshShape.h"
-			>
-		</File>
-		<File
-			RelativePath=".\CollisionShapes\OptimizedBvh.cpp"
-			>
-		</File>
-		<File
-			RelativePath=".\CollisionShapes\OptimizedBvh.h"
-			>
-		</File>
-		<File
-			RelativePath=".\CollisionShapes\TriangleIndexVertexArray.cpp"
-			>
-		</File>
-		<File
-			RelativePath=".\CollisionShapes\TriangleIndexVertexArray.h"
-			>
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionCreateFunc.h b/extern/bullet/Bullet/CollisionDispatch/CollisionCreateFunc.h
deleted file mode 100644
index 5df073bec87..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionCreateFunc.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_CREATE_FUNC
-#define COLLISION_CREATE_FUNC
-
-#include <vector>
-
-typedef std::vector<struct CollisionObject*> CollisionObjectArray;
-class CollisionAlgorithm;
-struct BroadphaseProxy;
-
-
-
-struct CollisionAlgorithmCreateFunc
-{
-	bool m_swapped;
-	
-	CollisionAlgorithmCreateFunc()
-		:m_swapped(false)
-	{
-	}
-	virtual ~CollisionAlgorithmCreateFunc(){};
-
-	virtual	CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-	{
-		return 0;
-	}
-};
-#endif //COLLISION_CREATE_FUNC
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
deleted file mode 100644
index 06e999fbe0d..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
+++ /dev/null
@@ -1,257 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "CollisionDispatcher.h"
-
-
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-#include "CollisionDispatch/ConvexConvexAlgorithm.h"
-#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
-#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
-#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
-#include "CollisionShapes/CollisionShape.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include <algorithm>
-#include "BroadphaseCollision/OverlappingPairCache.h"
-
-int gNumManifold = 0;
-
-
-	
-
-	
-CollisionDispatcher::CollisionDispatcher (): 
-	m_useIslands(true),
-		m_defaultManifoldResult(0,0,0),
-		m_count(0)
-{
-	int i;
-	
-	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
-	{
-		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
-		{
-			m_doubleDispatch[i][j] = 0;
-		}
-	}
-	
-	
-};
-	
-PersistentManifold*	CollisionDispatcher::GetNewManifold(void* b0,void* b1) 
-{ 
-	gNumManifold++;
-	
-	//ASSERT(gNumManifold < 65535);
-	
-
-	CollisionObject* body0 = (CollisionObject*)b0;
-	CollisionObject* body1 = (CollisionObject*)b1;
-	
-	PersistentManifold* manifold = new PersistentManifold (body0,body1);
-	m_manifoldsPtr.push_back(manifold);
-
-	return manifold;
-}
-
-void CollisionDispatcher::ClearManifold(PersistentManifold* manifold)
-{
-	manifold->ClearManifold();
-}
-
-	
-void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
-{
-	
-	gNumManifold--;
-
-	//printf("ReleaseManifold: gNumManifold %d\n",gNumManifold);
-
-	ClearManifold(manifold);
-
-	std::vector<PersistentManifold*>::iterator i =
-		std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
-	if (!(i == m_manifoldsPtr.end()))
-	{
-		std::swap(*i, m_manifoldsPtr.back());
-		m_manifoldsPtr.pop_back();
-		delete manifold;
-
-	}
-	
-	
-}
-
-	
-
-
-
-CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-{
-	m_count++;
-	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
-	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
-
-	CollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher = this;
-	
-	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConvex() )
-	{
-		return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);			
-	}
-
-	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConcave())
-	{
-		return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
-	}
-
-	if (body1->m_collisionShape->IsConvex() && body0->m_collisionShape->IsConcave())
-	{
-		return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
-	}
-
-	if (body0->m_collisionShape->IsCompound())
-	{
-		return new CompoundCollisionAlgorithm(ci,&proxy0,&proxy1);
-	} else
-	{
-		if (body1->m_collisionShape->IsCompound())
-		{
-			return new CompoundCollisionAlgorithm(ci,&proxy1,&proxy0);
-		}
-	}
-
-	//failed to find an algorithm
-	return new EmptyAlgorithm(ci);
-	
-}
-
-bool	CollisionDispatcher::NeedsResponse(const  CollisionObject& colObj0,const CollisionObject& colObj1)
-{
-
-	
-	//here you can do filtering
-	bool hasResponse = 
-		(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
-		(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
-	hasResponse = hasResponse &&
-		(colObj0.IsActive() || colObj1.IsActive());
-	return hasResponse;
-}
-
-bool	CollisionDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-{
-
-	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
-	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
-
-	assert(body0);
-	assert(body1);
-
-	bool needsCollision = true;
-
-	if ((body0->m_collisionFlags & CollisionObject::isStatic) && 
-		(body1->m_collisionFlags & CollisionObject::isStatic))
-		needsCollision = false;
-		
-	if ((!body0->IsActive()) && (!body1->IsActive()))
-		needsCollision = false;
-	
-	return needsCollision ;
-
-}
-
-///allows the user to get contact point callbacks 
-ManifoldResult*	CollisionDispatcher::GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold)
-{
-
-
-	//in-place, this prevents parallel dispatching, but just adding a list would fix that.
-	ManifoldResult* manifoldResult = new (&m_defaultManifoldResult)	ManifoldResult(obj0,obj1,manifold);
-	return manifoldResult;
-}
-	
-///allows the user to get contact point callbacks 
-void	CollisionDispatcher::ReleaseManifoldResult(ManifoldResult*)
-{
-
-}
-
-
-void	CollisionDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)
-{
-	//m_blockedForChanges = true;
-
-	int i;
-
-	int dispatcherId = GetUniqueId();
-
-	
-
-	for (i=0;i<numPairs;i++)
-	{
-
-		BroadphasePair& pair = pairs[i];
-
-		if (dispatcherId>= 0)
-		{
-			//dispatcher will keep algorithms persistent in the collision pair
-			if (!pair.m_algorithms[dispatcherId])
-			{
-				pair.m_algorithms[dispatcherId] = FindAlgorithm(
-					*pair.m_pProxy0,
-					*pair.m_pProxy1);
-			}
-
-			if (pair.m_algorithms[dispatcherId])
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-
-				}
-			}
-		} else
-		{
-			//non-persistent algorithm dispatcher
-			CollisionAlgorithm* algo = FindAlgorithm(
-				*pair.m_pProxy0,
-				*pair.m_pProxy1);
-
-			if (algo)
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-				}
-			}
-		}
-
-	}
-
-	//m_blockedForChanges = false;
-
-}
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.h b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.h
deleted file mode 100644
index 773978b9218..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.h
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION__DISPATCHER_H
-#define COLLISION__DISPATCHER_H
-
-#include "BroadphaseCollision/Dispatcher.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-
-#include "CollisionDispatch/ManifoldResult.h"
-
-#include "BroadphaseCollision/BroadphaseProxy.h"
-
-
-class IDebugDraw;
-class OverlappingPairCache;
-
-
-#include "CollisionCreateFunc.h"
-
-
-
-
-///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
-///Time of Impact, Closest Points and Penetration Depth.
-class CollisionDispatcher : public Dispatcher
-{
-	
-	std::vector<PersistentManifold*>	m_manifoldsPtr;
-
-	
-
-	bool m_useIslands;
-	
-	ManifoldResult	m_defaultManifoldResult;
-	
-	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-	
-public:
-	
-	
-
-	
-
-
-	int	GetNumManifolds() const
-	{ 
-		return m_manifoldsPtr.size();
-	}
-
-	 PersistentManifold* GetManifoldByIndexInternal(int index)
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	 const PersistentManifold* GetManifoldByIndexInternal(int index) const
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	int m_count;
-	
-	CollisionDispatcher ();
-	virtual ~CollisionDispatcher() {};
-
-	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
-	
-	virtual void ReleaseManifold(PersistentManifold* manifold);
-
-	
-	///allows the user to get contact point callbacks 
-	virtual	ManifoldResult*	GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
-
-	///allows the user to get contact point callbacks 
-	virtual	void	ReleaseManifoldResult(ManifoldResult*);
-
-	virtual void ClearManifold(PersistentManifold* manifold);
-
-			
-	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-	{
-		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
-		return algo;
-	}
-	
-	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
-	
-	virtual bool	NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
-	
-	virtual bool	NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
-
-	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
-	
-	virtual void	DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo);
-
-	
-
-};
-
-#endif //COLLISION__DISPATCHER_H
-
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
deleted file mode 100644
index a96707f5e86..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CollisionObject.h"
-
-CollisionObject::CollisionObject()
-	:	m_collisionFlags(0),
-		m_activationState1(1),
-		m_deactivationTime(0.f),
-		m_broadphaseHandle(0),
-		m_collisionShape(0),
-		m_hitFraction(1.f),
-		m_ccdSweptShereRadius(0.f),
-		m_ccdSquareMotionTreshold(0.f)
-{
-	m_cachedInvertedWorldTransform.setIdentity();
-
-}
-
-
-void CollisionObject::SetActivationState(int newState) 
-{ 
-	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
-		m_activationState1 = newState;
-}
-
-void CollisionObject::ForceActivationState(int newState)
-{
-	m_activationState1 = newState;
-}
-
-void CollisionObject::activate()
-{
-	if (!(m_collisionFlags & isStatic))
-	{
-		SetActivationState(1);
-		m_deactivationTime = 0.f;
-	}
-}
-
-bool CollisionObject::mergesSimulationIslands() const
-{
-	return ( !(m_collisionFlags & isStatic));
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
deleted file mode 100644
index da4e9b934f5..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_OBJECT_H
-#define COLLISION_OBJECT_H
-
-#include "SimdTransform.h"
-
-//island management, m_activationState1
-#define ACTIVE_TAG 1
-#define ISLAND_SLEEPING 2
-#define WANTS_DEACTIVATION 3
-#define DISABLE_DEACTIVATION 4
-#define DISABLE_SIMULATION 5
-
-struct	BroadphaseProxy;
-class	CollisionShape;
-
-/// CollisionObject can be used to manage collision detection objects. 
-/// CollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
-/// They can be added to the CollisionWorld.
-struct	CollisionObject
-{
-	SimdTransform	m_worldTransform;
-	
-	//m_interpolationWorldTransform is used for CCD and interpolation
-	//it can be either previous or future (predicted) transform
-	SimdTransform	m_interpolationWorldTransform;
-
-	SimdTransform	m_cachedInvertedWorldTransform;
-
-	enum CollisionFlags
-	{
-		isStatic = 1,
-		noContactResponse = 2,
-		customMaterialCallback = 4,//this allows per-triangle material (friction/restitution)
-	};
-
-	int				m_collisionFlags;
-
-	int				m_islandTag1;
-	int				m_activationState1;
-	float			m_deactivationTime;
-
-	SimdScalar		m_friction;
-	SimdScalar		m_restitution;
-
-	BroadphaseProxy*	m_broadphaseHandle;
-	CollisionShape*		m_collisionShape;
-
-	void*			m_userPointer;//not use by Bullet internally
-
-	///time of impact calculation
-	float			m_hitFraction; 
-	
-	///Swept sphere radius (0.0 by default), see ConvexConvexAlgorithm::
-	float			m_ccdSweptShereRadius;
-
-	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
-	float			m_ccdSquareMotionTreshold;
-
-	bool			mergesSimulationIslands() const;
-
-	inline bool		IsStatic() const {
-		return m_collisionFlags & isStatic;
-	}
-
-	inline bool		HasContactResponse() {
-		return !(m_collisionFlags & noContactResponse);
-	}
-
-	
-
-
-	CollisionObject();
-
-
-	void	SetCollisionShape(CollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-	}
-
-	int	GetActivationState() const { return m_activationState1;}
-	
-	void SetActivationState(int newState);
-
-	void ForceActivationState(int newState);
-
-	void	activate();
-
-	inline bool IsActive() const
-	{
-		return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
-	}
-
-		void	setRestitution(float rest)
-	{
-		m_restitution = rest;
-	}
-	float	getRestitution() const
-	{
-		return m_restitution;
-	}
-	void	setFriction(float frict)
-	{
-		m_friction = frict;
-	}
-	float	getFriction() const
-	{
-		return m_friction;
-	}
-
-
-};
-
-#endif //COLLISION_OBJECT_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp
deleted file mode 100644
index bc4413c3427..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp
+++ /dev/null
@@ -1,320 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CollisionWorld.h"
-#include "CollisionDispatcher.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include "CollisionShapes/CollisionShape.h"
-#include "CollisionShapes/SphereShape.h" //for raycasting
-#include "CollisionShapes/TriangleMeshShape.h" //for raycasting
-#include "NarrowPhaseCollision/RaycastCallback.h"
-#include "CollisionShapes/CompoundShape.h"
-
-#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-#include "AabbUtil2.h"
-
-#include <algorithm>
-
-CollisionWorld::~CollisionWorld()
-{
-	//clean up remaining objects
-	std::vector<CollisionObject*>::iterator i;
-
-	int index = 0;
-	for (i=m_collisionObjects.begin();
-	!(i==m_collisionObjects.end()); i++)
-
-	{
-		CollisionObject* collisionObject= (*i);
-		
-		BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
-		if (bp)
-		{
-			//
-			// only clear the cached algorithms
-			//
-			GetBroadphase()->CleanProxyFromPairs(bp);
-			GetBroadphase()->DestroyProxy(bp);
-		}
-	}
-
-}
-
-
-
-
-
-
-
-
-
-
-void	CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
-{
-		m_collisionObjects.push_back(collisionObject);
-
-		//calculate new AABB
-		SimdTransform trans = collisionObject->m_worldTransform;
-
-		SimdVector3	minAabb;
-		SimdVector3	maxAabb;
-		collisionObject->m_collisionShape->GetAabb(trans,minAabb,maxAabb);
-
-		int type = collisionObject->m_collisionShape->GetShapeType();
-		collisionObject->m_broadphaseHandle = GetBroadphase()->CreateProxy(
-			minAabb,
-			maxAabb,
-			type,
-			collisionObject,
-			collisionFilterGroup,
-			collisionFilterMask
-			);
-		
-
-
-
-}
-
-void	CollisionWorld::PerformDiscreteCollisionDetection()
-{
-	DispatcherInfo	dispatchInfo;
-	dispatchInfo.m_timeStep = 0.f;
-	dispatchInfo.m_stepCount = 0;
-
-	//update aabb (of all moved objects)
-
-	SimdVector3 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_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
-	}
-
-	Dispatcher* dispatcher = GetDispatcher();
-	if (dispatcher)
-		dispatcher->DispatchAllCollisionPairs(&m_pairCache->GetOverlappingPair(0),m_pairCache->GetNumOverlappingPairs(),dispatchInfo);
-
-}
-
-
-void	CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
-{
-	
-	
-	//bool removeFromBroadphase = false;
-	
-	{
-		
-		BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
-		if (bp)
-		{
-			//
-			// only clear the cached algorithms
-			//
-			GetBroadphase()->CleanProxyFromPairs(bp);
-			GetBroadphase()->DestroyProxy(bp);
-			collisionObject->m_broadphaseHandle = 0;
-		}
-	}
-
-
-	std::vector<CollisionObject*>::iterator i =	std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
-		
-	if (!(i == m_collisionObjects.end()))
-		{
-			std::swap(*i, m_collisionObjects.back());
-			m_collisionObjects.pop_back();
-		}
-}
-
-void	RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
-					  CollisionObject* collisionObject,
-					  const CollisionShape* collisionShape,
-					  const SimdTransform& colObjWorldTransform,
-					  CollisionWorld::RayResultCallback& resultCallback)
-{
-	
-	SphereShape pointShape(0.0f);
-
-	if (collisionShape->IsConvex())
-			{
-				ConvexCast::CastResult castResult;
-				castResult.m_fraction = 1.f;//??
-
-				ConvexShape* convexShape = (ConvexShape*) collisionShape;
-				VoronoiSimplexSolver	simplexSolver;
-				SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
-				//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-				//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-				
-				if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
-				{
-					//add hit
-					if (castResult.m_normal.length2() > 0.0001f)
-					{
-						castResult.m_normal.normalize();
-						if (castResult.m_fraction < resultCallback.m_closestHitFraction)
-						{
-							
-
-							CollisionWorld::LocalRayResult localRayResult
-								(
-									collisionObject, 
-									0,
-									castResult.m_normal,
-									castResult.m_fraction
-								);
-
-							resultCallback.AddSingleResult(localRayResult);
-
-						}
-					}
-				}
-			}
-			else
-			{
-				
-				if (collisionShape->IsConcave())
-					{
-
-						TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionShape;
-						
-						SimdTransform worldTocollisionObject = colObjWorldTransform.inverse();
-
-						SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-						SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
-
-						//ConvexCast::CastResult
-
-						struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback 
-						{
-							CollisionWorld::RayResultCallback* m_resultCallback;
-							CollisionObject*	m_collisionObject;
-							TriangleMeshShape*	m_triangleMesh;
-
-							BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
-								CollisionWorld::RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape*	triangleMesh):
-								TriangleRaycastCallback(from,to),
-									m_resultCallback(resultCallback),
-									m_collisionObject(collisionObject),
-									m_triangleMesh(triangleMesh)
-								{
-								}
-
-
-							virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
-							{
-								CollisionWorld::LocalShapeInfo	shapeInfo;
-								shapeInfo.m_shapePart = partId;
-								shapeInfo.m_triangleIndex = triangleIndex;
-								
-								CollisionWorld::LocalRayResult rayResult
-								(m_collisionObject, 
-									&shapeInfo,
-									hitNormalLocal,
-									hitFraction);
-								
-								return m_resultCallback->AddSingleResult(rayResult);
-								
-								
-							}
-	
-						};
-
-
-						BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
-						rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-
-						SimdVector3 rayAabbMinLocal = rayFromLocal;
-						rayAabbMinLocal.setMin(rayToLocal);
-						SimdVector3 rayAabbMaxLocal = rayFromLocal;
-						rayAabbMaxLocal.setMax(rayToLocal);
-
-						triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
-											
-					} else
-					{
-						//todo: use AABB tree or other BVH acceleration structure!
-						if (collisionShape->IsCompound())
-						{
-							const CompoundShape* compoundShape = static_cast<const CompoundShape*>(collisionShape);
-							int i=0;
-							for (i=0;i<compoundShape->GetNumChildShapes();i++)
-							{
-								SimdTransform childTrans = compoundShape->GetChildTransform(i);
-								const CollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
-								SimdTransform childWorldTrans = colObjWorldTransform * childTrans;
-								RayTestSingle(rayFromTrans,rayToTrans,
-									collisionObject,
-									childCollisionShape,
-									childWorldTrans,
-									resultCallback);
-
-							}
-
-
-						}
-					}
-			}
-}
-
-void	CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
-{
-
-	
-	SimdTransform	rayFromTrans,rayToTrans;
-	rayFromTrans.setIdentity();
-	rayFromTrans.setOrigin(rayFromWorld);
-	rayToTrans.setIdentity();
-	
-	rayToTrans.setOrigin(rayToWorld);
-
-	//do culling based on aabb (rayFrom/rayTo)
-	SimdVector3 rayAabbMin = rayFromWorld;
-	SimdVector3 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.
-	
-	std::vector<CollisionObject*>::iterator iter;
-	
-	for (iter=m_collisionObjects.begin();
-	!(iter==m_collisionObjects.end()); iter++)
-	{
-		
-		CollisionObject*	collisionObject= (*iter);
-
-		//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-		SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-		collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
-
-		//check aabb overlap
-
-		if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
-		{
-			RayTestSingle(rayFromTrans,rayToTrans,
-				collisionObject,
-					 collisionObject->m_collisionShape,
-					  collisionObject->m_worldTransform,
-					  resultCallback);
-			
-		}
-	}
-
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.h b/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.h
deleted file mode 100644
index 8414ba4e459..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.h
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-/**
- * @mainpage Bullet Documentation
- *
- * @section intro_sec Introduction
- * Bullet Collision Detection & Physics SDK
- *
- * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
- *
- * There is the Physics Forum for Feedback and General Collision Detection and Physics discussions.
- * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
- *
- * @section install_sec Installation
- *
- * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
- * @subsection step2 Step 2: Building
- * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
- * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
- * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using jam, http://www.perforce.com/jam/jam.html .
- * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * So if you are not using MSVC, you can run configure and jam .
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
- * 
- * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with CcdPhysicsDemo executable as a starting point.
- * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
- * The Dependencies can be seen in this documentation under Directories
- * 
- * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
- * Check out CcdPhysicsDemo how to create a CcdPhysicsEnvironment , CollisionShape and RigidBody, Stepping the simulation and synchronizing your derived version of the PHY_IMotionState class.
- * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
- * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out CollisionWorld and CollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
- * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
- * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of GjkPairDetector.
- *
- * @section copyright Copyright
- * Copyright (C) 2005-2006 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
- * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren.
- * 
- */
- 
- 
-
-#ifndef COLLISION_WORLD_H
-#define COLLISION_WORLD_H
-
-
-class CollisionShape;
-class BroadphaseInterface;
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "CollisionObject.h"
-#include "CollisionDispatcher.h" //for definition of CollisionObjectArray
-#include "BroadphaseCollision/OverlappingPairCache.h"
-
-#include <vector>
-
-
-
-///CollisionWorld is interface and container for the collision detection
-class CollisionWorld
-{
-
-	
-
-	std::vector<CollisionObject*>	m_collisionObjects;
-	
-	Dispatcher*	m_dispatcher1;
-
-	OverlappingPairCache*	m_pairCache;
-	
-
-public:
-
-	CollisionWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache)
-		:m_dispatcher1(dispatcher),
-		m_pairCache(pairCache)
-	{
-
-	}
-	virtual ~CollisionWorld();
-
-
-	BroadphaseInterface*	GetBroadphase()
-	{
-		return m_pairCache;
-	}
-
-	OverlappingPairCache*	GetPairCache()
-	{
-		return m_pairCache;
-	}
-
-
-	Dispatcher*	GetDispatcher()
-	{
-		return m_dispatcher1;
-	}
-
-	///LocalShapeInfo gives extra information for complex shapes
-	///Currently, only TriangleMeshShape is available, so it just contains triangleIndex and subpart
-	struct	LocalShapeInfo
-	{
-		int	m_shapePart;
-		int	m_triangleIndex;
-		
-		//const CollisionShape*	m_shapeTemp;
-		//const SimdTransform*	m_shapeLocalTransform;
-	};
-
-	struct	LocalRayResult
-	{
-		LocalRayResult(const CollisionObject*	collisionObject, 
-			LocalShapeInfo*	localShapeInfo,
-			const SimdVector3&		hitNormalLocal,
-			float hitFraction)
-		:m_collisionObject(collisionObject),
-		m_localShapeInfo(m_localShapeInfo),
-		m_hitNormalLocal(hitNormalLocal),
-		m_hitFraction(hitFraction)
-		{
-		}
-
-		const CollisionObject*	m_collisionObject;
-		LocalShapeInfo*			m_localShapeInfo;
-		const SimdVector3&		m_hitNormalLocal;
-		float					m_hitFraction;
-
-	};
-
-	///RayResultCallback is used to report new raycast results
-	struct	RayResultCallback
-	{
-		virtual ~RayResultCallback()
-		{
-		}
-		float	m_closestHitFraction;
-		bool	HasHit()
-		{
-			return (m_closestHitFraction < 1.f);
-		}
-
-		RayResultCallback()
-			:m_closestHitFraction(1.f)
-		{
-		}
-		virtual	float	AddSingleResult(const LocalRayResult& rayResult) = 0;
-	};
-
-	struct	ClosestRayResultCallback : public RayResultCallback
-	{
-		ClosestRayResultCallback(SimdVector3	rayFromWorld,SimdVector3	rayToWorld)
-		:m_rayFromWorld(rayFromWorld),
-		m_rayToWorld(rayToWorld),
-		m_collisionObject(0)
-		{
-		}
-
-		SimdVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
-		SimdVector3	m_rayToWorld;
-
-		SimdVector3	m_hitNormalWorld;
-		SimdVector3	m_hitPointWorld;
-		const CollisionObject*	m_collisionObject;
-		
-		virtual	float	AddSingleResult(const LocalRayResult& rayResult)
-		{
-
-//caller already does the filter on the m_closestHitFraction
-			assert(rayResult.m_hitFraction <= m_closestHitFraction);
-			
-			m_closestHitFraction = rayResult.m_hitFraction;
-			m_collisionObject = rayResult.m_collisionObject;
-			m_hitNormalWorld = m_collisionObject->m_worldTransform.getBasis()*rayResult.m_hitNormalLocal;
-			m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
-			return rayResult.m_hitFraction;
-		}
-	};
-
-
-	
-
-	int	GetNumCollisionObjects() const
-	{
-		return m_collisionObjects.size();
-	}
-
-	void	RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
-
-
-	void	AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
-
-	CollisionObjectArray& GetCollisionObjectArray()
-	{
-		return m_collisionObjects;
-	}
-
-	const CollisionObjectArray& GetCollisionObjectArray() const
-	{
-		return m_collisionObjects;
-	}
-
-
-	void	RemoveCollisionObject(CollisionObject* collisionObject);
-
-	virtual void	PerformDiscreteCollisionDetection();
-
-};
-
-
-#endif //COLLISION_WORLD_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
deleted file mode 100644
index 0a79d2b7b91..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include "CollisionShapes/CompoundShape.h"
-
-
-CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-:m_dispatcher(ci.m_dispatcher),
-m_compoundProxy(*proxy0),
-m_otherProxy(*proxy1)
-{
-	CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
-	assert (colObj->m_collisionShape->IsCompound());
-	
-	CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
-	int numChildren = compoundShape->GetNumChildShapes();
-	m_childProxies.resize( numChildren );
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		m_childProxies[i] = BroadphaseProxy(*proxy0);
-	}
-
-	m_childCollisionAlgorithms.resize(numChildren);
-	for (i=0;i<numChildren;i++)
-	{
-		CollisionShape* childShape = compoundShape->GetChildShape(i);
-		CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
-		CollisionShape* orgShape = colObj->m_collisionShape;
-		colObj->m_collisionShape = childShape;
-		m_childCollisionAlgorithms[i] = m_dispatcher->FindAlgorithm(m_childProxies[i],m_otherProxy);
-		colObj->m_collisionShape =orgShape;
-	}
-}
-
-
-CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
-{
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		delete m_childCollisionAlgorithms[i];
-	}
-}
-
-void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
-{
-	CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
-	assert (colObj->m_collisionShape->IsCompound());
-	
-	CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
-
-	//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
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		//temporarily exchange parent CollisionShape with childShape, and recurse
-		CollisionShape* childShape = compoundShape->GetChildShape(i);
-		CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
-
-		//backup
-		SimdTransform	orgTrans = colObj->m_worldTransform;
-		CollisionShape* orgShape = colObj->m_collisionShape;
-
-		SimdTransform childTrans = compoundShape->GetChildTransform(i);
-		SimdTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->m_worldTransform = newChildWorldTrans;
-
-		colObj->m_collisionShape = childShape;
-		m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
-		//revert back
-		colObj->m_collisionShape =orgShape;
-		colObj->m_worldTransform = orgTrans;
-	}
-}
-
-float	CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
-{
-	CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
-	assert (colObj->m_collisionShape->IsCompound());
-	
-	CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
-
-	//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
-	//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
-	//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
-	//then use each overlapping node AABB against Tree0
-	//and vise versa.
-
-	float hitFraction = 1.f;
-
-	int numChildren = m_childCollisionAlgorithms.size();
-	int i;
-	for (i=0;i<numChildren;i++)
-	{
-		//temporarily exchange parent CollisionShape with childShape, and recurse
-		CollisionShape* childShape = compoundShape->GetChildShape(i);
-		CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
-
-		//backup
-		SimdTransform	orgTrans = colObj->m_worldTransform;
-		CollisionShape* orgShape = colObj->m_collisionShape;
-
-		SimdTransform childTrans = compoundShape->GetChildTransform(i);
-		SimdTransform	newChildWorldTrans = orgTrans*childTrans ;
-		colObj->m_worldTransform = newChildWorldTrans;
-
-		colObj->m_collisionShape = childShape;
-		float frac = m_childCollisionAlgorithms[i]->CalculateTimeOfImpact(&m_childProxies[i],&m_otherProxy,dispatchInfo);
-		if (frac<hitFraction)
-		{
-			hitFraction = frac;
-		}
-		//revert back
-		colObj->m_collisionShape =orgShape;
-		colObj->m_worldTransform = orgTrans;
-	}
-	return hitFraction;
-
-}
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.h
deleted file mode 100644
index a41d3a8f455..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/CompoundCollisionAlgorithm.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COMPOUND_COLLISION_ALGORITHM_H
-#define COMPOUND_COLLISION_ALGORITHM_H
-
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-#include "BroadphaseCollision/Dispatcher.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-
-#include "NarrowPhaseCollision/PersistentManifold.h"
-class Dispatcher;
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include <vector>
-
-
-/// CompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-/// Place holder, not fully implemented yet
-class CompoundCollisionAlgorithm  : public CollisionAlgorithm
-{
-	BroadphaseProxy	m_compoundProxy;
-	BroadphaseProxy	m_otherProxy;
-	std::vector<BroadphaseProxy> m_childProxies;
-	std::vector<CollisionAlgorithm*> m_childCollisionAlgorithms;
-
-	Dispatcher*		m_dispatcher;
-	BroadphaseProxy m_compound;
-
-	BroadphaseProxy m_other;
-
-	
-public:
-
-	CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-
-	virtual ~CompoundCollisionAlgorithm();
-
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-};
-
-#endif //COMPOUND_COLLISION_ALGORITHM_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
deleted file mode 100644
index 63ed29888ab..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,306 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ConvexConcaveCollisionAlgorithm.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include "CollisionShapes/MultiSphereShape.h"
-#include "ConvexConvexAlgorithm.h"
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include "CollisionShapes/ConcaveShape.h"
-#include "CollisionDispatch/ManifoldResult.h"
-#include "NarrowPhaseCollision/RaycastCallback.h"
-#include "CollisionShapes/TriangleShape.h"
-#include "CollisionShapes/SphereShape.h"
-#include "IDebugDraw.h"
-#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
-
-ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
-m_ConvexTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
-
-{
-}
-
-ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
-{
-}
-
-
-
-ConvexTriangleCallback::ConvexTriangleCallback(Dispatcher*  dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
-  m_convexProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
-	m_dispatchInfoPtr(0)
-{
-
-	  //
-	  // create the manifold from the dispatcher 'manifold pool'
-	  //
-	  m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
-
-  	  ClearCache();
-}
-
-ConvexTriangleCallback::~ConvexTriangleCallback()
-{
-	ClearCache();
-	m_dispatcher->ReleaseManifold( m_manifoldPtr );
-  
-}
-  
-
-void	ConvexTriangleCallback::ClearCache()
-{
-	m_dispatcher->ClearManifold(m_manifoldPtr);
-};
-
-
-
-void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
-{
- 
-	//just for debugging purposes
-	//printf("triangle %d",m_triangleCount++);
-
-
-	//aabb filter is already applied!	
-
-	CollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher = m_dispatcher;
-
-	CollisionObject* ob = static_cast<CollisionObject*>(m_triangleProxy.m_clientObject);
-
-
-	
-	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->GetDebugMode() > 0)
-	{
-		SimdVector3 color(255,255,0);
-		SimdTransform& tr = ob->m_worldTransform;
-		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);
-
-		//SimdVector3 center = triangle[0] + triangle[1]+triangle[2];
-		//center *= 0.333333f;
-		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(center),color);
-
-	}
-
-
-	CollisionObject* colObj = static_cast<CollisionObject*>(m_convexProxy->m_clientObject);
-	
-	if (colObj->m_collisionShape->IsConvex())
-	{
-		TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
-		tm.SetMargin(m_collisionMarginTriangle);
-	
-		
-		CollisionShape* tmpShape = ob->m_collisionShape;
-		ob->m_collisionShape = &tm;
-		
-		ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
-		cvxcvxalgo.SetShapeIdentifiers(-1,-1,partId,triangleIndex);
-		cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
-		ob->m_collisionShape = tmpShape;
-
-	}
-
-	
-
-}
-
-
-
-void	ConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
-{
-	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle;
-
-	//recalc aabbs
-	CollisionObject* convexBody = (CollisionObject* )m_convexProxy->m_clientObject;
-	CollisionObject* triBody = (CollisionObject* )m_triangleProxy.m_clientObject;
-
-	SimdTransform convexInTriangleSpace;
-	convexInTriangleSpace = triBody->m_worldTransform.inverse() * convexBody->m_worldTransform;
-
-	CollisionShape* convexShape = static_cast<CollisionShape*>(convexBody->m_collisionShape);
-	//CollisionShape* triangleShape = static_cast<CollisionShape*>(triBody->m_collisionShape);
-
-	convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
-
-	float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
-
-	SimdVector3 extra(extraMargin,extraMargin,extraMargin);
-
-	m_aabbMax += extra;
-	m_aabbMin -= extra;
-	
-}
-
-void ConvexConcaveCollisionAlgorithm::ClearCache()
-{
-	m_ConvexTriangleCallback.ClearCache();
-
-}
-
-void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
-{
-	
-	CollisionObject* convexBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
-	CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
-
-	if (triBody->m_collisionShape->IsConcave())
-	{
-
-		if (!m_dispatcher->NeedsCollision(m_convex,m_concave))
-			return;
-
-		
-
-		CollisionObject*	triOb = static_cast<CollisionObject*>(m_concave.m_clientObject);
-		ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
-		
-		if (convexBody->m_collisionShape->IsConvex())
-		{
-			float collisionMarginTriangle = concaveShape->GetMargin();
-					
-			m_ConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
-
-			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
-			//m_dispatcher->ClearManifold(m_ConvexTriangleCallback.m_manifoldPtr);
-
-
-			m_ConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
-
-			concaveShape->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
-			
-	
-		}
-
-	}
-
-}
-
-
-float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
-{
-
-	//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the ConvexCast)
-	CollisionObject* convexbody = (CollisionObject* )m_convex.m_clientObject;
-	CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
-
-	//only perform CCD above a certain treshold, 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_ccdSquareMotionTreshold)
-	{
-		return 1.f;
-	}
-
-	//const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
-	//SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
-	//todo: only do if the motion exceeds the 'radius'
-
-	SimdTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
-	SimdTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
-
-	struct LocalTriangleSphereCastCallback	: public TriangleCallback
-	{
-		SimdTransform m_ccdSphereFromTrans;
-		SimdTransform m_ccdSphereToTrans;
-		SimdTransform	m_meshTransform;
-
-		float	m_ccdSphereRadius;
-		float	m_hitFraction;
-	
-
-		LocalTriangleSphereCastCallback(const SimdTransform& from,const SimdTransform& to,float ccdSphereRadius,float hitFraction)
-			:m_ccdSphereFromTrans(from),
-			m_ccdSphereToTrans(to),
-			m_ccdSphereRadius(ccdSphereRadius),
-			m_hitFraction(hitFraction)
-		{			
-		}
-		
-		
-		virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex)
-		{
-			//do a swept sphere for now
-			SimdTransform ident;
-			ident.setIdentity();
-			ConvexCast::CastResult castResult;
-			castResult.m_fraction = m_hitFraction;
-			SphereShape	pointShape(m_ccdSphereRadius);
-			TriangleShape	triShape(triangle[0],triangle[1],triangle[2]);
-			VoronoiSimplexSolver	simplexSolver;
-			SubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
-			//GjkConvexCast	convexCaster(&pointShape,convexShape,&simplexSolver);
-			//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
-			//local space?
-
-			if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
-				ident,ident,castResult))
-			{
-				if (m_hitFraction > castResult.m_fraction)
-					m_hitFraction = castResult.m_fraction;
-			}
-
-		}
-
-	};
-
-
-	
-
-	
-	if (triBody->m_collisionShape->IsConcave())
-	{
-		SimdVector3 rayAabbMin = convexFromLocal.getOrigin();
-		rayAabbMin.setMin(convexToLocal.getOrigin());
-		SimdVector3 rayAabbMax = convexFromLocal.getOrigin();
-		rayAabbMax.setMax(convexToLocal.getOrigin());
-		rayAabbMin -= SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
-		rayAabbMax += SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
-
-		float curHitFraction = 1.f; //is this available?
-		LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
-		convexbody->m_ccdSweptShereRadius,curHitFraction);
-
-		raycastCallback.m_hitFraction = convexbody->m_hitFraction;
-
-		CollisionObject* concavebody = (CollisionObject* )m_concave.m_clientObject;
-
-		ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->m_collisionShape;
-		
-		if (triangleMesh)
-		{
-			triangleMesh->ProcessAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
-		}
-	
-
-
-		if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
-		{
-			convexbody->m_hitFraction = raycastCallback.m_hitFraction;
-			return raycastCallback.m_hitFraction;
-		}
-	}
-
-	return 1.f;
-
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
deleted file mode 100644
index 47b4de3bbe1..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-#include "BroadphaseCollision/Dispatcher.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-#include "CollisionShapes/TriangleCallback.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-class Dispatcher;
-#include "BroadphaseCollision/BroadphaseProxy.h"
-
-
-///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), ProcessTriangle is called.
-class ConvexTriangleCallback : public TriangleCallback
-{
-	BroadphaseProxy* m_convexProxy;
-	BroadphaseProxy m_triangleProxy;
-
-	SimdVector3	m_aabbMin;
-	SimdVector3	m_aabbMax ;
-
-	Dispatcher*	m_dispatcher;
-	const DispatcherInfo* m_dispatchInfoPtr;
-	float m_collisionMarginTriangle;
-	
-public:
-int	m_triangleCount;
-	
-	PersistentManifold*	m_manifoldPtr;
-
-	ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-
-	void	SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
-
-	virtual ~ConvexTriangleCallback();
-
-	virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
-	
-	void ClearCache();
-
-	inline const SimdVector3& GetAabbMin() const
-	{
-		return m_aabbMin;
-	}
-	inline const SimdVector3& GetAabbMax() const
-	{
-		return m_aabbMax;
-	}
-
-};
-
-
-
-
-/// ConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-class ConvexConcaveCollisionAlgorithm  : public CollisionAlgorithm
-{
-
-	BroadphaseProxy m_convex;
-
-	BroadphaseProxy m_concave;
-
-	ConvexTriangleCallback m_ConvexTriangleCallback;
-
-
-public:
-
-	ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-
-	virtual ~ConvexConcaveCollisionAlgorithm();
-
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	void	ClearCache();
-
-};
-
-#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
deleted file mode 100644
index 765ae8625f6..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ /dev/null
@@ -1,432 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "ConvexConvexAlgorithm.h"
-
-#include <stdio.h>
-#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "NarrowPhaseCollision/GjkPairDetector.h"
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include "CollisionDispatch/CollisionDispatcher.h"
-#include "CollisionShapes/BoxShape.h"
-#include "CollisionDispatch/ManifoldResult.h"
-
-#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
-#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
-#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
-#include "NarrowPhaseCollision/GjkConvexCast.h"
-
-
-
-#include "CollisionShapes/MinkowskiSumShape.h"
-#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
-#include "CollisionShapes/SphereShape.h"
-
-#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
-
-//#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
-
-#ifdef WIN32
-#if _MSC_VER >= 1310
-//only use SIMD Hull code under Win32
-#ifdef TEST_HULL
-#define USE_HULL 1
-#endif //TEST_HULL
-#endif //_MSC_VER 
-#endif //WIN32
-
-
-#ifdef USE_HULL
-
-#include "NarrowPhaseCollision/Hull.h"
-#include "NarrowPhaseCollision/HullContactCollector.h"
-
-
-#endif //USE_HULL
-
-bool gUseEpa = false;
-
-
-#ifdef WIN32
-void DrawRasterizerLine(const float* from,const float* to,int color);
-#endif
-
-
-
-
-//#define PROCESS_SINGLE_CONTACT
-#ifdef WIN32
-bool gForceBoxBox = false;//false;//true;
-
-#else
-bool gForceBoxBox = false;//false;//true;
-#endif
-bool gBoxBoxUseGjk = true;//true;//false;
-bool gDisableConvexCollision = false;
-
-
-
-ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-: CollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,&m_simplexSolver,0),
-m_useEpa(!gUseEpa),
-m_box0(*proxy0),
-m_box1(*proxy1),
-m_ownManifold (false),
-m_manifoldPtr(mf),
-m_lowLevelOfDetail(false)
-{
-	CheckPenetrationDepthSolver();
-
-	{
-		if (!m_manifoldPtr && m_dispatcher->NeedsCollision(m_box0,m_box1))
-		{
-			m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
-			m_ownManifold = true;
-		}
-	}
-
-}
-
-
-
-ConvexConvexAlgorithm::~ConvexConvexAlgorithm()
-{
-	if (m_ownManifold)
-	{
-		if (m_manifoldPtr)
-			m_dispatcher->ReleaseManifold(m_manifoldPtr);
-	}
-}
-
-void	ConvexConvexAlgorithm ::SetLowLevelOfDetail(bool useLowLevel)
-{
-	m_lowLevelOfDetail = useLowLevel;
-}
-
-
-
-class FlippedContactResult : public DiscreteCollisionDetectorInterface::Result
-{
-	DiscreteCollisionDetectorInterface::Result* m_org;
-
-public:
-
-	FlippedContactResult(DiscreteCollisionDetectorInterface::Result* org)
-		: m_org(org)
-	{
-
-	}
-
-	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-	{
-		SimdVector3 flippedNormal = -normalOnBInWorld;
-
-		m_org->AddContactPoint(flippedNormal,pointInWorld,depth);
-	}
-
-};
-
-static MinkowskiPenetrationDepthSolver	gPenetrationDepthSolver;
-
-//static EpaPenetrationDepthSolver	gEpaPenetrationDepthSolver;
-
-#ifdef USE_EPA
-Solid3EpaPenetrationDepth	gSolidEpaPenetrationSolver;
-#endif //USE_EPA
-
-void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
-{
-	if (m_useEpa != gUseEpa)
-	{
-		m_useEpa  = gUseEpa;
-		if (m_useEpa)
-		{
-			
-		//	m_gjkPairDetector.SetPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
-						
-			
-		} else
-		{
-			m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
-		}
-	}
-	
-}
-
-#ifdef USE_HULL
-
-Transform	GetTransformFromSimdTransform(const SimdTransform& trans)
-{
-			//const SimdVector3& rowA0 = trans.getBasis().getRow(0);
-			////const SimdVector3& rowA1 = trans.getBasis().getRow(1);
-			//const SimdVector3& rowA2 = trans.getBasis().getRow(2);
-
-			SimdVector3 rowA0 = trans.getBasis().getColumn(0);
-			SimdVector3 rowA1 = trans.getBasis().getColumn(1);
-			SimdVector3 rowA2 = trans.getBasis().getColumn(2);
-
-
-			Vector3	x(rowA0.getX(),rowA0.getY(),rowA0.getZ());
-			Vector3	y(rowA1.getX(),rowA1.getY(),rowA1.getZ());
-			Vector3	z(rowA2.getX(),rowA2.getY(),rowA2.getZ());
-			
-			Matrix33 ornA(x,y,z);
-	
-			Point3 transA(
-				trans.getOrigin().getX(),
-				trans.getOrigin().getY(),
-				trans.getOrigin().getZ());
-
-			return Transform(ornA,transA);
-}
-
-class ManifoldResultCollector : public HullContactCollector
-{
-public:
-	ManifoldResult& m_manifoldResult;
-
-	ManifoldResultCollector(ManifoldResult& manifoldResult)
-		:m_manifoldResult(manifoldResult)
-	{
-
-	}
-	
-
-	virtual ~ManifoldResultCollector() {};
-
-	virtual int	BatchAddContactGroup(const Separation& sep,int numContacts,const Vector3& normalWorld,const Vector3& tangent,const Point3* positionsWorld,const float* depths)
-	{
-		for (int i=0;i<numContacts;i++)
-		{
-			//printf("numContacts = %i\n",numContacts);
-			SimdVector3 normalOnBInWorld(sep.m_axis.GetX(),sep.m_axis.GetY(),sep.m_axis.GetZ());
-			//normalOnBInWorld.normalize();
-			SimdVector3 pointInWorld(positionsWorld[i].GetX(),positionsWorld[i].GetY(),positionsWorld[i].GetZ());
-			float depth = -depths[i];
-			m_manifoldResult.AddContactPoint(normalOnBInWorld,pointInWorld,depth);
-
-		}
-		return 0;
-	}
-
-	virtual int		GetMaxNumContacts() const
-	{
-		return 4;
-	}
-
-};
-#endif //USE_HULL
-
-
-//
-// Convex-Convex collision algorithm
-//
-void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
-{
-
-	if (!m_manifoldPtr)
-		return;
-
-	CheckPenetrationDepthSolver();
-
-//	printf("ConvexConvexAlgorithm::ProcessCollision\n");
-
-	bool needsCollision = m_dispatcher->NeedsCollision(m_box0,m_box1);
-	if (!needsCollision)
-		return;
-	
-	CollisionObject*	col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
-	CollisionObject*	col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
-
-#ifdef USE_HULL
-
-
-	if (dispatchInfo.m_enableSatConvex)
-	{
-		if ((col0->m_collisionShape->IsPolyhedral()) &&
-			(col1->m_collisionShape->IsPolyhedral()))
-		{
-		
-			
-			PolyhedralConvexShape* polyhedron0 = static_cast<PolyhedralConvexShape*>(col0->m_collisionShape);
-			PolyhedralConvexShape* polyhedron1 = static_cast<PolyhedralConvexShape*>(col1->m_collisionShape);
-			if (polyhedron0->m_optionalHull && polyhedron1->m_optionalHull)
-			{
-				//printf("Hull-Hull");
-
-				//todo: cache this information, rather then initialize
-				Separation sep;
-				sep.m_featureA = 0;
-				sep.m_featureB = 0;
-				sep.m_contact = -1;
-				sep.m_separator = 0;
-
-				//convert from SimdTransform to Transform
-				
-				Transform trA = GetTransformFromSimdTransform(col0->m_worldTransform);
-				Transform trB = GetTransformFromSimdTransform(col1->m_worldTransform);
-
-				//either use persistent manifold or clear it every time
-				m_dispatcher->ClearManifold(m_manifoldPtr);
-				ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
-
-				ManifoldResultCollector hullContactCollector(*resultOut);
-				
-				Hull::ProcessHullHull(sep,*polyhedron0->m_optionalHull,*polyhedron1->m_optionalHull,
-					trA,trB,&hullContactCollector);
-
-				
-				//user provided hull's, so we use SAT Hull collision detection
-				return;
-			}
-		}
-	}
-
-#endif //USE_HULL
-
-	
-	ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
-	
-	ConvexShape* min0 = static_cast<ConvexShape*>(col0->m_collisionShape);
-	ConvexShape* min1 = static_cast<ConvexShape*>(col1->m_collisionShape);
-	
-	GjkPairDetector::ClosestPointInput input;
-
-
-	//TODO: if (dispatchInfo.m_useContinuous)
-	m_gjkPairDetector.SetMinkowskiA(min0);
-	m_gjkPairDetector.SetMinkowskiB(min1);
-	input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
-	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	
-//	input.m_maximumDistanceSquared = 1e30f;
-	
-	input.m_transformA = col0->m_worldTransform;
-	input.m_transformB = col1->m_worldTransform;
-    
-	m_gjkPairDetector.GetClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-
-	m_dispatcher->ReleaseManifoldResult(resultOut);
-}
-
-
-
-bool disableCcd = false;
-float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
-{
-	///Rather then checking ALL pairs, only calculate TOI when motion exceeds treshold
-    
-	///Linear motion for one of objects needs to exceed m_ccdSquareMotionTreshold
-	///col0->m_worldTransform,
-	float resultFraction = 1.f;
-
-	CollisionObject* col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
-	CollisionObject* col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
-
-	float squareMot0 = (col0->m_interpolationWorldTransform.getOrigin() - col0->m_worldTransform.getOrigin()).length2();
-	float squareMot1 = (col1->m_interpolationWorldTransform.getOrigin() - col1->m_worldTransform.getOrigin()).length2();
-    
-	if (squareMot0 < col0->m_ccdSquareMotionTreshold &&
-		squareMot0 < col0->m_ccdSquareMotionTreshold)
-		return resultFraction;
-
-
-
-	if (disableCcd)
-		return 1.f;
-
-	CheckPenetrationDepthSolver();
-
-	//An adhoc way of testing the Continuous Collision Detection algorithms
-	//One object is approximated as a sphere, to simplify things
-	//Starting in penetration should report no time of impact
-	//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
-	//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
-	bool needsCollision = m_dispatcher->NeedsCollision(m_box0,m_box1);
-
-	if (!needsCollision)
-		return 1.f;
-	
-		
-	/// Convex0 against sphere for Convex1
-	{
-		ConvexShape* convex0 = static_cast<ConvexShape*>(col0->m_collisionShape);
-
-		SphereShape	sphere1(col1->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
-		ConvexCast::CastResult result;
-		VoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		GjkConvexCast 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))
-		{
-		
-			//store result.m_fraction in both bodies
-		
-			if (col0->m_hitFraction	> result.m_fraction)
-				col0->m_hitFraction  = result.m_fraction;
-
-			if (col1->m_hitFraction > result.m_fraction)
-				col1->m_hitFraction  = result.m_fraction;
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-
-		}
-		
-		
-
-
-	}
-
-	/// Sphere (for convex0) against Convex1
-	{
-		ConvexShape* convex1 = static_cast<ConvexShape*>(col1->m_collisionShape);
-
-		SphereShape	sphere0(col0->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
-		ConvexCast::CastResult result;
-		VoronoiSimplexSolver voronoiSimplex;
-		//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
-		///Simplification, one object is simplified as a sphere
-		GjkConvexCast 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))
-		{
-		
-			//store result.m_fraction in both bodies
-		
-			if (col0->m_hitFraction	> result.m_fraction)
-				col0->m_hitFraction  = result.m_fraction;
-
-			if (col1->m_hitFraction > result.m_fraction)
-				col1->m_hitFraction  = result.m_fraction;
-
-			if (resultFraction > result.m_fraction)
-				resultFraction = result.m_fraction;
-
-		}
-	}
-	
-	return resultFraction;
-
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
deleted file mode 100644
index a1cadabe7eb..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONVEX_CONVEX_ALGORITHM_H
-#define CONVEX_CONVEX_ALGORITHM_H
-
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-#include "NarrowPhaseCollision/GjkPairDetector.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
-
-class ConvexPenetrationDepthSolver;
-
-///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
-class ConvexConvexAlgorithm : public CollisionAlgorithm
-{
-	//ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	VoronoiSimplexSolver	m_simplexSolver;
-	GjkPairDetector m_gjkPairDetector;
-	bool	m_useEpa;
-public:
-	BroadphaseProxy	m_box0;
-	BroadphaseProxy	m_box1;
-
-	bool	m_ownManifold;
-	PersistentManifold*	m_manifoldPtr;
-	bool			m_lowLevelOfDetail;
-
-	void	CheckPenetrationDepthSolver();
-
-	
-
-public:
-
-	ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-
-	virtual ~ConvexConvexAlgorithm();
-
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	void	SetLowLevelOfDetail(bool useLowLevel);
-
-	virtual void SetShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-			m_gjkPairDetector.m_partId0=partId0;
-			m_gjkPairDetector.m_partId1=partId1;
-			m_gjkPairDetector.m_index0=index0;
-			m_gjkPairDetector.m_index1=index1;		
-	}
-
-	const PersistentManifold*	GetManifold()
-	{
-		return m_manifoldPtr;
-	}
-
-};
-
-#endif //CONVEX_CONVEX_ALGORITHM_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp
deleted file mode 100644
index 6ef31ad6fb4..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "EmptyCollisionAlgorithm.h"
-
-
-
-EmptyAlgorithm::EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
-	: CollisionAlgorithm(ci)
-{
-}
-
-void EmptyAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
-{
-
-}
-
-float EmptyAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
-{
-	return 1.f;
-}
-
-
diff --git a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h
deleted file mode 100644
index c85efac9959..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/EmptyCollisionAlgorithm.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef EMPTY_ALGORITH
-#define EMPTY_ALGORITH
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-
-#define ATTRIBUTE_ALIGNED(a)
-
-///EmptyAlgorithm is a stub for unsupported collision pairs.
-///The dispatcher can dispatch a persistent EmptyAlgorithm to avoid a search every frame.
-class EmptyAlgorithm : public CollisionAlgorithm
-{
-
-public:
-	
-	EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
-
-	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
-
-
-
-
-} ATTRIBUTE_ALIGNED(16);
-
-#endif //EMPTY_ALGORITH
diff --git a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp
deleted file mode 100644
index 36f7255a737..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ManifoldResult.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "CollisionDispatch/CollisionObject.h"
-
-
-///This is to allow MaterialCombiner/Custom Friction/Restitution values
-ContactAddedCallback		gContactAddedCallback=0;
-
-///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
-inline SimdScalar	calculateCombinedFriction(const CollisionObject* body0,const CollisionObject* body1)
-{
-	SimdScalar friction = body0->getFriction() * body1->getFriction();
-
-	const SimdScalar MAX_FRICTION  = 10.f;
-	if (friction < -MAX_FRICTION)
-		friction = -MAX_FRICTION;
-	if (friction > MAX_FRICTION)
-		friction = MAX_FRICTION;
-	return friction;
-
-}
-
-inline SimdScalar	calculateCombinedRestitution(const CollisionObject* body0,const CollisionObject* body1)
-{
-	return body0->getRestitution() * body1->getRestitution();
-}
-
-
-
-ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr)
-		:m_manifoldPtr(manifoldPtr),
-		m_body0(body0),
-		m_body1(body1)
-	{
-	}
-
-
-void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-{
-	if (depth > m_manifoldPtr->GetContactBreakingTreshold())
-		return;
-
-
-	SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
-	SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
-
-	//transAInv = m_body0->m_worldTransform.inverse();
-	//transBInv= m_body1->m_worldTransform.inverse();
-	SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
-	SimdVector3 localA = transAInv(pointA );
-	SimdVector3 localB = transBInv(pointInWorld);
-	ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
-
-	
-
-	int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
-	if (insertIndex >= 0)
-	{
-
-// This is not needed, just use the old info!
-//		const ManifoldPoint& oldPoint = m_manifoldPtr->GetContactPoint(insertIndex);
-//		newPt.CopyPersistentInformation(oldPoint);
-//		m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
-
-
-	} else
-	{
-
-		newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
-		newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
-
-		//User can override friction and/or restitution
-		if (gContactAddedCallback &&
-			//and if either of the two bodies requires custom material
-			 ((m_body0->m_collisionFlags & CollisionObject::customMaterialCallback) ||
-			   (m_body1->m_collisionFlags & CollisionObject::customMaterialCallback)))
-		{
-			//experimental feature info, for per-triangle material etc.
-			(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
-		}
-
-		m_manifoldPtr->AddManifoldPoint(newPt);
-	}
-}
-
diff --git a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.h b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.h
deleted file mode 100644
index fe2438980a1..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef MANIFOLD_RESULT_H
-#define MANIFOLD_RESULT_H
-
-#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
-struct CollisionObject;
-class PersistentManifold;
-class ManifoldPoint;
-
-typedef bool (*ContactAddedCallback)(ManifoldPoint& cp,	const CollisionObject* colObj0,int partId0,int index0,const CollisionObject* colObj1,int partId1,int index1);
-extern ContactAddedCallback		gContactAddedCallback;
-
-
-
-///ManifoldResult is a helper class to manage  contact results.
-class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
-{
-	PersistentManifold* m_manifoldPtr;
-	CollisionObject* m_body0;
-	CollisionObject* m_body1;
-	int	m_partId0;
-	int m_partId1;
-	int m_index0;
-	int m_index1;
-public:
-
-	ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr);
-
-	virtual ~ManifoldResult() {};
-
-	virtual void SetShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-			m_partId0=partId0;
-			m_partId1=partId1;
-			m_index0=index0;
-			m_index1=index1;		
-	}
-
-	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
-
-
-
-};
-
-#endif //MANIFOLD_RESULT_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.cpp b/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.cpp
deleted file mode 100644
index 75f30847ff9..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-
-#include "SimulationIslandManager.h"
-#include "BroadphaseCollision/Dispatcher.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include "CollisionDispatch/CollisionWorld.h"
-
-
-
-SimulationIslandManager::SimulationIslandManager()
-{
-}
-
-void SimulationIslandManager::InitUnionFind(int n)
-{
-		m_unionFind.reset(n);
-}
-		
-
-void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
-{
-	
-	{
-		for (int i=0;i<dispatcher->GetNumManifolds();i++)
-		{
-			const PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
-			//static objects (invmass 0.f) don't merge !
-
-			 const  CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
-			 const  CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
-
-			 if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
-			 {
-				if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-					((colObj1) && ((colObj1)->mergesSimulationIslands())))
-				{
-
-					m_unionFind.unite((colObj0)->m_islandTag1,
-						(colObj1)->m_islandTag1);
-				}
-			 }
-			
-			
-		}
-	}
-	
-}
-
-
-void	SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher)
-{
-	
-	InitUnionFind(colWorld->GetCollisionObjectArray().size());
-	
-	// put the index into m_controllers into m_tag	
-	{
-		std::vector<CollisionObject*>::iterator i;
-		
-		int index = 0;
-		for (i=colWorld->GetCollisionObjectArray().begin();
-		!(i==colWorld->GetCollisionObjectArray().end()); i++)
-		{
-			
-			CollisionObject*	collisionObject= (*i);
-			collisionObject->m_islandTag1 = index;
-			collisionObject->m_hitFraction = 1.f;
-			index++;
-			
-		}
-	}
-	// do the union find
-	
-	FindUnions(dispatcher);
-	
-
-	
-}
-
-
-
-
-void	SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorld)
-{
-	// put the islandId ('find' value) into m_tag	
-	{
-		
-		
-		std::vector<CollisionObject*>::iterator i;
-		
-		int index = 0;
-		for (i=colWorld->GetCollisionObjectArray().begin();
-		!(i==colWorld->GetCollisionObjectArray().end()); i++)
-		{
-			CollisionObject* collisionObject= (*i);
-			
-			if (collisionObject->mergesSimulationIslands())
-			{
-				collisionObject->m_islandTag1 = m_unionFind.find(index);
-			} else
-			{
-				collisionObject->m_islandTag1 = -1;
-			}
-			index++;
-		}
-	}
-}
-
-
-
-
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
-{
-	
-	int numBodies  = collisionObjects.size();
-
-	//first calculate the number of islands, and iterate over the islands id's
-
-	const UnionFind& uf = this->GetUnionFind();
-
-	for (int islandId=0;islandId<uf.getNumElements();islandId++)
-	{
-		if (uf.isRoot(islandId))
-		{
-
-			std::vector<PersistentManifold*>  islandmanifold;
-			
-			//int numSleeping = 0;
-
-			bool allSleeping = true;
-
-			int i;
-			for (i=0;i<numBodies;i++)
-			{
-				CollisionObject* colObj0 = collisionObjects[i];
-			
-				if (colObj0->m_islandTag1 == islandId)
-				{
-				
-					if (colObj0->GetActivationState()== ACTIVE_TAG)
-					{
-						allSleeping = false;
-					}
-					if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
-					{
-						allSleeping = false;
-					}
-				}
-			}
-
-			
-			for (i=0;i<dispatcher->GetNumManifolds();i++)
-			{
-				 PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
-				 
-				 //filtering for response
-
-				 CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
-				 CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
-				 assert(colObj0);
-				 assert(colObj1);
-				 {
-					if (((colObj0)->m_islandTag1 == (islandId)) ||
-						((colObj1)->m_islandTag1 == (islandId)))
-					{
-						if (dispatcher->NeedsResponse(*colObj0,*colObj1))
-							islandmanifold.push_back(manifold);
-					}
-				 }
-			}
-			if (allSleeping)
-			{
-				int i;
-				for (i=0;i<numBodies;i++)
-				{
-					CollisionObject* colObj0 = collisionObjects[i];
-					if (colObj0->m_islandTag1 == islandId)
-					{
-						colObj0->SetActivationState( ISLAND_SLEEPING );
-					}
-				}
-
-				
-			} else
-			{
-
-				int i;
-				for (i=0;i<numBodies;i++)
-				{
-					CollisionObject* colObj0 = collisionObjects[i];
-					if (colObj0->m_islandTag1 == islandId)
-					{
-						if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
-						{
-							colObj0->SetActivationState( WANTS_DEACTIVATION);
-						}
-					}
-				}
-
-				/// Process the actual simulation, only if not sleeping/deactivated
-				if (islandmanifold.size())
-				{
-					callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
-				}
-
-			}
-		}
-	}
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.h b/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.h
deleted file mode 100644
index 84285283628..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/SimulationIslandManager.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SIMULATION_ISLAND_MANAGER_H
-#define SIMULATION_ISLAND_MANAGER_H
-
-#include "CollisionDispatch/UnionFind.h"
-#include "CollisionCreateFunc.h"
-
-class CollisionWorld;
-class Dispatcher;
-
-///SimulationIslandManager creates and handles simulation islands, using UnionFind
-class SimulationIslandManager
-{
-	UnionFind m_unionFind;
-
-public:
-	SimulationIslandManager();
-
-
-	void InitUnionFind(int n);	
-	
-		
-	UnionFind& GetUnionFind() { return m_unionFind;}
-
-	virtual	void	UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher);
-	virtual	void	StoreIslandActivationState(CollisionWorld* world);
-
-
-	void	FindUnions(Dispatcher* dispatcher);
-
-	
-
-	struct	IslandCallback
-	{
-		virtual ~IslandCallback() {};
-
-		virtual	void	ProcessIsland(class PersistentManifold**	manifolds,int numManifolds) = 0;
-	};
-
-	void	BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback);
-
-};
-
-#endif //SIMULATION_ISLAND_MANAGER_H
diff --git a/extern/bullet/Bullet/CollisionDispatch/UnionFind.cpp b/extern/bullet/Bullet/CollisionDispatch/UnionFind.cpp
deleted file mode 100644
index 43c87bb4f61..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/UnionFind.cpp
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "UnionFind.h"
-#include <assert.h>
-
-
-int UnionFind::find(int x)
-{ 
-	assert(x < m_N);
-	assert(x >= 0);
-
-	while (x != m_id[x]) 
-	{
-//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
-#define USE_PATH_COMPRESSION 1
-#ifdef USE_PATH_COMPRESSION
-		//
-		m_id[x] = m_id[m_id[x]];
-#endif //
-		x = m_id[x];
-		assert(x < m_N);
-		assert(x >= 0);
-
-	}
-	return x; 
-}
-
-UnionFind::~UnionFind()
-{
-	Free();
-
-}
-
-UnionFind::UnionFind()
-:m_id(0),
-m_sz(0),
-m_N(0)
-{ 
-
-}
-
-void	UnionFind::Allocate(int N)
-{
-	if (m_N < N)
-	{
-		Free();
-
-		m_N = N;
-		m_id = new int[N]; 
-		m_sz = new int[N];
-	}
-}
-void	UnionFind::Free()
-{
-	if (m_N)
-	{
-		m_N=0;
-		delete m_id;
-		delete m_sz;
-	}
-}
-
-
-void	UnionFind::reset(int N)
-{
-	Allocate(N);
-
-	for (int i = 0; i < m_N; i++) 
-	{ 
-		m_id[i] = i; m_sz[i] = 1; 
-	} 
-}
-
-
-int UnionFind ::find(int p, int q)
-{ 
-	return (find(p) == find(q)); 
-}
-
-void UnionFind ::unite(int p, int q)
-{
-	int i = find(p), j = find(q);
-	if (i == j) 
-		return;
-
-	//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
-	if (m_sz[i] < m_sz[j])
-	{ 
-		m_id[i] = j; m_sz[j] += m_sz[i]; 
-	}
-	else 
-	{ 
-		m_id[j] = i; m_sz[i] += m_sz[j]; 
-	}
-}
diff --git a/extern/bullet/Bullet/CollisionDispatch/UnionFind.h b/extern/bullet/Bullet/CollisionDispatch/UnionFind.h
deleted file mode 100644
index 8705e579189..00000000000
--- a/extern/bullet/Bullet/CollisionDispatch/UnionFind.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef UNION_FIND_H
-#define UNION_FIND_H
-
-///UnionFind calculates connected subsets
-// Implements weighted Quick Union with path compression
-// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
-class UnionFind
-  {
-    private:
-		int*	m_id;
-		int*	m_sz;
-		int m_N;
-
-    public:
-		int find(int x);
-	  
-		UnionFind();
-		~UnionFind();
-
-	  void	reset(int N);
-
-	  inline int	getNumElements() const
-	  {
-		  return m_N;
-	  }
-	  inline bool  isRoot(int x) const
-	  {
-		  return (x == m_id[x]);
-	  }
-
-      int find(int p, int q);
-      void unite(int p, int q);
-
-	  void	Allocate(int N);
-	  void	Free();
-
-  };
-
-
-#endif //UNION_FIND_H
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
deleted file mode 100644
index 2be1996da16..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BoxShape.h"
-
-SimdVector3 BoxShape::GetHalfExtents() const
-{
-	return m_boxHalfExtents1 * m_localScaling;
-}
-//{ 
-
-
-void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	SimdVector3 halfExtents = GetHalfExtents();
-
-	SimdMatrix3x3 abs_b = t.getBasis().absolute();  
-	SimdPoint3 center = t.getOrigin();
-	SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
-		   abs_b[1].dot(halfExtents),
-		  abs_b[2].dot(halfExtents));
-	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-
-
-}
-
-
-void	BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//float margin = 0.f;
-	SimdVector3 halfExtents = GetHalfExtents();
-
-	SimdScalar lx=2.f*(halfExtents.x());
-	SimdScalar ly=2.f*(halfExtents.y());
-	SimdScalar lz=2.f*(halfExtents.z());
-
-	inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
-	inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
-	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
-
-
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.h b/extern/bullet/Bullet/CollisionShapes/BoxShape.h
deleted file mode 100644
index 67ce82078f3..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.h
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef OBB_BOX_MINKOWSKI_H
-#define OBB_BOX_MINKOWSKI_H
-
-#include "PolyhedralConvexShape.h"
-#include "CollisionShapes/CollisionMargin.h"
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include "SimdPoint3.h"
-#include "SimdMinMax.h"
-
-///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
-class BoxShape: public PolyhedralConvexShape
-{
-
-	SimdVector3	m_boxHalfExtents1;
-
-
-public:
-
-	virtual ~BoxShape()
-	{
-
-	}
-
-	SimdVector3 GetHalfExtents() const;
-	//{ return m_boxHalfExtents1 * m_localScaling;}
- 	//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
-
-
-	
-	virtual int	GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
-
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const
-	{
-		
-		SimdVector3 halfExtents = GetHalfExtents();
-		
-		SimdVector3 supVertex;
-		supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
-                     vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
-                     vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
-  
-		return supVertex;
-	}
-
-	virtual inline SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-	{
-		SimdVector3 halfExtents = GetHalfExtents();
-		SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
-		halfExtents -= margin;
-
-		return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
-                    vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
-                    vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
-	}
-
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-	{
-		SimdVector3 halfExtents = GetHalfExtents();
-		SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
-		halfExtents -= margin;
-
-
-		for (int i=0;i<numVectors;i++)
-		{
-			const SimdVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
-                    vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
-                    vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
-		}
-
-	}
-
-
-	BoxShape( const SimdVector3& boxHalfExtents) :  m_boxHalfExtents1(boxHalfExtents){};
-	
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-	
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
-	{
-		//this plane might not be aligned...
-		SimdVector4 plane ;
-		GetPlaneEquation(plane,i);
-		planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
-		planeSupport = LocalGetSupportingVertex(-planeNormal);
-	}
-
-	
-	virtual int GetNumPlanes() const
-	{
-		return 6;
-	}	
-	
-	virtual int	GetNumVertices() const 
-	{
-		return 8;
-	}
-
-	virtual int GetNumEdges() const
-	{
-		return 12;
-	}
-
-
-	virtual void GetVertex(int i,SimdVector3& vtx) const
-	{
-		SimdVector3 halfExtents = GetHalfExtents();
-
-		vtx = SimdVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
-	}
-	
-
-	virtual void	GetPlaneEquation(SimdVector4& plane,int i) const
-	{
-		SimdVector3 halfExtents = GetHalfExtents();
-
-		switch (i)
-		{
-		case 0:
-			plane.setValue(1.f,0.f,0.f);
-			plane[3] = -halfExtents.x();
-			break;
-		case 1:
-			plane.setValue(-1.f,0.f,0.f);
-			plane[3] = -halfExtents.x();
-			break;
-		case 2:
-			plane.setValue(0.f,1.f,0.f);
-			plane[3] = -halfExtents.y();
-			break;
-		case 3:
-			plane.setValue(0.f,-1.f,0.f);
-			plane[3] = -halfExtents.y();
-			break;
-		case 4:
-			plane.setValue(0.f,0.f,1.f);
-			plane[3] = -halfExtents.z();
-			break;
-		case 5:
-			plane.setValue(0.f,0.f,-1.f);
-			plane[3] = -halfExtents.z();
-			break;
-		default:
-			assert(0);
-		}
-	}
-
-	
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
-	//virtual void GetEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-		case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-			break;
-		case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			ASSERT(0);
-
-		}
-
-		GetVertex(edgeVert0,pa );
-		GetVertex(edgeVert1,pb );
-	}
-
-
-
-
-	
-	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
-	{
-		SimdVector3 halfExtents = GetHalfExtents();
-
-		//SimdScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
-		return result;
-	}
-
-
-	//debugging
-	virtual char*	GetName()const
-	{
-		return "Box";
-	}
-
-
-};
-
-#endif //OBB_BOX_MINKOWSKI_H
diff --git a/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.cpp
deleted file mode 100644
index d2624dcdfe1..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.cpp
+++ /dev/null
@@ -1,138 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-//#define DISABLE_BVH
-
-
-#include "CollisionShapes/BvhTriangleMeshShape.h"
-#include "CollisionShapes/OptimizedBvh.h"
-
-///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
-///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
-:TriangleMeshShape(meshInterface)
-{
-	//construct bvh from meshInterface
-#ifndef DISABLE_BVH
-
-	m_bvh = new OptimizedBvh();
-	m_bvh->Build(meshInterface);
-
-#endif //DISABLE_BVH
-
-}
-
-BvhTriangleMeshShape::~BvhTriangleMeshShape()
-{
-	delete m_bvh;
-}
-
-//perform bvh tree traversal and report overlapping triangles to 'callback'
-void	BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-
-#ifdef DISABLE_BVH
-	//brute force traverse all triangles
-	TriangleMeshShape::ProcessAllTriangles(callback,aabbMin,aabbMax);
-#else
-
-	//first get all the nodes
-
-	
-	struct	MyNodeOverlapCallback : public NodeOverlapCallback
-	{
-		StridingMeshInterface*	m_meshInterface;
-		TriangleCallback*		m_callback;
-		SimdVector3				m_triangle[3];
-
-
-		MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
-			:m_meshInterface(meshInterface),
-			m_callback(callback)
-		{
-		}
-				
-		virtual void ProcessNode(const OptimizedBvhNode* node)
-		{
-			const unsigned char *vertexbase;
-			int numverts;
-			PHY_ScalarType type;
-			int stride;
-			const unsigned char *indexbase;
-			int indexstride;
-			int numfaces;
-			PHY_ScalarType indicestype;
-			
-
-			m_meshInterface->getLockedReadOnlyVertexIndexBase(
-				&vertexbase,
-				numverts,
-				type,
-				stride,
-				&indexbase,
-				indexstride,
-				numfaces,
-				indicestype,
-				node->m_subPart);
-
-			int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
-			
-			const SimdVector3& meshScaling = m_meshInterface->getScaling();
-			for (int j=2;j>=0;j--)
-			{
-				
-				int graphicsindex = gfxbase[j];
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("%d ,",graphicsindex);
-#endif //DEBUG_TRIANGLE_MESH
-				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-
-				m_triangle[j] = SimdVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
-#endif //DEBUG_TRIANGLE_MESH
-			}
-
-			m_callback->ProcessTriangle(m_triangle,node->m_subPart,node->m_triangleIndex);
-			m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
-		}
-
-	};
-
-	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
-
-	m_bvh->ReportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-
-
-#endif//DISABLE_BVH
-
-
-}
-
-
-void	BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
-{
-	if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
-	{
-		TriangleMeshShape::setLocalScaling(scaling);
-		delete m_bvh;
-		m_bvh = new OptimizedBvh();
-		m_bvh->Build(m_meshInterface);
-		//rebuild the bvh...
-	}
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.h
deleted file mode 100644
index 849ea2e9935..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/BvhTriangleMeshShape.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BVH_TRIANGLE_MESH_SHAPE_H
-#define BVH_TRIANGLE_MESH_SHAPE_H
-
-#include "CollisionShapes/TriangleMeshShape.h"
-#include "CollisionShapes/OptimizedBvh.h"
-
-///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
-///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class BvhTriangleMeshShape : public TriangleMeshShape
-{
-
-	OptimizedBvh*	m_bvh;
-	
-	
-public:
-	BvhTriangleMeshShape(StridingMeshInterface* meshInterface);
-
-	virtual ~BvhTriangleMeshShape();
-
-	
-	/*
-	virtual int	GetShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
-	*/
-
-
-
-	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-
-	//debugging
-	virtual char*	GetName()const {return "BVHTRIANGLEMESH";}
-
-
-	virtual void	setLocalScaling(const SimdVector3& scaling);
-	
-
-
-};
-
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/CollisionMargin.h b/extern/bullet/Bullet/CollisionShapes/CollisionMargin.h
deleted file mode 100644
index 377f0e506a2..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CollisionMargin.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
-
-//used by Gjk and some other algorithms
-
-#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f
-
-
-
-#endif //COLLISION_MARGIN_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/CollisionShape.cpp b/extern/bullet/Bullet/CollisionShapes/CollisionShape.cpp
deleted file mode 100644
index 0c5e48aeb3f..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CollisionShape.cpp
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CollisionShapes/CollisionShape.h"
-
-void	CollisionShape::GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const
-{
-	SimdTransform tr;
-	tr.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-
-	GetAabb(tr,aabbMin,aabbMax);
-
-	radius = (aabbMax-aabbMin).length()*0.5f;
-	center = (aabbMin+aabbMax)*0.5f;
-}
-
-float	CollisionShape::GetAngularMotionDisc() const
-{
-	SimdVector3	center;
-	float disc;
-	GetBoundingSphere(center,disc);
-	disc += (center).length();
-	return disc;
-}
-
-void CollisionShape::CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax)
-{
-	//start with static aabb
-	GetAabb(curTrans,temporalAabbMin,temporalAabbMax);
-
-	float temporalAabbMaxx = temporalAabbMax.getX();
-	float temporalAabbMaxy = temporalAabbMax.getY();
-	float temporalAabbMaxz = temporalAabbMax.getZ();
-	float temporalAabbMinx = temporalAabbMin.getX();
-	float temporalAabbMiny = temporalAabbMin.getY();
-	float temporalAabbMinz = temporalAabbMin.getZ();
-
-	// add linear motion
-	SimdVector3 linMotion = linvel*timeStep;
-	//todo: simd would have a vector max/min operation, instead of per-element access
-	if (linMotion.x() > 0.f)
-		temporalAabbMaxx += linMotion.x(); 
-	else
-		temporalAabbMinx += linMotion.x();
-	if (linMotion.y() > 0.f)
-		temporalAabbMaxy += linMotion.y(); 
-	else
-		temporalAabbMiny += linMotion.y();
-	if (linMotion.z() > 0.f)
-		temporalAabbMaxz += linMotion.z(); 
-	else
-		temporalAabbMinz += linMotion.z();
-
-	//add conservative angular motion
-	SimdScalar angularMotion = angvel.length() * GetAngularMotionDisc() * timeStep;
-	SimdVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
-	temporalAabbMin = SimdVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
-	temporalAabbMax = SimdVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
-
-	temporalAabbMin -= angularMotion3d;
-	temporalAabbMax += angularMotion3d;
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h b/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
deleted file mode 100644
index 57bf97874b2..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CollisionShape.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_SHAPE_H
-#define COLLISION_SHAPE_H
-
-#include "SimdTransform.h"
-#include "SimdVector3.h"
-#include <SimdMatrix3x3.h>
-#include "SimdPoint3.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
-
-///CollisionShape provides generic interface for collidable objects
-class CollisionShape
-{
-
-public:
-
-	CollisionShape()
-	:m_tempDebug(0)
-	{
-	}
-	virtual ~CollisionShape()
-	{
-	}
-
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
-
-	virtual void	GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
-
-	virtual float	GetAngularMotionDisc() const;
-
-	virtual int		GetShapeType() const=0;
-
-	///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
-	///result is conservative
-	void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
-
-	bool	IsPolyhedral() const
-	{
-		return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
-	}
-
-	bool	IsConvex() const
-	{
-		return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
-	}
-	bool	IsConcave() const
-	{
-		return ((GetShapeType() > CONCAVE_SHAPES_START_HERE) &&
-			(GetShapeType() < CONCAVE_SHAPES_END_HERE));
-	}
-	bool	IsCompound() const
-	{
-		return (GetShapeType() == COMPOUND_SHAPE_PROXYTYPE);
-	}
-
-	virtual void	setLocalScaling(const SimdVector3& scaling) =0;
-	virtual const SimdVector3& getLocalScaling() const =0;
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
-
-//debugging support
-	virtual char*	GetName()const =0 ;
-	const char* GetExtraDebugInfo() const { return m_tempDebug;}
-	void  SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
-	const char * m_tempDebug;
-//endif debugging support
-
-	virtual void	SetMargin(float margin) = 0;
-	virtual float	GetMargin() const = 0;
-
-};	
-
-#endif //COLLISION_SHAPE_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/CompoundShape.cpp b/extern/bullet/Bullet/CollisionShapes/CompoundShape.cpp
deleted file mode 100644
index ecb11701373..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CompoundShape.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CompoundShape.h"
-
-
-#include "CollisionShape.h"
-
-
-CompoundShape::CompoundShape()
-:m_localAabbMin(1e30f,1e30f,1e30f),
-m_localAabbMax(-1e30f,-1e30f,-1e30f),
-m_aabbTree(0),
-m_collisionMargin(0.f),
-m_localScaling(1.f,1.f,1.f)
-{
-}
-
-
-CompoundShape::~CompoundShape()
-{
-}
-
-void	CompoundShape::AddChildShape(const SimdTransform& localTransform,CollisionShape* shape)
-{
-	m_childTransforms.push_back(localTransform);
-	m_childShapes.push_back(shape);
-
-	//extend the local aabbMin/aabbMax
-	SimdVector3 localAabbMin,localAabbMax;
-	shape->GetAabb(localTransform,localAabbMin,localAabbMax);
-	for (int i=0;i<3;i++)
-	{
-		if (m_localAabbMin[i] > localAabbMin[i])
-		{
-			m_localAabbMin[i] = localAabbMin[i];
-		}
-		if (m_localAabbMax[i] < localAabbMax[i])
-		{
-			m_localAabbMax[i] = localAabbMax[i];
-		}
-
-	}
-}
-
-
-
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void CompoundShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
-	SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
-	
-	SimdMatrix3x3 abs_b = trans.getBasis().absolute();  
-
-	SimdPoint3 center = trans(localCenter);
-
-	SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
-	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-void	CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//approximation: take the inertia from the aabb for now
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	GetAabb(ident,aabbMin,aabbMax);
-	
-	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
-	
-	SimdScalar lx=2.f*(halfExtents.x());
-	SimdScalar ly=2.f*(halfExtents.y());
-	SimdScalar lz=2.f*(halfExtents.z());
-
-	inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
-	inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
-	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
-
-}
-
-	
-	
diff --git a/extern/bullet/Bullet/CollisionShapes/CompoundShape.h b/extern/bullet/Bullet/CollisionShapes/CompoundShape.h
deleted file mode 100644
index 7a43e44c285..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CompoundShape.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COMPOUND_SHAPE_H
-#define COMPOUND_SHAPE_H
-
-#include "CollisionShape.h"
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "SimdMatrix3x3.h"
-#include <vector>
-#include "CollisionShapes/CollisionMargin.h"
-
-class OptimizedBvh;
-
-/// CompoundShape allows to store multiple other CollisionShapes
-/// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
-class CompoundShape	: public CollisionShape
-{
-	std::vector<SimdTransform>		m_childTransforms;
-	std::vector<CollisionShape*>	m_childShapes;
-	SimdVector3						m_localAabbMin;
-	SimdVector3						m_localAabbMax;
-
-	OptimizedBvh*					m_aabbTree;
-
-public:
-	CompoundShape();
-
-	virtual ~CompoundShape();
-
-	void	AddChildShape(const SimdTransform& localTransform,CollisionShape* shape);
-
-	int		GetNumChildShapes() const
-	{
-		return m_childShapes.size();
-	}
-
-	CollisionShape* GetChildShape(int index)
-	{
-		return m_childShapes[index];
-	}
-	const CollisionShape* GetChildShape(int index) const
-	{
-		return m_childShapes[index];
-	}
-
-	SimdTransform	GetChildTransform(int index)
-	{
-		return m_childTransforms[index];
-	}
-	const SimdTransform	GetChildTransform(int index) const
-	{
-		return m_childTransforms[index];
-	}
-
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const SimdVector3& scaling)
-	{
-		m_localScaling = scaling;
-	}
-	virtual const SimdVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-	
-	virtual int	GetShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
-
-	virtual void	SetMargin(float margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual float	GetMargin() const
-	{
-		return m_collisionMargin;
-	}
-	virtual char*	GetName()const
-	{
-		return "Compound";
-	}
-
-	//this is optional, but should make collision queries faster, by culling non-overlapping nodes
-	void	CreateAabbTreeFromChildren();
-
-	const OptimizedBvh*					GetAabbTree() const
-	{
-		return m_aabbTree;
-	}
-
-private:
-	SimdScalar	m_collisionMargin;
-protected:
-	SimdVector3	m_localScaling;
-
-};
-
-
-
-#endif //COMPOUND_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/ConcaveShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConcaveShape.cpp
deleted file mode 100644
index c060a4df592..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConcaveShape.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ConcaveShape.h"
-
-ConcaveShape::ConcaveShape() : m_collisionMargin(0.f)
-{
-
-}
-
-ConcaveShape::~ConcaveShape()
-{
-
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/ConcaveShape.h b/extern/bullet/Bullet/CollisionShapes/ConcaveShape.h
deleted file mode 100644
index d6c589dd8fc..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConcaveShape.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONCAVE_SHAPE_H
-#define CONCAVE_SHAPE_H
-
-#include "CollisionShapes/CollisionShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-#include "TriangleCallback.h"
-
-
-///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
-///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
-class ConcaveShape : public CollisionShape
-{
-protected:
-	float m_collisionMargin;
-
-public:
-	ConcaveShape();
-
-	virtual ~ConcaveShape();
-
-	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const = 0;
-
-	virtual float GetMargin() const {
-		return m_collisionMargin;
-	}
-	virtual void SetMargin(float collisionMargin)
-	{
-		m_collisionMargin = collisionMargin;
-	}
-
-
-
-};
-
-#endif //CONCAVE_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/ConeShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConeShape.cpp
deleted file mode 100644
index fb99c2c4480..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConeShape.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "ConeShape.h"
-#include "SimdPoint3.h"
-
-#ifdef WIN32
-static int coneindices[3] = {1,2,0};
-#else
-static int coneindices[3] = {2,1,0};
-#endif
-
-ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
-m_radius (radius),
-m_height(height)
-{
-	SimdVector3 halfExtents;
-	m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
-}
-
-
-SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
-{
-	
-	float halfHeight = m_height * 0.5f;
-
- if (v[coneindices[1]] > v.length() * m_sinAngle)
- {
-	SimdVector3 tmp;
-
-	tmp[coneindices[0]] = 0.f;
-	tmp[coneindices[1]] = halfHeight;
-	tmp[coneindices[2]] = 0.f;
-	return tmp;
- }
-  else {
-    SimdScalar s = SimdSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
-    if (s > SIMD_EPSILON) {
-      SimdScalar d = m_radius / s;
-	  SimdVector3 tmp;
-	  tmp[coneindices[0]] = v[coneindices[0]] * d;
-	  tmp[coneindices[1]] = -halfHeight;
-	  tmp[coneindices[2]] = v[coneindices[2]] * d;
-	  return tmp;
-    }
-    else  {
-		SimdVector3 tmp;
-		tmp[coneindices[0]] = 0.f;
-		tmp[coneindices[1]] = -halfHeight;
-		tmp[coneindices[2]] = 0.f;
-		return tmp;
-	}
-  }
-
-}
-
-SimdVector3	ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
-{
-		return ConeLocalSupport(vec);
-}
-
-void	ConeShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		const SimdVector3& vec = vectors[i];
-		supportVerticesOut[i] = ConeLocalSupport(vec);
-	}
-}
-
-
-SimdVector3	ConeShape::LocalGetSupportingVertex(const SimdVector3& vec)  const
-{
-	SimdVector3 supVertex = ConeLocalSupport(vec);
-	if ( GetMargin()!=0.f )
-	{
-		SimdVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(-1.f,-1.f,-1.f);
-		} 
-		vecnorm.normalize();
-		supVertex+= GetMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConeShape.h b/extern/bullet/Bullet/CollisionShapes/ConeShape.h
deleted file mode 100644
index b7408df13cc..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConeShape.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONE_MINKOWSKI_H
-#define CONE_MINKOWSKI_H
-
-#include "ConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-/// implements cone shape interface
-class ConeShape : public ConvexShape
-
-{
-
-	float m_sinAngle;
-	float m_radius;
-	float m_height;
-	
-	SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
-
-
-public:
-	ConeShape (SimdScalar radius,SimdScalar height);
-	
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const;
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-
-	float GetRadius() const { return m_radius;}
-	float GetHeight() const { return m_height;}
-
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-	{
-		SimdTransform identity;
-		identity.setIdentity();
-		SimdVector3 aabbMin,aabbMax;
-		GetAabb(identity,aabbMin,aabbMax);
-
-		SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
-
-		float margin = GetMargin();
-
-		SimdScalar lx=2.f*(halfExtents.x()+margin);
-		SimdScalar ly=2.f*(halfExtents.y()+margin);
-		SimdScalar lz=2.f*(halfExtents.z()+margin);
-		const SimdScalar x2 = lx*lx;
-		const SimdScalar y2 = ly*ly;
-		const SimdScalar z2 = lz*lz;
-		const SimdScalar scaledmass = mass * 0.08333333f;
-
-		inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
-
-//		inertia.x() = scaledmass * (y2+z2);
-//		inertia.y() = scaledmass * (x2+z2);
-//		inertia.z() = scaledmass * (x2+y2);
-	}
-
-
-
-		virtual int	GetShapeType() const { return CONE_SHAPE_PROXYTYPE; }
-
-		virtual char*	GetName()const 
-		{
-			return "Cone";
-		}
-};
-
-
-#endif //CONE_MINKOWSKI_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
deleted file mode 100644
index e527dcd7e84..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "ConvexHullShape.h"
-#include "CollisionShapes/CollisionMargin.h"
-
-#include "SimdQuaternion.h"
-
-
-ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
-{
-	m_points.resize(numPoints);
-	for (int i=0;i<numPoints;i++)
-		m_points[i] = points[i];
-}
-
-SimdVector3	ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
-{
-	SimdVector3 supVec(0.f,0.f,0.f);
-	SimdScalar newDot,maxDot = -1e30f;
-
-	SimdVector3 vec = vec0;
-	SimdScalar lenSqr = vec.length2();
-	if (lenSqr < 0.0001f)
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		float rlen = 1.f / SimdSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-
-	for (size_t i=0;i<m_points.size();i++)
-	{
-		SimdPoint3 vtx = m_points[i] * m_localScaling;
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return supVec;
-}
-
-void	ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	SimdScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = -1e30f;
-		}
-	}
-	for (size_t i=0;i<m_points.size();i++)
-	{
-		SimdPoint3 vtx = m_points[i] * m_localScaling;
-
-		for (int j=0;j<numVectors;j++)
-		{
-			const SimdVector3& vec = vectors[j];
-			
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
-
-
-
-}
-	
-
-
-SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
-{
-	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
-
-	if ( GetMargin()!=0.f )
-	{
-		SimdVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(-1.f,-1.f,-1.f);
-		} 
-		vecnorm.normalize();
-		supVertex+= GetMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-
-
-
-
-
-
-
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
-int	ConvexHullShape::GetNumVertices() const
-{
-	return m_points.size();
-}
-
-int ConvexHullShape::GetNumEdges() const
-{
-	return m_points.size()*m_points.size();
-}
-
-void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
-{
-
-	int index0 = i%m_points.size();
-	int index1 = i/m_points.size();
-	pa = m_points[index0]*m_localScaling;
-	pb = m_points[index1]*m_localScaling;
-}
-
-void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
-{
-	vtx = m_points[i]*m_localScaling;
-}
-
-int	ConvexHullShape::GetNumPlanes() const
-{
-	return 0;
-}
-
-void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
-{
-	assert(0);
-}
-
-//not yet
-bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
-{
-	assert(0);
-	return false;
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h
deleted file mode 100644
index cbcc5687a28..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONVEX_HULL_SHAPE_H
-#define CONVEX_HULL_SHAPE_H
-
-#include "PolyhedralConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-#include <vector>
-
-///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
-///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
-///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
-///(memory is much slower then the cpu)
-class ConvexHullShape : public PolyhedralConvexShape
-{
-	std::vector<SimdPoint3>	m_points;
-
-public:
-	ConvexHullShape(SimdPoint3* points,int numPoints);
-
-	void AddPoint(const SimdPoint3& point)
-	{
-		m_points.push_back(point);
-	}
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-	
-
-	virtual int	GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
-
-	//debugging
-	virtual char*	GetName()const {return "Convex";}
-
-	
-	virtual int	GetNumVertices() const;
-	virtual int GetNumEdges() const;
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
-	virtual void GetVertex(int i,SimdPoint3& vtx) const;
-	virtual int	GetNumPlanes() const;
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
-	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
-
-
-
-};
-
-
-#endif //CONVEX_HULL_SHAPE_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp
deleted file mode 100644
index 951f7a07d3a..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "ConvexShape.h"
-
-ConvexShape::~ConvexShape()
-{
-
-}
-
-ConvexShape::ConvexShape()
-:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
-m_localScaling(1.f,1.f,1.f)
-{
-}
-
-
-void	ConvexShape::setLocalScaling(const SimdVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-
-
-
-void	ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
-{
-
-	SimdScalar margin = GetMargin();
-	for (int i=0;i<3;i++)
-	{
-		SimdVector3 vec(0.f,0.f,0.f);
-		vec[i] = 1.f;
-
-		SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis());
-
-		SimdVector3 tmp = trans(sv);
-		maxAabb[i] = tmp[i]+margin;
-		vec[i] = -1.f;
-		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
-		minAabb[i] = tmp[i]-margin;
-	}
-};
-
-SimdVector3	ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
- {
-	 SimdVector3	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
-
-	if ( GetMargin()!=0.f )
-	{
-		SimdVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(-1.f,-1.f,-1.f);
-		} 
-		vecnorm.normalize();
-		supVertex+= GetMargin() * vecnorm;
-	}
-	return supVertex;
-
- }
-
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
deleted file mode 100644
index 8961f451755..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexShape.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONVEX_SHAPE_INTERFACE1
-#define CONVEX_SHAPE_INTERFACE1
-
-#include "CollisionShape.h"
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "SimdMatrix3x3.h"
-#include <vector>
-#include "CollisionShapes/CollisionMargin.h"
-
-//todo: get rid of this ConvexCastResult thing!
-struct ConvexCastResult;
-
-
-/// ConvexShape is an abstract shape interface.
-/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
-/// used in combination with GJK or ConvexCast
-class ConvexShape : public CollisionShape
-{
-public:
-	ConvexShape();
-
-	virtual ~ConvexShape();
-
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
-	
-	//notice that the vectors should be unit length
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const= 0;
-
-	// testing for hullnode code
-
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-	{
-		GetAabbSlow(t,aabbMin,aabbMax);
-	}
-
-
-	
-	virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const SimdVector3& scaling);
-	virtual const SimdVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-
-	virtual void	SetMargin(float margin)
-	{
-		m_collisionMargin = margin;
-	}
-	virtual float	GetMargin() const
-	{
-		return m_collisionMargin;
-	}
-private:
-	SimdScalar	m_collisionMargin;
-	//local scaling. collisionMargin is not scaled !
-protected:
-	SimdVector3	m_localScaling;
-
-};
-
-
-
-#endif //CONVEX_SHAPE_INTERFACE1
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.cpp
deleted file mode 100644
index 44bbaeb85f4..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.cpp
+++ /dev/null
@@ -1,197 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "ConvexTriangleMeshShape.h"
-#include "CollisionShapes/CollisionMargin.h"
-
-#include "SimdQuaternion.h"
-#include "CollisionShapes/StridingMeshInterface.h"
-
-
-ConvexTriangleMeshShape ::ConvexTriangleMeshShape (StridingMeshInterface* meshInterface)
-:m_stridingMesh(meshInterface)
-{
-}
-
-
-
-
-///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
-///but then we are duplicating
-class LocalSupportVertexCallback: public InternalTriangleIndexCallback
-{
-
-	SimdVector3 m_supportVertexLocal;
-public:
-
-	SimdScalar m_maxDot;
-	SimdVector3 m_supportVecLocal;
-
-	LocalSupportVertexCallback(const SimdVector3& supportVecLocal)
-		: m_supportVertexLocal(0.f,0.f,0.f),
-		m_supportVecLocal(supportVecLocal),
-		m_maxDot(-1e30f)
-	{
-	}
-
-	virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex)
-	{
-		for (int i=0;i<3;i++)
-		{
-			SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
-			if (dot > m_maxDot)
-			{
-				m_maxDot = dot;
-				m_supportVertexLocal = triangle[i];
-			}
-		}
-	}
-	
-	SimdVector3	GetSupportVertexLocal()
-	{
-		return m_supportVertexLocal;
-	}
-
-};
-
-
-
-
-
-SimdVector3	ConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
-{
-	SimdVector3 supVec(0.f,0.f,0.f);
-	SimdScalar newDot,maxDot = -1e30f;
-
-	SimdVector3 vec = vec0;
-	SimdScalar lenSqr = vec.length2();
-	if (lenSqr < 0.0001f)
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		float rlen = 1.f / SimdSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-	LocalSupportVertexCallback	supportCallback(vec);
-	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
-	m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
-	supVec = supportCallback.GetSupportVertexLocal();
-
-	return supVec;
-}
-
-void	ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	SimdScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = -1e30f;
-		}
-	}
-	
-	//todo: could do the batch inside the callback!
-
-
-	for (int j=0;j<numVectors;j++)
-	{
-		const SimdVector3& vec = vectors[j];
-		LocalSupportVertexCallback	supportCallback(vec);
-		SimdVector3 aabbMax(1e30f,1e30f,1e30f);
-		m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
-		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
-	}
-	
-}
-	
-
-
-SimdVector3	ConvexTriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec)const
-{
-	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
-
-	if ( GetMargin()!=0.f )
-	{
-		SimdVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(-1.f,-1.f,-1.f);
-		} 
-		vecnorm.normalize();
-		supVertex+= GetMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-
-
-
-
-
-
-
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw ConvexTriangleMeshShape with the Raytracer Demo
-int	ConvexTriangleMeshShape::GetNumVertices() const
-{
-	//cache this?
-	assert(0);
-	return 0;
-	
-}
-
-int ConvexTriangleMeshShape::GetNumEdges() const
-{
-	assert(0);	
-	return 0;
-}
-
-void ConvexTriangleMeshShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
-{
-	assert(0);	
-}
-
-void ConvexTriangleMeshShape::GetVertex(int i,SimdPoint3& vtx) const
-{
-	assert(0);
-}
-
-int	ConvexTriangleMeshShape::GetNumPlanes() const
-{
-	return 0;
-}
-
-void ConvexTriangleMeshShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
-{
-	assert(0);
-}
-
-//not yet
-bool ConvexTriangleMeshShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
-{
-	assert(0);
-	return false;
-}
-
-
-
-void	ConvexTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
-{
-	m_stridingMesh->setScaling(scaling);
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.h
deleted file mode 100644
index 28bcb2e56b8..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleMeshShape.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
-#define CONVEX_TRIANGLEMESH_SHAPE_H
-
-
-#include "PolyhedralConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-#include <vector>
-
-/// ConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use ConvexHullShape instead.
-/// It uses the StridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
-class ConvexTriangleMeshShape : public PolyhedralConvexShape
-{
-
-	class StridingMeshInterface*	m_stridingMesh;
-
-public:
-	ConvexTriangleMeshShape(StridingMeshInterface* meshInterface);
-
-	class StridingMeshInterface*	GetStridingMesh()
-	{
-		return m_stridingMesh;
-	}
-	
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-	
-	virtual int	GetShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
-
-	//debugging
-	virtual char*	GetName()const {return "ConvexTrimesh";}
-	
-	virtual int	GetNumVertices() const;
-	virtual int GetNumEdges() const;
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
-	virtual void GetVertex(int i,SimdPoint3& vtx) const;
-	virtual int	GetNumPlanes() const;
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
-	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
-
-	
-	void	setLocalScaling(const SimdVector3& scaling);
-
-};
-
-
-
-#endif //CONVEX_TRIANGLEMESH_SHAPE_H
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp b/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp
deleted file mode 100644
index 49163b4579e..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "CylinderShape.h"
-#include "SimdPoint3.h"
-
-CylinderShape::CylinderShape (const SimdVector3& halfExtents)
-:BoxShape(halfExtents)
-{
-
-}
-
-
-CylinderShapeX::CylinderShapeX (const SimdVector3& halfExtents)
-:CylinderShape(halfExtents)
-{
-}
-
-
-CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
-:CylinderShape(halfExtents)
-{
-}
-
-
-
-inline SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) 
-{
-const int cylinderUpAxis = 0;
-const int XX = 1;
-const int YY = 0;
-const int ZZ = 2;
-
-	//mapping depends on how cylinder local orientation is
-	// extents of the cylinder is: X,Y is for radius, and Z for height
-
-
-	float radius = halfExtents[XX];
-	float halfHeight = halfExtents[cylinderUpAxis];
-
-
-    SimdVector3 tmp;
-	SimdScalar d ;
-
-    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != SimdScalar(0.0))
-	{
-        d = radius / s;  
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-    else
-	{
-	    tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = SimdScalar(0.0);
-		return tmp;
-    }
-
-
-}
-
-
-
-
-
-
-inline  SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) 
-{
-
-const int cylinderUpAxis = 1;
-const int XX = 0;
-const int YY = 1;
-const int ZZ = 2;
-
-
-	float radius = halfExtents[XX];
-	float halfHeight = halfExtents[cylinderUpAxis];
-
-
-    SimdVector3 tmp;
-	SimdScalar d ;
-
-    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != SimdScalar(0.0))
-	{
-        d = radius / s;  
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-    else
-	{
-	    tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = SimdScalar(0.0);
-		return tmp;
-    }
-
-}
-
-inline SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) 
-{
-const int cylinderUpAxis = 2;
-const int XX = 0;
-const int YY = 2;
-const int ZZ = 1;
-
-	//mapping depends on how cylinder local orientation is
-	// extents of the cylinder is: X,Y is for radius, and Z for height
-
-
-	float radius = halfExtents[XX];
-	float halfHeight = halfExtents[cylinderUpAxis];
-
-
-    SimdVector3 tmp;
-	SimdScalar d ;
-
-    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-    if (s != SimdScalar(0.0))
-	{
-        d = radius / s;  
-		tmp[XX] = v[XX] * d;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = v[ZZ] * d;
-		return tmp;
-	}
-    else
-	{
-	    tmp[XX] = radius;
-		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-		tmp[ZZ] = SimdScalar(0.0);
-		return tmp;
-    }
-
-
-}
-
-SimdVector3	CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-{
-	return CylinderLocalSupportX(GetHalfExtents(),vec);
-}
-
-
-SimdVector3	CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-{
-	return CylinderLocalSupportZ(GetHalfExtents(),vec);
-}
-SimdVector3	CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-{
-	return CylinderLocalSupportY(GetHalfExtents(),vec);
-}
-
-void	CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]);
-	}
-}
-
-void	CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]);
-	}
-}
-
-
-
-
-void	CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]);
-	}
-}
-
-
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
deleted file mode 100644
index 217ce70369a..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CYLINDER_MINKOWSKI_H
-#define CYLINDER_MINKOWSKI_H
-
-#include "BoxShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-#include "SimdVector3.h"
-
-/// implements cylinder shape interface
-class CylinderShape : public BoxShape
-
-{
-
-public:
-	CylinderShape (const SimdVector3& halfExtents);
-	
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-	{
-		GetAabbSlow(t,aabbMin,aabbMax);
-	}
-
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const
-	{
-
-		SimdVector3 supVertex;
-		supVertex = LocalGetSupportingVertexWithoutMargin(vec);
-		
-		if ( GetMargin()!=0.f )
-		{
-			SimdVector3 vecnorm = vec;
-			if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-			{
-				vecnorm.setValue(-1.f,-1.f,-1.f);
-			} 
-			vecnorm.normalize();
-			supVertex+= GetMargin() * vecnorm;
-		}
-		return supVertex;
-	}
-
-
-	//use box inertia
-	//	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	virtual int	GetShapeType() const
-	{
-		return CYLINDER_SHAPE_PROXYTYPE;
-	}
-	
-	virtual int	GetUpAxis() const
-	{
-		return 1;
-	}
-
-	//debugging
-	virtual char*	GetName()const
-	{
-		return "CylinderY";
-	}
-
-
-
-};
-
-class CylinderShapeX : public CylinderShape
-{
-public:
-	CylinderShapeX (const SimdVector3& halfExtents);
-
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-	virtual int	GetUpAxis() const
-	{
-		return 0;
-	}
-		//debugging
-	virtual char*	GetName()const
-	{
-		return "CylinderX";
-	}
-
-};
-
-class CylinderShapeZ : public CylinderShape
-{
-public:
-	CylinderShapeZ (const SimdVector3& halfExtents);
-
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-
-	virtual int	GetUpAxis() const
-	{
-		return 2;
-	}
-		//debugging
-	virtual char*	GetName()const
-	{
-		return "CylinderZ";
-	}
-
-};
-
-
-#endif //CYLINDER_MINKOWSKI_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/EmptyShape.cpp b/extern/bullet/Bullet/CollisionShapes/EmptyShape.cpp
deleted file mode 100644
index 939377c724b..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/EmptyShape.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "EmptyShape.h"
-
-
-#include "CollisionShape.h"
-
-
-EmptyShape::EmptyShape()
-{
-}
-
-
-EmptyShape::~EmptyShape()
-{
-}
-
-
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void EmptyShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
-
-	aabbMin = t.getOrigin() - margin;
-
-	aabbMax = t.getOrigin() + margin;
-
-}
-
-void	EmptyShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	assert(0);
-}
-
-	
-	
diff --git a/extern/bullet/Bullet/CollisionShapes/EmptyShape.h b/extern/bullet/Bullet/CollisionShapes/EmptyShape.h
deleted file mode 100644
index 4407a22acdf..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/EmptyShape.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef EMPTY_SHAPE_H
-#define EMPTY_SHAPE_H
-
-#include "ConcaveShape.h"
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "SimdMatrix3x3.h"
-#include <vector>
-#include "CollisionShapes/CollisionMargin.h"
-
-
-
-
-/// EmptyShape is a collision shape without actual collision detection. 
-///It can be replaced by another shape during runtime
-class EmptyShape	: public ConcaveShape
-{
-public:
-	EmptyShape();
-
-	virtual ~EmptyShape();
-
-
-	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-
-	virtual void	setLocalScaling(const SimdVector3& scaling)
-	{
-		m_localScaling = scaling;
-	}
-	virtual const SimdVector3& getLocalScaling() const 
-	{
-		return m_localScaling;
-	}
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-	
-	virtual int	GetShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
-
-	
-	virtual char*	GetName()const
-	{
-		return "Empty";
-	}
-
-
-protected:
-	SimdVector3	m_localScaling;
-
-};
-
-
-
-#endif //EMPTY_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.cpp b/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.cpp
deleted file mode 100644
index 9bd6f9c350c..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MinkowskiSumShape.h"
-
-
-MinkowskiSumShape::MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB)
-:m_shapeA(shapeA),
-m_shapeB(shapeB)
-{
-	m_transA.setIdentity();
-	m_transB.setIdentity();
-}
-
-SimdVector3 MinkowskiSumShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-{
-	SimdVector3 supVertexA = m_transA(m_shapeA->LocalGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
-	SimdVector3 supVertexB = m_transB(m_shapeB->LocalGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
-	return supVertexA + supVertexB;
-}
-
-void	MinkowskiSumShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	//todo: could make recursive use of batching. probably this shape is not used frequently.
-	for (int i=0;i<numVectors;i++)
-	{
-		supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]);
-	}
-
-}
-
-
-
-float	MinkowskiSumShape::GetMargin() const
-{
-	return m_shapeA->GetMargin() + m_shapeB->GetMargin();
-}
-
-
-void	MinkowskiSumShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	assert(0);
-	inertia.setValue(0,0,0);
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.h b/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.h
deleted file mode 100644
index 69dee7c0382..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MINKOWSKI_SUM_SHAPE_H
-#define MINKOWSKI_SUM_SHAPE_H
-
-#include "ConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
-class MinkowskiSumShape : public ConvexShape
-{
-
-	SimdTransform	m_transA;
-	SimdTransform	m_transB;
-	ConvexShape*	m_shapeA;
-	ConvexShape*	m_shapeB;
-
-public:
-
-	MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
-
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	void	SetTransformA(const SimdTransform&	transA) { m_transA = transA;}
-	void	SetTransformB(const SimdTransform&	transB) { m_transB = transB;}
-
-	const SimdTransform& GetTransformA()const  { return m_transA;}
-	const SimdTransform& GetTransformB()const  { return m_transB;}
-
-
-	virtual int	GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
-
-	virtual float	GetMargin() const;
-
-	const ConvexShape*	GetShapeA() const { return m_shapeA;}
-	const ConvexShape*	GetShapeB() const { return m_shapeB;}
-
-	virtual char*	GetName()const 
-	{
-		return "MinkowskiSum";
-	}
-};
-
-#endif //MINKOWSKI_SUM_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp
deleted file mode 100644
index 83d1a72d67a..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MultiSphereShape.h"
-#include "CollisionShapes/CollisionMargin.h"
-#include "SimdQuaternion.h"
-
-MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
-:m_inertiaHalfExtents(inertiaHalfExtents)
-{
-	m_minRadius = 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];
-	}
-	SetMargin(m_minRadius);
-
-}
-
-
-
- 
- SimdVector3	MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
-{
-	int i;
-	SimdVector3 supVec(0,0,0);
-
-	SimdScalar maxDot(-1e30f);
-
-
-	SimdVector3 vec = vec0;
-	SimdScalar lenSqr = vec.length2();
-	if (lenSqr < 0.0001f)
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		float rlen = 1.f / SimdSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-	SimdVector3 vtx;
-	SimdScalar newDot;
-
-	const SimdVector3* pos = &m_localPositions[0];
-	const SimdScalar* rad = &m_radi[0];
-
-	for (i=0;i<m_numSpheres;i++)
-	{
-		vtx = (*pos) +vec*((*rad)-m_minRadius);
-		pos++;
-		rad++;
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
-	return supVec;
-
-}
-
- void	MultiSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-
-	for (int j=0;j<numVectors;j++)
-	{
-		SimdScalar maxDot(-1e30f);
-
-		const SimdVector3& vec = vectors[j];
-
-		SimdVector3 vtx;
-		SimdScalar newDot;
-
-		const SimdVector3* pos = &m_localPositions[0];
-		const SimdScalar* rad = &m_radi[0];
-
-		for (int i=0;i<m_numSpheres;i++)
-		{
-			vtx = (*pos) +vec*((*rad)-m_minRadius);
-			pos++;
-			rad++;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
-	}
-}
-
-
-
-
-
-
-
-
-void	MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//as an approximation, take the inertia of the box that bounds the spheres
-
-	SimdTransform ident;
-	ident.setIdentity();
-//	SimdVector3 aabbMin,aabbMax;
-
-//	GetAabb(ident,aabbMin,aabbMax);
-
-	SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
-
-	float margin = CONVEX_DISTANCE_MARGIN;
-
-	SimdScalar lx=2.f*(halfExtents[0]+margin);
-	SimdScalar ly=2.f*(halfExtents[1]+margin);
-	SimdScalar lz=2.f*(halfExtents[2]+margin);
-	const SimdScalar x2 = lx*lx;
-	const SimdScalar y2 = ly*ly;
-	const SimdScalar z2 = lz*lz;
-	const SimdScalar scaledmass = mass * 0.08333333f;
-
-	inertia[0] = scaledmass * (y2+z2);
-	inertia[1] = scaledmass * (x2+z2);
-	inertia[2] = scaledmass * (x2+y2);
-
-}
-
-
-
diff --git a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.h b/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.h
deleted file mode 100644
index 19c9d978f48..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/MultiSphereShape.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MULTI_SPHERE_MINKOWSKI_H
-#define MULTI_SPHERE_MINKOWSKI_H
-
-#include "ConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-#define MAX_NUM_SPHERES 5
-
-///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
-class MultiSphereShape : public ConvexShape
-
-{
-	
-	SimdVector3 m_localPositions[MAX_NUM_SPHERES];
-	SimdScalar  m_radi[MAX_NUM_SPHERES];
-	SimdVector3	m_inertiaHalfExtents;
-
-	int m_numSpheres;
-	float m_minRadius;
-
-
-
-
-
-public:
-	MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
-
-	///CollisionShape Interface
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	/// ConvexShape Interface
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-	
-
-	virtual int	GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
-
-	virtual char*	GetName()const 
-	{
-		return "MultiSphere";
-	}
-
-};
-
-
-#endif //MULTI_SPHERE_MINKOWSKI_H
diff --git a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
deleted file mode 100644
index 1b30bfbcb83..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.cpp
+++ /dev/null
@@ -1,269 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "OptimizedBvh.h"
-#include "StridingMeshInterface.h"
-#include "AabbUtil2.h"
-
-
-
-void OptimizedBvh::Build(StridingMeshInterface* triangles)
-{
-	//int countTriangles = 0;
-
-	
-
-	// NodeArray	triangleNodes;
-
-	struct	NodeTriangleCallback : public InternalTriangleIndexCallback
-	{
-		NodeArray&	m_triangleNodes;
-
-		NodeTriangleCallback(NodeArray&	triangleNodes)
-			:m_triangleNodes(triangleNodes)
-		{
-
-		}
-
-		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex)
-		{
-
-			OptimizedBvhNode node;
-			node.m_aabbMin = SimdVector3(1e30f,1e30f,1e30f); 
-			node.m_aabbMax = SimdVector3(-1e30f,-1e30f,-1e30f); 
-			node.m_aabbMin.setMin(triangle[0]);
-			node.m_aabbMax.setMax(triangle[0]);
-			node.m_aabbMin.setMin(triangle[1]);
-			node.m_aabbMax.setMax(triangle[1]);
-			node.m_aabbMin.setMin(triangle[2]);
-			node.m_aabbMax.setMax(triangle[2]);
-
-			node.m_escapeIndex = -1;
-			node.m_leftChild = 0;
-			node.m_rightChild = 0;
-
-
-			//for child nodes
-			node.m_subPart = partId;
-			node.m_triangleIndex = triangleIndex;
-
-			
-			m_triangleNodes.push_back(node);
-		}
-	};
-
-	
-
-	NodeTriangleCallback	callback(m_leafNodes);
-
-	SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
-	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
-
-	triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
-
-	//now we have an array of leafnodes in m_leafNodes
-
-	m_contiguousNodes = new OptimizedBvhNode[2*m_leafNodes.size()];
-	m_curNodeIndex = 0;
-
-	m_rootNode1 = BuildTree(m_leafNodes,0,m_leafNodes.size());
-
-
-	///create the leafnodes first
-//	OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
-}
-
-
-OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)
-{
-	OptimizedBvhNode* internalNode;
-
-	int splitAxis, splitIndex, i;
-	int numIndices =endIndex-startIndex;
-	int curIndex = m_curNodeIndex;
-
-	assert(numIndices>0);
-
-	if (numIndices==1)
-	{
-		return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
-	}
-	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-	
-	splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
-
-	splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
-
-	internalNode = &m_contiguousNodes[m_curNodeIndex++];
-	
-	internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
-	internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
-	
-	for (i=startIndex;i<endIndex;i++)
-	{
-		internalNode->m_aabbMax.setMax(leafNodes[i].m_aabbMax);
-		internalNode->m_aabbMin.setMin(leafNodes[i].m_aabbMin);
-	}
-
-	
-
-	//internalNode->m_escapeIndex;
-	internalNode->m_leftChild = BuildTree(leafNodes,startIndex,splitIndex);
-	internalNode->m_rightChild = BuildTree(leafNodes,splitIndex,endIndex);
-
-	internalNode->m_escapeIndex  = m_curNodeIndex - curIndex;
-	return internalNode;
-}
-
-int	OptimizedBvh::SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,int endIndex,int splitAxis)
-{
-	int i;
-	int splitIndex =startIndex;
-	int numIndices = endIndex - startIndex;
-	float splitValue;
-
-	SimdVector3 means(0.f,0.f,0.f);
-	for (i=startIndex;i<endIndex;i++)
-	{
-		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
-		means+=center;
-	}
-	means *= (1.f/(float)numIndices);
-	
-	splitValue = means[splitAxis];
-	
-	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
-	for (i=startIndex;i<endIndex;i++)
-	{
-		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
-		if (center[splitAxis] > splitValue)
-		{
-			//swap
-			OptimizedBvhNode tmp = leafNodes[i];
-			leafNodes[i] = leafNodes[splitIndex];
-			leafNodes[splitIndex] = tmp;
-			splitIndex++;
-		}
-	}
-	if ((splitIndex==startIndex) || (splitIndex == (endIndex-1)))
-	{
-		splitIndex = startIndex+ (numIndices>>1);
-	}
-	return splitIndex;
-}
-
-
-int	OptimizedBvh::CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endIndex)
-{
-	int i;
-
-	SimdVector3 means(0.f,0.f,0.f);
-	SimdVector3 variance(0.f,0.f,0.f);
-	int numIndices = endIndex-startIndex;
-
-	for (i=startIndex;i<endIndex;i++)
-	{
-		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
-		means+=center;
-	}
-	means *= (1.f/(float)numIndices);
-		
-	for (i=startIndex;i<endIndex;i++)
-	{
-		SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
-		SimdVector3 diff2 = center-means;
-		diff2 = diff2 * diff2;
-		variance += diff2;
-	}
-	variance *= (1.f/	((float)numIndices-1)	);
-	
-	return variance.maxAxis();
-}
-
-
-
-void	OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-	//either choose recursive traversal (WalkTree) or stackless (WalkStacklessTree)
-
-	//WalkTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
-
-	WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
-}
-
-void	OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-	bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-	if (aabbOverlap)
-	{
-		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
-		if (isLeafNode)
-		{
-			nodeCallback->ProcessNode(rootNode);
-		} else
-		{
-			WalkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
-			WalkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
-		}
-	}
-
-}
-
-int maxIterations = 0;
-
-void	OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool aabbOverlap, isLeafNode;
-
-	while (curIndex < m_curNodeIndex)
-	{
-		//catch bugs in tree data
-		assert (walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
-		isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
-		
-		if (isLeafNode && aabbOverlap)
-		{
-			nodeCallback->ProcessNode(rootNode);
-		} 
-		
-		if (aabbOverlap || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		} else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-		
-	}
-
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
-
-}
-
-
-void	OptimizedBvh::ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h b/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
deleted file mode 100644
index ec550e46746..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef OPTIMIZED_BVH_H
-#define OPTIMIZED_BVH_H
-#include "SimdVector3.h"
-#include <vector>
-
-class StridingMeshInterface;
-
-/// OptimizedBvhNode contains both internal and leaf node information.
-/// It hasn't been optimized yet for storage. Some obvious optimizations are:
-/// Removal of the pointers (can already be done, they are not used for traversal)
-/// and storing aabbmin/max as quantized integers.
-/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
-/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
-struct OptimizedBvhNode
-{
-
-	SimdVector3	m_aabbMin;
-	SimdVector3	m_aabbMax;
-
-//these 2 pointers are obsolete, the stackless traversal just uses the escape index
-	OptimizedBvhNode*	m_leftChild;
-	OptimizedBvhNode*	m_rightChild;
-
-	int	m_escapeIndex;
-
-	//for child nodes
-	int	m_subPart;
-	int	m_triangleIndex;
-
-};
-
-class NodeOverlapCallback
-{
-public:
-	virtual ~NodeOverlapCallback() {};
-
-	virtual void ProcessNode(const OptimizedBvhNode* node) = 0;
-};
-
-typedef std::vector<OptimizedBvhNode>	NodeArray;
-
-
-///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
-class OptimizedBvh
-{
-	OptimizedBvhNode*	m_rootNode1;
-	
-	OptimizedBvhNode*	m_contiguousNodes;
-	int					m_curNodeIndex;
-
-	int					m_numNodes;
-
-	NodeArray			m_leafNodes;
-
-public:
-	OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
-	virtual ~OptimizedBvh() {};
-	
-	void	Build(StridingMeshInterface* triangles);
-
-	OptimizedBvhNode*	BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex);
-
-	int	CalcSplittingAxis(NodeArray&	leafNodes,int startIndex,int endIndex);
-
-	int	SortAndCalcSplittingIndex(NodeArray&	leafNodes,int startIndex,int endIndex,int splitAxis);
-	
-	void	WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-	
-	void	WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-	
-
-	//OptimizedBvhNode*	GetRootNode() { return m_rootNode1;}
-
-	int					GetNumNodes() { return m_numNodes;}
-
-	void	ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-	void	ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-
-};
-
-
-#endif //OPTIMIZED_BVH_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
deleted file mode 100644
index bfdf7501451..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <CollisionShapes/PolyhedralConvexShape.h>
-
-PolyhedralConvexShape::PolyhedralConvexShape()
-:m_optionalHull(0)
-{
-
-}
-
-
-
-SimdVector3	PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
-{
-	int i;
-	SimdVector3 supVec(0,0,0);
-
-	SimdScalar maxDot(-1e30f);
-
-	SimdVector3 vec = vec0;
-	SimdScalar lenSqr = vec.length2();
-	if (lenSqr < 0.0001f)
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		float rlen = 1.f / SimdSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-	SimdVector3 vtx;
-	SimdScalar newDot;
-
-	for (i=0;i<GetNumVertices();i++)
-	{
-		GetVertex(i,vtx);
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
-	return supVec;
-
-}
-
-void	PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	int i;
-
-	SimdVector3 vtx;
-	SimdScalar newDot;
-
-	for (int j=0;j<numVectors;j++)
-	{
-		SimdScalar maxDot(-1e30f);
-
-		const SimdVector3& vec = vectors[j];
-
-		for (i=0;i<GetNumVertices();i++)
-		{
-			GetVertex(i,vtx);
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[i] = vtx;
-			}
-		}
-	}
-}
-
-
-
-void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//not yet, return box inertia
-
-	float margin = GetMargin();
-
-	SimdTransform ident;
-	ident.setIdentity();
-	SimdVector3 aabbMin,aabbMax;
-	GetAabb(ident,aabbMin,aabbMax);
-	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
-
-	SimdScalar lx=2.f*(halfExtents.x()+margin);
-	SimdScalar ly=2.f*(halfExtents.y()+margin);
-	SimdScalar lz=2.f*(halfExtents.z()+margin);
-	const SimdScalar x2 = lx*lx;
-	const SimdScalar y2 = ly*ly;
-	const SimdScalar z2 = lz*lz;
-	const SimdScalar scaledmass = mass * 0.08333333f;
-
-	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
-
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h b/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h
deleted file mode 100644
index 358bf71d0d9..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BU_SHAPE
-#define BU_SHAPE
-
-#include <SimdPoint3.h>
-#include <SimdMatrix3x3.h>
-#include <CollisionShapes/ConvexShape.h>
-
-
-///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
-class PolyhedralConvexShape : public ConvexShape
-{
-
-public:
-
-	PolyhedralConvexShape();
-	
-	//brute force implementations
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-	
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-
-
-	virtual int	GetNumVertices() const = 0 ;
-	virtual int GetNumEdges() const = 0;
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
-	virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
-	virtual int	GetNumPlanes() const = 0;
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
-//	virtual int GetIndex(int i) const = 0 ; 
-
-	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
-	
-	/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
-	class	Hull*	m_optionalHull;
-
-};
-
-#endif //BU_SHAPE
diff --git a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.cpp b/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.cpp
deleted file mode 100644
index e1d02f956d4..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "Simplex1to4Shape.h"
-#include "SimdMatrix3x3.h"
-
-BU_Simplex1to4::BU_Simplex1to4()
-:m_numVertices(0)
-{
-}
-
-BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0)
-:m_numVertices(0)
-{
-	AddVertex(pt0);
-}
-
-BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1)
-:m_numVertices(0)
-{
-	AddVertex(pt0);
-	AddVertex(pt1);
-}
-
-BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2)
-:m_numVertices(0)
-{
-	AddVertex(pt0);
-	AddVertex(pt1);
-	AddVertex(pt2);
-}
-
-BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3)
-:m_numVertices(0)
-{
-	AddVertex(pt0);
-	AddVertex(pt1);
-	AddVertex(pt2);
-	AddVertex(pt3);
-}
-
-
-
-
-
-void BU_Simplex1to4::AddVertex(const SimdPoint3& pt)
-{
-	m_vertices[m_numVertices++] = pt;
-}
-
-
-int	BU_Simplex1to4::GetNumVertices() const
-{
-	return m_numVertices;
-}
-
-int BU_Simplex1to4::GetNumEdges() const
-{
-	//euler formula, F-E+V = 2, so E = F+V-2
-
-	switch (m_numVertices)
-	{
-	case 0:
-		return 0;
-	case 1: return 0;
-	case 2: return 1;
-	case 3: return 3;
-	case 4: return 6;
-
-
-	}
-
-	return 0;
-}
-
-void BU_Simplex1to4::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
-{
-	
-    switch (m_numVertices)
-	{
-
-	case 2: 
-		pa = m_vertices[0];
-		pb = m_vertices[1];
-		break;
-	case 3:  
-		switch (i)
-		{
-		case 0:
-			pa = m_vertices[0];
-			pb = m_vertices[1];
-			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
-		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
-
-		}
-		break;
-	case 4: 
-		switch (i)
-		{
-		case 0:
-			pa = m_vertices[0];
-			pb = m_vertices[1];
-			break;
-		case 1:
-			pa = m_vertices[1];
-			pb = m_vertices[2];
-			break;
-		case 2:
-			pa = m_vertices[2];
-			pb = m_vertices[0];
-			break;
-		case 3:
-			pa = m_vertices[0];
-			pb = m_vertices[3];
-			break;
-		case 4:
-			pa = m_vertices[1];
-			pb = m_vertices[3];
-			break;
-		case 5:
-			pa = m_vertices[2];
-			pb = m_vertices[3];
-			break;
-		}
-
-	}
-
-
-
-
-}
-
-void BU_Simplex1to4::GetVertex(int i,SimdPoint3& vtx) const
-{
-	vtx = m_vertices[i];
-}
-
-int	BU_Simplex1to4::GetNumPlanes() const
-{
-	switch (m_numVertices)
-	{
-	case 0:
-			return 0;
-	case 1:
-			return 0;
-	case 2:
-			return 0;
-	case 3:
-			return 2;
-	case 4:
-			return 4;
-	default:
-		{
-		}
-	}
-	return 0;
-}
-
-
-void BU_Simplex1to4::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
-{
-	
-}
-
-int BU_Simplex1to4::GetIndex(int i) const
-{
-	return 0;
-}
-
-bool BU_Simplex1to4::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
-{
-	return false;
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h b/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h
deleted file mode 100644
index 8e5d124f31e..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BU_SIMPLEX_1TO4_SHAPE
-#define BU_SIMPLEX_1TO4_SHAPE
-
-
-#include <CollisionShapes/PolyhedralConvexShape.h>
-#include "BroadphaseCollision/BroadphaseProxy.h"
-
-
-///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex).
-class BU_Simplex1to4 : public PolyhedralConvexShape
-{
-protected:
-
-	int	m_numVertices;
-	SimdPoint3	m_vertices[4];
-
-public:
-	BU_Simplex1to4();
-
-	BU_Simplex1to4(const SimdPoint3& pt0);
-	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1);
-	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2);
-	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3);
-
-    
-	void	Reset()
-	{
-		m_numVertices = 0;
-	}
-	
-
-	virtual int	GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
-
-	void AddVertex(const SimdPoint3& pt);
-
-	//PolyhedralConvexShape interface
-
-	virtual int	GetNumVertices() const;
-
-	virtual int GetNumEdges() const;
-
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
-	
-	virtual void GetVertex(int i,SimdPoint3& vtx) const;
-
-	virtual int	GetNumPlanes() const;
-
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const;
-
-	virtual int GetIndex(int i) const;
-
-	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
-
-
-	///GetName is for debugging
-	virtual  char*	GetName()const { return "BU_Simplex1to4";}
-
-};
-
-#endif //BU_SIMPLEX_1TO4_SHAPE
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
deleted file mode 100644
index 28c46a28ab7..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "SphereShape.h"
-#include "CollisionShapes/CollisionMargin.h"
-
-#include "SimdQuaternion.h"
-
-
-SphereShape ::SphereShape (SimdScalar radius)
-: m_radius(radius)
-{	
-}
-
-SimdVector3	SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
-{
-	return SimdVector3(0.f,0.f,0.f);
-}
-
-void	SphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-{
-	for (int i=0;i<numVectors;i++)
-	{
-		supportVerticesOut[i].setValue(0.f,0.f,0.f);
-	}
-}
-
-
-SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
-{
-	SimdVector3 supVertex;
-	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
-
-	SimdVector3 vecnorm = vec;
-	if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		vecnorm.setValue(-1.f,-1.f,-1.f);
-	} 
-	vecnorm.normalize();
-	supVertex+= GetMargin() * vecnorm;
-	return supVertex;
-}
-
-
-//broken due to scaling
-void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	const SimdVector3& center = t.getOrigin();
-	SimdVector3 extent(GetMargin(),GetMargin(),GetMargin());
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-}
-
-
-
-void	SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
-	inertia[0] = inertia[1] = inertia[2] = elem;
-
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.h b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
deleted file mode 100644
index d93174c7bd7..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SPHERE_MINKOWSKI_H
-#define SPHERE_MINKOWSKI_H
-
-#include "ConvexShape.h"
-#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
-
-///SphereShape implements an implicit (getSupportingVertex) Sphere
-class SphereShape : public ConvexShape
-
-{
-	SimdScalar m_radius;
-	
-public:
-	SphereShape (SimdScalar radius);
-	
-	
-	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
-	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
-	//notice that the vectors should be unit length
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
-
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-	virtual int	GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
-
-	SimdScalar	GetRadius() const { return m_radius;}
-
-	//debugging
-	virtual char*	GetName()const {return "SPHERE";}
-
-	virtual void	SetMargin(float margin)
-	{
-		ConvexShape::SetMargin(margin);
-	}
-	virtual float	GetMargin() const
-	{
-		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
-		//this means, non-uniform scaling is not supported anymore
-		return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
-	}
-
-
-};
-
-
-#endif //SPHERE_MINKOWSKI_H
diff --git a/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.cpp b/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.cpp
deleted file mode 100644
index 48aecf5e508..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "StaticPlaneShape.h"
-
-#include "SimdTransformUtil.h"
-
-
-StaticPlaneShape::StaticPlaneShape(const SimdVector3& planeNormal,SimdScalar planeConstant)
-:m_planeNormal(planeNormal),
-m_planeConstant(planeConstant),
-m_localScaling(0.f,0.f,0.f)
-{
-}
-
-
-StaticPlaneShape::~StaticPlaneShape()
-{
-}
-
-
-
-void StaticPlaneShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	SimdVector3 infvec (1e30f,1e30f,1e30f);
-
-	SimdVector3 center = m_planeNormal*m_planeConstant;
-	aabbMin = center + infvec*m_planeNormal;
-	aabbMax = aabbMin;
-	aabbMin.setMin(center - infvec*m_planeNormal);
-	aabbMax.setMax(center - infvec*m_planeNormal); 
-
-	aabbMin.setValue(-1e30f,-1e30f,-1e30f);
-	aabbMax.setValue(1e30f,1e30f,1e30f);
-
-}
-
-
-
-
-void	StaticPlaneShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-
-	SimdVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
-	SimdScalar radius = halfExtents.length();
-	SimdVector3 center = (aabbMax + aabbMin) * 0.5f;
-	
-	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
-
-	SimdVector3 tangentDir0,tangentDir1;
-
-	//tangentDir0/tangentDir1 can be precalculated
-	SimdPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
-
-	SimdVector3 supVertex0,supVertex1;
-
-	SimdVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
-	
-	SimdVector3 triangle[3];
-	triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
-	triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
-	triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
-
-	callback->ProcessTriangle(triangle,0,0);
-
-	triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
-	triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
-	triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
-
-	callback->ProcessTriangle(triangle,0,1);
-
-}
-
-void	StaticPlaneShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//moving concave objects not supported
-	
-	inertia.setValue(0.f,0.f,0.f);
-}
-
-void	StaticPlaneShape::setLocalScaling(const SimdVector3& scaling)
-{
-	m_localScaling = scaling;
-}
-const SimdVector3& StaticPlaneShape::getLocalScaling() const
-{
-	return m_localScaling;
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.h b/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.h
deleted file mode 100644
index eaf8761c660..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/StaticPlaneShape.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef STATIC_PLANE_SHAPE_H
-#define STATIC_PLANE_SHAPE_H
-
-#include "CollisionShapes/ConcaveShape.h"
-
-
-///StaticPlaneShape simulates an 'infinite' plane by dynamically reporting triangles approximated by intersection of the plane with the AABB.
-///Assumed is that the other objects is not also infinite, so a reasonable sized AABB.
-class StaticPlaneShape : public ConcaveShape
-{
-protected:
-	SimdVector3	m_localAabbMin;
-	SimdVector3	m_localAabbMax;
-	
-	SimdVector3	m_planeNormal;
-	SimdVector3	m_localScaling;
-	SimdScalar m_planeConstant;
-
-public:
-	StaticPlaneShape(const SimdVector3& planeNormal,SimdScalar planeConstant);
-
-	virtual ~StaticPlaneShape();
-
-
-	virtual int	GetShapeType() const
-	{
-		return STATIC_PLANE_PROXYTYPE;
-	}
-
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	virtual void	setLocalScaling(const SimdVector3& scaling);
-	virtual const SimdVector3& getLocalScaling() const;
-	
-
-	//debugging
-	virtual char*	GetName()const {return "STATICPLANE";}
-
-
-};
-
-#endif //STATIC_PLANE_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp
deleted file mode 100644
index 874660c7ead..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "StridingMeshInterface.h"
-
-StridingMeshInterface::~StridingMeshInterface()
-{
-
-}
-
-
-void	StridingMeshInterface::InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-
-	SimdVector3 meshScaling = getScaling();
-
-	int numtotalphysicsverts = 0;
-	int part,graphicssubparts = getNumSubParts();
-	for (part=0;part<graphicssubparts ;part++)
-	{
-		const unsigned char * vertexbase;
-		const unsigned char * indexbase;
-		int indexstride;
-		PHY_ScalarType type;
-		PHY_ScalarType gfxindextype;
-		int stride,numverts,numtriangles;
-		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
-
-		numtotalphysicsverts+=numtriangles*3; //upper bound
-
-	
-		int gfxindex;
-		SimdVector3 triangle[3];
-
-		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
-		{
-		
-			int	graphicsindex=0;
-
-#ifdef DEBUG_TRIANGLE_MESH
-			printf("triangle indices:\n");
-#endif //DEBUG_TRIANGLE_MESH
-			ASSERT(gfxindextype == PHY_INTEGER);
-			int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
-
-			for (int j=2;j>=0;j--)
-			{
-				
-				graphicsindex = gfxbase[j];
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("%d ,",graphicsindex);
-#endif //DEBUG_TRIANGLE_MESH
-				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-
-				triangle[j] = SimdVector3(
-					graphicsbase[0]*meshScaling.getX(),
-					graphicsbase[1]*meshScaling.getY(),
-					graphicsbase[2]*meshScaling.getZ());
-#ifdef DEBUG_TRIANGLE_MESH
-				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
-#endif //DEBUG_TRIANGLE_MESH
-			}
-
-			
-			//check aabb in triangle-space, before doing this
-			callback->InternalProcessTriangleIndex(triangle,part,gfxindex);
-			
-		}
-		
-		unLockReadOnlyVertexBase(part);
-	}
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h b/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
deleted file mode 100644
index 0b482afdc9c..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef STRIDING_MESHINTERFACE_H
-#define STRIDING_MESHINTERFACE_H
-
-#include "SimdVector3.h"
-#include "TriangleCallback.h"
-
-/// PHY_ScalarType enumerates possible scalar types.
-/// See the StridingMeshInterface for its use
-typedef enum PHY_ScalarType {
-	PHY_FLOAT,
-	PHY_DOUBLE,
-	PHY_INTEGER,
-	PHY_SHORT,
-	PHY_FIXEDPOINT88
-} PHY_ScalarType;
-
-///	StridingMeshInterface is the interface class for high performance access to triangle meshes
-/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-class  StridingMeshInterface
-{
-	protected:
-	
-		SimdVector3 m_scaling;
-
-	public:
-		StridingMeshInterface() :m_scaling(1.f,1.f,1.f)
-		{
-
-		}
-
-		virtual ~StridingMeshInterface();
-
-
-
-		void	InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-
-		/// get read and write access to a subpart of a triangle mesh
-		/// this subpart has a continuous array of vertices and indices
-		/// in this way the mesh can be handled as chunks of memory with striding
-		/// very similar to OpenGL vertexarray support
-		/// make a call to unLockVertexBase when the read and write access is finished	
-		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
-		
-		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
-	
-		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-		virtual void	unLockVertexBase(int subpart)=0;
-
-		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
-
-
-		/// getNumSubParts returns the number of seperate subparts
-		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts() const=0;
-
-		virtual void	preallocateVertices(int numverts)=0;
-		virtual void	preallocateIndices(int numindices)=0;
-
-		const SimdVector3&	getScaling() const {
-			return m_scaling;
-		}
-		void	setScaling(const SimdVector3& scaling)
-		{
-			m_scaling = scaling;
-		}
-
-
-};
-
-#endif //STRIDING_MESHINTERFACE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp
deleted file mode 100644
index 499d377a00c..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "TriangleCallback.h"
-
-TriangleCallback::~TriangleCallback()
-{
-
-}
-
-
-InternalTriangleIndexCallback::~InternalTriangleIndexCallback()
-{
-
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h b/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h
deleted file mode 100644
index 810d4e62644..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleCallback.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef TRIANGLE_CALLBACK_H
-#define TRIANGLE_CALLBACK_H
-
-#include "SimdVector3.h"
-
-
-class TriangleCallback
-{
-public:
-
-	virtual ~TriangleCallback();
-	virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex) = 0;
-};
-
-class InternalTriangleIndexCallback
-{
-public:
-
-	virtual ~InternalTriangleIndexCallback();
-	virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex) = 0;
-};
-
-
-
-#endif //TRIANGLE_CALLBACK_H
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.cpp
deleted file mode 100644
index d01d87d3f5d..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "TriangleIndexVertexArray.h"
-
-TriangleIndexVertexArray::TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride)
-{
-	IndexedMesh mesh;
-	
-	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = triangleIndexBase;
-	mesh.m_triangleIndexStride = triangleIndexStride;
-	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = vertexBase;
-	mesh.m_vertexStride = vertexStride;
-	
-	AddIndexedMesh(mesh);
-
-}
-
-void	TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
-{
-	ASSERT(subpart< getNumSubParts() );
-	
-	IndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
-	type = PHY_FLOAT;
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-
-	(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = PHY_INTEGER;
-}
-
-void	TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
-{
-	const IndexedMesh& mesh = m_indexedMeshes[subpart];
-
-	numverts = mesh.m_numVertices;
-	(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
-	type = PHY_FLOAT;
-	vertexStride = mesh.m_vertexStride;
-
-	numfaces = mesh.m_numTriangles;
-	(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
-	indexstride = mesh.m_triangleIndexStride;
-	indicestype = PHY_INTEGER;
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h b/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h
deleted file mode 100644
index a44ef4514d5..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleIndexVertexArray.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "StridingMeshInterface.h"
-#include <vector>
-
-///IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
-///instead of the number of indices, we pass the number of triangles
-///todo: explain with pictures
-struct	IndexedMesh
-	{
-		int			m_numTriangles;
-		int*		m_triangleIndexBase;
-		int			m_triangleIndexStride;
-		int			m_numVertices;
-		float*		m_vertexBase;
-		int			m_vertexStride;
-	};
-
-///TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays.
-///Additional meshes can be added using AddIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
-///So keep those arrays around during the lifetime of this TriangleIndexVertexArray.
-class TriangleIndexVertexArray : public StridingMeshInterface
-{
-	std::vector<IndexedMesh>	m_indexedMeshes;
-
-		
-public:
-
-	
-
-	TriangleIndexVertexArray()
-	{
-	}
-
-	//just to be backwards compatible
-	TriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride);
-	
-	void	AddIndexedMesh(const IndexedMesh& mesh)
-	{
-		m_indexedMeshes.push_back(mesh);
-	}
-	
-	
-	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
-
-	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
-
-	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-	virtual void	unLockVertexBase(int subpart) {}
-
-	virtual void	unLockReadOnlyVertexBase(int subpart) const {}
-
-	/// getNumSubParts returns the number of seperate subparts
-	/// each subpart has a continuous array of vertices and indices
-	virtual int		getNumSubParts() const { 
-		return (int)m_indexedMeshes.size();
-	}
-	
-	virtual void	preallocateVertices(int numverts){}
-	virtual void	preallocateIndices(int numindices){}
-
-};
-
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp
deleted file mode 100644
index c86d286d9d6..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "TriangleMesh.h"
-#include <assert.h>
-
-static int	myindices[3] = {0,1,2};
-
-TriangleMesh::TriangleMesh ()
-{
-
-}
-
-void	TriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
-{
-	numverts = 3;
-	*vertexbase = (unsigned char*)&m_triangles[subpart];
-	type = PHY_FLOAT;
-	stride = sizeof(SimdVector3);
-
-
-	numfaces = 1;
-	*indexbase = (unsigned char*) &myindices[0];
-	indicestype = PHY_INTEGER;
-	indexstride = sizeof(int);
-
-}
-
-void	TriangleMesh::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
-{
-	numverts = 3;
-	*vertexbase = (unsigned char*)&m_triangles[subpart];
-	type = PHY_FLOAT;
-	stride = sizeof(SimdVector3);
-
-
-	numfaces = 1;
-	*indexbase = (unsigned char*) &myindices[0];
-	indicestype = PHY_INTEGER;
-	indexstride = sizeof(int);
-
-}
-
-
-
-int		TriangleMesh::getNumSubParts() const
-{
-	return m_triangles.size();
-}
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h b/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
deleted file mode 100644
index 9623cb401d2..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMesh.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef TRIANGLE_MESH_H
-#define TRIANGLE_MESH_H
-
-#include "CollisionShapes/StridingMeshInterface.h"
-#include <vector>
-#include <SimdVector3.h>
-
-struct MyTriangle
-{
-	SimdVector3	m_vert0;
-	SimdVector3	m_vert1;
-	SimdVector3	m_vert2;
-};
-
-///TriangleMesh provides storage for a concave triangle mesh. It can be used as data for the TriangleMeshShape.
-class TriangleMesh : public StridingMeshInterface
-{
-	std::vector<MyTriangle>	m_triangles;
-	
-
-	public:
-		TriangleMesh ();
-
-		void	AddTriangle(const SimdVector3& vertex0,const SimdVector3& vertex1,const SimdVector3& vertex2)
-		{
-			MyTriangle tri;
-			tri.m_vert0 = vertex0;
-			tri.m_vert1 = vertex1;
-			tri.m_vert2 = vertex2;
-			m_triangles.push_back(tri);
-		}
-
-
-//StridingMeshInterface interface implementation
-
-		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
-
-		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
-
-		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
-		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
-		virtual void	unLockVertexBase(int subpart) {}
-
-		virtual void	unLockReadOnlyVertexBase(int subpart) const {}
-
-		/// getNumSubParts returns the number of seperate subparts
-		/// each subpart has a continuous array of vertices and indices
-		virtual int		getNumSubParts() const;
-		
-		virtual void	preallocateVertices(int numverts){}
-		virtual void	preallocateIndices(int numindices){}
-
-		
-};
-
-#endif //TRIANGLE_MESH_H
-
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
deleted file mode 100644
index bc28946208c..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "TriangleMeshShape.h"
-#include "SimdVector3.h"
-#include "SimdQuaternion.h"
-#include "StridingMeshInterface.h"
-#include "AabbUtil2.h"
-#include "CollisionShapes/CollisionMargin.h"
-
-#include "stdio.h"
-
-TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
-: m_meshInterface(meshInterface)
-{
-	RecalcLocalAabb();
-}
-
-
-TriangleMeshShape::~TriangleMeshShape()
-{
-		
-}
-
-
-
-
-void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-
-	SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
-	SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
-	
-	SimdMatrix3x3 abs_b = trans.getBasis().absolute();  
-
-	SimdPoint3 center = trans(localCenter);
-
-	SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
-	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-
-	
-}
-
-
-
-class LocalAabbCalculator : public TriangleCallback
-{
-
-public:
-
-	SimdVector3 m_localAabbMin;
-	SimdVector3 m_localAabbMax;
-
-	LocalAabbCalculator()
-		: m_localAabbMin(1e30f,1e30f,1e30f), m_localAabbMax(-1e30f,-1e30f,-1e30f)
-	{
-	}
-
-	virtual void ProcessTriangle( SimdVector3* triangle,int partId, int triangleIndex)
-	{
-		for (int i=0;i<3;i++)
-		{
-			m_localAabbMin.setMin(triangle[i]);
-			m_localAabbMax.setMax(triangle[i]);
-		}
-	}
-};
-
-
-void	TriangleMeshShape::RecalcLocalAabb()
-{
-
-		LocalAabbCalculator aabbCalculator;
-		SimdVector3 aabbMax(1e30f,1e30f,1e30f);
-
-		NonVirtualProcessAllTriangles(&aabbCalculator,-aabbMax,aabbMax);
-		SimdVector3 marginVec(m_collisionMargin,m_collisionMargin,m_collisionMargin);
-		m_localAabbMax = aabbCalculator.m_localAabbMax + marginVec;
-		m_localAabbMin = aabbCalculator.m_localAabbMin - marginVec;
-		
-}
-
-	
-void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
-{
-	m_meshInterface->setScaling(scaling);
-	RecalcLocalAabb();
-}
-
-const SimdVector3& TriangleMeshShape::getLocalScaling() const
-{
-	return m_meshInterface->getScaling();
-}
-
-
-
-
-
-
-//#define DEBUG_TRIANGLE_MESH
-
-void	TriangleMeshShape::NonVirtualProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-	struct FilteredCallback : public InternalTriangleIndexCallback
-	{
-		TriangleCallback* m_callback;
-		SimdVector3 m_aabbMin;
-		SimdVector3 m_aabbMax;
-
-		FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
-			:m_callback(callback),
-			m_aabbMin(aabbMin),
-			m_aabbMax(aabbMax)
-		{
-		}
-
-		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
-		{
-			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
-			{
-				//check aabb in triangle-space, before doing this
-				m_callback->ProcessTriangle(triangle,partId,triangleIndex);
-			}
-			
-		}
-
-	};
-
-	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
-
-	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
-
-}
-
-
-void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
-{
-	NonVirtualProcessAllTriangles(callback,aabbMin,aabbMax);	
-}
-
-void	TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-{
-	//moving concave objects not supported
-	assert(0);
-	inertia.setValue(0.f,0.f,0.f);
-}
-
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
deleted file mode 100644
index 972176cfbec..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef TRIANGLE_MESH_SHAPE_H
-#define TRIANGLE_MESH_SHAPE_H
-
-#include "CollisionShapes/ConcaveShape.h"
-#include "CollisionShapes/StridingMeshInterface.h"
-
-
-///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class TriangleMeshShape : public ConcaveShape
-{
-protected:
-	StridingMeshInterface* m_meshInterface;
-	SimdVector3	m_localAabbMin;
-	SimdVector3	m_localAabbMax;
-	
-
-public:
-	TriangleMeshShape(StridingMeshInterface* meshInterface);
-
-	virtual ~TriangleMeshShape();
-
-	void	RecalcLocalAabb();
-
-	virtual int	GetShapeType() const
-	{
-		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
-	}
-
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-	void	NonVirtualProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-	virtual void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
-
-	virtual void	setLocalScaling(const SimdVector3& scaling);
-	virtual const SimdVector3& getLocalScaling() const;
-	
-
-	//debugging
-	virtual char*	GetName()const {return "TRIANGLEMESH";}
-
-
-};
-
-#endif //TRIANGLE_MESH_SHAPE_H
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleShape.h b/extern/bullet/Bullet/CollisionShapes/TriangleShape.h
deleted file mode 100644
index d1b4a993030..00000000000
--- a/extern/bullet/Bullet/CollisionShapes/TriangleShape.h
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef OBB_TRIANGLE_MINKOWSKI_H
-#define OBB_TRIANGLE_MINKOWSKI_H
-
-#include "ConvexShape.h"
-#include "CollisionShapes/BoxShape.h"
-
-class TriangleShape : public PolyhedralConvexShape
-{
-
-
-public:
-
-	SimdVector3	m_vertices1[3];
-
-
-	virtual int GetNumVertices() const
-	{
-		return 3;
-	}
-
-	const SimdVector3& GetVertexPtr(int index) const
-	{
-		return m_vertices1[index];
-	}
-	virtual void GetVertex(int index,SimdVector3& vert) const
-	{
-		vert = m_vertices1[index];
-	}
-	virtual int	GetShapeType() const
-	{
-		return TRIANGLE_SHAPE_PROXYTYPE;
-	}
-
-	virtual int GetNumEdges() const
-	{
-		return 3;
-	}
-	
-	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
-	{
-		GetVertex(i,pa);
-		GetVertex((i+1)%3,pb);
-	}
-
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const 
-	{
-//		ASSERT(0);
-		GetAabbSlow(t,aabbMin,aabbMax);
-	}
-
-	SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const 
-	{
-		SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
-	  	return m_vertices1[dots.maxAxis()];
-
-	}
-
-	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			const SimdVector3& dir = vectors[i];
-			SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
-  			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
-		}
-
-	}
-
-
-
-	TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
-	{
-		m_vertices1[0] = p0;
-		m_vertices1[1] = p1;
-		m_vertices1[2] = p2;
-	}
-
-	
-
-	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
-	{
-		GetPlaneEquation(i,planeNormal,planeSupport);
-	}
-
-	virtual int	GetNumPlanes() const
-	{
-		return 1;
-	}
-
-	void CalcNormal(SimdVector3& normal) const
-	{
-		normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
-		normal.normalize();
-	}
-
-	virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
-	{
-		CalcNormal(planeNormal);
-		planeSupport = m_vertices1[0];
-	}
-
-	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
-	{
-		ASSERT(0);
-		inertia.setValue(0.f,0.f,0.f);
-	}
-
-		virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
-	{
-		SimdVector3 normal;
-		CalcNormal(normal);
-		//distance to plane
-		SimdScalar dist = pt.dot(normal);
-		SimdScalar planeconst = m_vertices1[0].dot(normal);
-		dist -= planeconst;
-		if (dist >= -tolerance && dist <= tolerance)
-		{
-			//inside check on edge-planes
-			int i;
-			for (i=0;i<3;i++)
-			{
-				SimdPoint3 pa,pb;
-				GetEdge(i,pa,pb);
-				SimdVector3 edge = pb-pa;
-				SimdVector3 edgeNormal = edge.cross(normal);
-				edgeNormal.normalize();
-				SimdScalar dist = pt.dot( edgeNormal);
-				SimdScalar edgeConst = pa.dot(edgeNormal);
-				dist -= edgeConst;
-				if (dist < -tolerance)
-					return false;
-			}
-			
-			return true;
-		}
-
-		return false;
-	}
-		//debugging
-		virtual char*	GetName()const
-		{
-			return "Triangle";
-		}
-
-
-};
-
-#endif //OBB_TRIANGLE_MINKOWSKI_H
-
diff --git a/extern/bullet/Bullet/Doxyfile b/extern/bullet/Bullet/Doxyfile
deleted file mode 100644
index 4ecb6acb62f..00000000000
--- a/extern/bullet/Bullet/Doxyfile
+++ /dev/null
@@ -1,746 +0,0 @@
-# Doxyfile 1.2.4
-
-# This file describes the settings to be used by doxygen for a project
-#
-# All text after a hash (#) is considered a comment and will be ignored
-# The format is:
-#       TAG = value [value, ...]
-# For lists items can also be appended using:
-#       TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
-
-#---------------------------------------------------------------------------
-# General configuration options
-#---------------------------------------------------------------------------
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded 
-# by quotes) that should identify the project. 
-PROJECT_NAME           = "Bullet Continuous Collision Detection Library"
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number. 
-# This could be handy for archiving the generated documentation or 
-# if some version control system is used.
-
-PROJECT_NUMBER         = 
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
-# base path where the generated documentation will be put. 
-# If a relative path is entered, it will be relative to the location 
-# where doxygen was started. If left blank the current directory will be used.
-
-OUTPUT_DIRECTORY       = 
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all 
-# documentation generated by doxygen is written. Doxygen will use this 
-# information to generate all constant output in the proper language. 
-# The default language is English, other supported languages are: 
-# Dutch, French, Italian, Czech, Swedish, German, Finnish, Japanese, 
-# Korean, Hungarian, Norwegian, Spanish, Romanian, Russian, Croatian, 
-# Polish, Portuguese and Slovene.
-
-OUTPUT_LANGUAGE        = English
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in 
-# documentation are documented, even if no documentation was available. 
-# Private class members and static file members will be hidden unless 
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES 
-
-EXTRACT_ALL            = YES
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class 
-# will be included in the documentation. 
-
-EXTRACT_PRIVATE        = YES
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file 
-# will be included in the documentation. 
-
-EXTRACT_STATIC         = YES
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all 
-# undocumented members of documented classes, files or namespaces. 
-# If set to NO (the default) these members will be included in the 
-# various overviews, but no documentation section is generated. 
-# This option has no effect if EXTRACT_ALL is enabled. 
-
-HIDE_UNDOC_MEMBERS     = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all 
-# undocumented classes that are normally visible in the class hierarchy. 
-# If set to NO (the default) these class will be included in the various 
-# overviews. This option has no effect if EXTRACT_ALL is enabled. 
-
-HIDE_UNDOC_CLASSES     = NO
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will 
-# include brief member descriptions after the members that are listed in 
-# the file and class documentation (similar to JavaDoc). 
-# Set to NO to disable this. 
-
-BRIEF_MEMBER_DESC      = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend 
-# the brief description of a member or function before the detailed description. 
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the 
-# brief descriptions will be completely suppressed. 
-
-REPEAT_BRIEF           = YES
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then 
-# Doxygen will generate a detailed section even if there is only a brief 
-# description. 
-
-ALWAYS_DETAILED_SEC    = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full 
-# path before files name in the file list and in the header files. If set 
-# to NO the shortest path that makes the file name unique will be used. 
-
-FULL_PATH_NAMES        = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag 
-# can be used to strip a user defined part of the path. Stripping is 
-# only done if one of the specified strings matches the left-hand part of 
-# the path. It is allowed to use relative paths in the argument list.
-
-STRIP_FROM_PATH        = 
-
-# The INTERNAL_DOCS tag determines if documentation 
-# that is typed after a \internal command is included. If the tag is set 
-# to NO (the default) then the documentation will be excluded. 
-# Set it to YES to include the internal documentation. 
-
-INTERNAL_DOCS          = NO
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will 
-# generate a class diagram (in Html and LaTeX) for classes with base or 
-# super classes. Setting the tag to NO turns the diagrams off. 
-
-CLASS_DIAGRAMS         = YES
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will 
-# be generated. Documented entities will be cross-referenced with these sources. 
-
-SOURCE_BROWSER         = YES
-
-# Setting the INLINE_SOURCES tag to YES will include the body 
-# of functions and classes directly in the documentation. 
-
-INLINE_SOURCES         = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 
-# doxygen to hide any special comment blocks from generated source code 
-# fragments. Normal C and C++ comments will always remain visible. 
-
-STRIP_CODE_COMMENTS    = YES
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate 
-# file names in lower case letters. If set to YES upper case letters are also 
-# allowed. This is useful if you have classes or files whose names only differ 
-# in case and if your file system supports case sensitive file names. Windows 
-# users are adviced to set this option to NO.
-
-CASE_SENSE_NAMES       = YES
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen 
-# will show members with their full class and namespace scopes in the 
-# documentation. If set to YES the scope will be hidden. 
-
-HIDE_SCOPE_NAMES       = NO
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 
-# will generate a verbatim copy of the header file for each class for 
-# which an include is specified. Set to NO to disable this. 
-
-VERBATIM_HEADERS       = YES
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 
-# will put list of the files that are included by a file in the documentation 
-# of that file. 
-
-SHOW_INCLUDE_FILES     = YES
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen 
-# will interpret the first line (until the first dot) of a JavaDoc-style 
-# comment as the brief description. If set to NO, the JavaDoc 
-# comments  will behave just like the Qt-style comments (thus requiring an 
-# explict @brief command for a brief description. 
-
-JAVADOC_AUTOBRIEF      = YES
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 
-# member inherits the documentation from any documented member that it 
-# reimplements. 
-
-INHERIT_DOCS           = YES
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 
-# is inserted in the documentation for inline members. 
-
-INLINE_INFO            = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 
-# will sort the (detailed) documentation of file and class members 
-# alphabetically by member name. If set to NO the members will appear in 
-# declaration order. 
-
-SORT_MEMBER_DOCS       = YES
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 
-# tag is set to YES, then doxygen will reuse the documentation of the first 
-# member in the group (if any) for the other members of the group. By default 
-# all members of a group must be documented explicitly.
-
-DISTRIBUTE_GROUP_DOC   = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab. 
-# Doxygen uses this value to replace tabs by spaces in code fragments. 
-
-TAB_SIZE               = 8
-
-# The ENABLE_SECTIONS tag can be used to enable conditional 
-# documentation sections, marked by \if sectionname ... \endif. 
-
-ENABLED_SECTIONS       = 
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or 
-# disable (NO) the todo list. This list is created by putting \todo 
-# commands in the documentation.
-
-GENERATE_TODOLIST      = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or 
-# disable (NO) the test list. This list is created by putting \test 
-# commands in the documentation.
-
-GENERATE_TESTLIST      = YES
-
-# This tag can be used to specify a number of aliases that acts 
-# as commands in the documentation. An alias has the form "name=value". 
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to 
-# put the command \sideeffect (or @sideeffect) in the documentation, which 
-# will result in a user defined paragraph with heading "Side Effects:". 
-# You can put \n's in the value part of an alias to insert newlines. 
-
-ALIASES                = 
-
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated 
-# by doxygen. Possible values are YES and NO. If left blank NO is used. 
-
-QUIET                  = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are 
-# generated by doxygen. Possible values are YES and NO. If left blank 
-# NO is used. 
-
-WARNINGS               = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will 
-# automatically be disabled. 
-
-WARN_IF_UNDOCUMENTED   = YES
-
-# The WARN_FORMAT tag determines the format of the warning messages that 
-# doxygen can produce. The string should contain the $file, $line, and $text 
-# tags, which will be replaced by the file and line number from which the 
-# warning originated and the warning text. 
-
-WARN_FORMAT            = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning 
-# and error messages should be written. If left blank the output is written 
-# to stderr. 
-
-WARN_LOGFILE           = 
-
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain 
-# documented source files. You may enter file names like "myfile.cpp" or 
-# directories like "/usr/src/myproject". Separate the files or directories 
-# with spaces. 
-
-INPUT                  = .
-
-
-# If the value of the INPUT tag contains directories, you can use the 
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank all files are included. 
-
-FILE_PATTERNS          = *.h *.cpp *.c
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories 
-# should be searched for input files as well. Possible values are YES and NO. 
-# If left blank NO is used. 
-
-RECURSIVE              = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should 
-# excluded from the INPUT source files. This way you can easily exclude a 
-# subdirectory from a directory tree whose root is specified with the INPUT tag. 
-
-EXCLUDE                = 
-
-# If the value of the INPUT tag contains directories, you can use the 
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 
-# certain files from those directories. 
-
-EXCLUDE_PATTERNS       = 
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or 
-# directories that contain example code fragments that are included (see 
-# the \include command). 
-
-EXAMPLE_PATH           = 
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the 
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank all files are included. 
-
-EXAMPLE_PATTERNS       = 
-
-# The IMAGE_PATH tag can be used to specify one or more files or 
-# directories that contain image that are included in the documentation (see 
-# the \image command). 
-
-IMAGE_PATH             = 
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should 
-# invoke to filter for each input file. Doxygen will invoke the filter program 
-# by executing (via popen()) the command <filter> <input-file>, where <filter> 
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an 
-# input file. Doxygen will then use the output that the filter program writes 
-# to standard output. 
-
-INPUT_FILTER           = 
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 
-# INPUT_FILTER) will be used to filter the input files when producing source 
-# files to browse. 
-
-FILTER_SOURCE_FILES    = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 
-# of all compounds will be generated. Enable this if the project 
-# contains a lot of classes, structs, unions or interfaces. 
-
-ALPHABETICAL_INDEX     = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 
-# in which this list will be split (can be a number in the range [1..20]) 
-
-COLS_IN_ALPHA_INDEX    = 5
-
-# In case all classes in a project start with a common prefix, all 
-# classes will be put under the same header in the alphabetical index. 
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that 
-# should be ignored while generating the index headers. 
-
-IGNORE_PREFIX          = 
-
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will 
-# generate HTML output. 
-
-GENERATE_HTML          = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `html' will be used as the default path. 
-
-HTML_OUTPUT            = html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard header.
-
-HTML_HEADER            = 
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard footer.
-
-HTML_FOOTER            = 
-
-# The HTML_STYLESHEET tag can be used to specify a user defined cascading 
-# style sheet that is used by each HTML page. It can be used to 
-# fine-tune the look of the HTML output. If the tag is left blank doxygen 
-# will generate a default style sheet 
-
-HTML_STYLESHEET        = 
-
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, 
-# files or namespaces will be aligned in HTML using tables. If set to 
-# NO a bullet list will be used. 
-
-HTML_ALIGN_MEMBERS     = YES
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files 
-# will be generated that can be used as input for tools like the 
-# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) 
-# of the generated HTML documentation. 
-
-GENERATE_HTMLHELP      = NO
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at 
-# top of each HTML page. The value NO (the default) enables the index and 
-# the value YES disables it. 
-
-DISABLE_INDEX          = NO
-
-# This tag can be used to set the number of enum values (range [1..20]) 
-# that doxygen will group on one line in the generated HTML documentation. 
-
-ENUM_VALUES_PER_LINE   = 4
-
-# If the GENERATE_TREEVIEW tag is set to YES, a side pannel will be
-# generated containing a tree-like index structure (just like the one that 
-# is generated for HTML Help). For this to work a browser that supports 
-# JavaScript and frames is required (for instance Netscape 4.0+ 
-# or Internet explorer 4.0+). 
-
-GENERATE_TREEVIEW      = NO
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 
-# used to set the initial width (in pixels) of the frame in which the tree 
-# is shown. 
-
-TREEVIEW_WIDTH         = 250
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 
-# generate Latex output. 
-
-GENERATE_LATEX         = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `latex' will be used as the default path. 
-
-LATEX_OUTPUT           = latex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 
-# LaTeX documents. This may be useful for small projects and may help to 
-# save some trees in general. 
-
-COMPACT_LATEX          = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used 
-# by the printer. Possible values are: a4, a4wide, letter, legal and 
-# executive. If left blank a4wide will be used. 
-
-PAPER_TYPE             = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 
-# packages that should be included in the LaTeX output. 
-
-EXTRA_PACKAGES         = 
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for 
-# the generated latex document. The header should contain everything until 
-# the first chapter. If it is left blank doxygen will generate a 
-# standard header. Notice: only use this tag if you know what you are doing! 
-
-LATEX_HEADER           = 
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will 
-# contain links (just like the HTML output) instead of page references 
-# This makes the output suitable for online browsing using a pdf viewer. 
-
-PDF_HYPERLINKS         = NO
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 
-# plain latex in the generated Makefile. Set this option to YES to get a 
-# higher quality PDF documentation. 
-
-USE_PDFLATEX           = NO
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 
-# command to the generated LaTeX files. This will instruct LaTeX to keep 
-# running if errors occur, instead of asking the user for help. 
-# This option is also used when generating formulas in HTML. 
-
-LATEX_BATCHMODE        = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 
-# The RTF output is optimised for Word 97 and may not look very pretty with 
-# other RTF readers or editors.
-
-GENERATE_RTF           = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `rtf' will be used as the default path. 
-
-RTF_OUTPUT             = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact 
-# RTF documents. This may be useful for small projects and may help to 
-# save some trees in general. 
-
-COMPACT_RTF            = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 
-# will contain hyperlink fields. The RTF file will 
-# contain links (just like the HTML output) instead of page references. 
-# This makes the output suitable for online browsing using a WORD or other. 
-# programs which support those fields. 
-# Note: wordpad (write) and others do not support links. 
-
-RTF_HYPERLINKS         = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's 
-# config file, i.e. a series of assigments. You only have to provide 
-# replacements, missing definitions are set to their default value. 
-
-RTF_STYLESHEET_FILE    = 
-
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will 
-# generate man pages 
-
-GENERATE_MAN           = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `man' will be used as the default path. 
-
-MAN_OUTPUT             = man
-
-# The MAN_EXTENSION tag determines the extension that is added to 
-# the generated man pages (default is the subroutine's section .3) 
-
-MAN_EXTENSION          = .3
-
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will 
-# generate an XML file that captures the structure of 
-# the code including all documentation. Warning: This feature 
-# is still experimental and very incomplete.
-
-GENERATE_XML           = NO
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 
-# evaluate all C-preprocessor directives found in the sources and include 
-# files. 
-
-ENABLE_PREPROCESSING   = YES
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro 
-# names in the source code. If set to NO (the default) only conditional 
-# compilation will be performed. Macro expansion can be done in a controlled 
-# way by setting EXPAND_ONLY_PREDEF to YES. 
-
-MACRO_EXPANSION        = NO
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES 
-# then the macro expansion is limited to the macros specified with the 
-# PREDEFINED and EXPAND_AS_PREDEFINED tags. 
-
-EXPAND_ONLY_PREDEF     = NO
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files 
-# in the INCLUDE_PATH (see below) will be search if a #include is found. 
-
-SEARCH_INCLUDES        = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that 
-# contain include files that are not input files but should be processed by 
-# the preprocessor. 
-
-INCLUDE_PATH           = ../../generic/extern
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 
-# patterns (like *.h and *.hpp) to filter out the header-files in the 
-# directories. If left blank, the patterns specified with FILE_PATTERNS will 
-# be used. 
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-INCLUDE_FILE_PATTERNS  = 
-
-# The PREDEFINED tag can be used to specify one or more macro names that 
-# are defined before the preprocessor is started (similar to the -D option of 
-# gcc). The argument of the tag is a list of macros of the form: name 
-# or name=definition (no spaces). If the definition and the = are 
-# omitted =1 is assumed. 
-
-PREDEFINED             = 
-
-# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then 
-# this tag can be used to specify a list of macro names that should be expanded. 
-# The macro definition that is found in the sources will be used. 
-# Use the PREDEFINED tag if you want to use a different macro definition. 
-
-EXPAND_AS_DEFINED      = 
-
-#---------------------------------------------------------------------------
-# Configuration::addtions related to external references   
-#---------------------------------------------------------------------------
-
-# The TAGFILES tag can be used to specify one or more tagfiles. 
-
-TAGFILES               = 
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create 
-# a tag file that is based on the input files it reads. 
-
-GENERATE_TAGFILE       = 
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed 
-# in the class index. If set to NO only the inherited external classes 
-# will be listed. 
-
-ALLEXTERNALS           = NO
-
-# The PERL_PATH should be the absolute path and name of the perl script 
-# interpreter (i.e. the result of `which perl'). 
-
-PERL_PATH              = /usr/bin/perl
-
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
-#---------------------------------------------------------------------------
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is 
-# available from the path. This tool is part of Graphviz, a graph visualization 
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section 
-# have no effect if this option is set to NO (the default) 
-
-HAVE_DOT               = YES
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect inheritance relations. Setting this tag to YES will force the 
-# the CLASS_DIAGRAMS tag to NO.
-
-CLASS_GRAPH            = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect implementation dependencies (inheritance, containment, and 
-# class references variables) of the class with other documented classes. 
-
-COLLABORATION_GRAPH    = YES
-
-# If the ENABLE_PREPROCESSING, INCLUDE_GRAPH, and HAVE_DOT tags are set to 
-# YES then doxygen will generate a graph for each documented file showing 
-# the direct and indirect include dependencies of the file with other 
-# documented files. 
-
-INCLUDE_GRAPH          = YES
-
-# If the ENABLE_PREPROCESSING, INCLUDED_BY_GRAPH, and HAVE_DOT tags are set to 
-# YES then doxygen will generate a graph for each documented header file showing 
-# the documented files that directly or indirectly include this file 
-
-INCLUDED_BY_GRAPH      = YES
-
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen 
-# will graphical hierarchy of all classes instead of a textual one. 
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-# The tag DOT_PATH can be used to specify the path where the dot tool can be 
-# found. If left blank, it is assumed the dot tool can be found on the path. 
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-# the specified constraint. Beware that most browsers cannot cope with very 
-# large images. 
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-MAX_DOT_GRAPH_WIDTH    = 1024
-
-# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height 
-# (in pixels) of the graphs generated by dot. If a graph becomes larger than 
-# this value, doxygen will try to truncate the graph, so that it fits within 
-# the specified constraint. Beware that most browsers cannot cope with very 
-# large images. 
-
-MAX_DOT_GRAPH_HEIGHT   = 1024
-
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will 
-# generate a legend page explaining the meaning of the various boxes and 
-# arrows in the dot generated graphs. 
-
-GENERATE_LEGEND        = YES
-
-#---------------------------------------------------------------------------
-# Configuration::addtions related to the search engine   
-#---------------------------------------------------------------------------
-
-# The SEARCHENGINE tag specifies whether or not a search engine should be 
-# used. If set to NO the values of all tags below this one will be ignored. 
-
-SEARCHENGINE           = NO
-
-# The CGI_NAME tag should be the name of the CGI script that 
-# starts the search engine (doxysearch) with the correct parameters. 
-# A script with this name will be generated by doxygen. 
-
-CGI_NAME               = search.cgi
-
-# The CGI_URL tag should be the absolute URL to the directory where the 
-# cgi binaries are located. See the documentation of your http daemon for 
-# details. 
-
-CGI_URL                = 
-
-# The DOC_URL tag should be the absolute URL to the directory where the 
-# documentation is located. If left blank the absolute path to the 
-# documentation, with file:// prepended to it, will be used. 
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-DOC_URL                = 
-
-# The DOC_ABSPATH tag should be the absolute path to the directory where the 
-# documentation is located. If left blank the directory on the local machine 
-# will be used. 
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-DOC_ABSPATH            = 
-
-# The BIN_ABSPATH tag must point to the directory where the doxysearch binary 
-# is installed. 
-
-BIN_ABSPATH            = c:\program files\doxygen\bin
-
-# The EXT_DOC_PATHS tag can be used to specify one or more paths to 
-# documentation generated for other projects. This allows doxysearch to search 
-# the documentation for these projects as well. 
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-EXT_DOC_PATHS          = 
diff --git a/extern/bullet/Bullet/Makefile b/extern/bullet/Bullet/Makefile
deleted file mode 100644
index 8c4284239cc..00000000000
--- a/extern/bullet/Bullet/Makefile
+++ /dev/null
@@ -1,68 +0,0 @@
-#
-# $Id$
-#
-# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version. The Blender
-# Foundation also sells licenses for use in proprietary software under
-# the Blender License.  See http://www.blender.org/BL/ for information
-# about this.
-#
-# This program 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
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
-#
-# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): none yet.
-#
-# ***** END GPL/BL DUAL LICENSE BLOCK *****
-# opennl intern Makefile
-#
-
-LIBNAME = bullet
-SOURCEDIR = extern/bullet/Bullet
-DIR = $(OCGDIR)/$(SOURCEDIR)
-
-CCSRCS  = $(wildcard BroadphaseCollision/*.cpp)
-CCSRCS += $(wildcard NarrowPhaseCollision/*.cpp)
-CCSRCS += $(wildcard CollisionShapes/*.cpp)
-CCSRCS += $(wildcard CollisionDispatch/*.cpp)
-
-CPPFLAGS += -DUSE_DOUBLES -DQHULL -D_LIB
-CPPFLAGS += -I../Bullet -I../BulletDynamics -I../LinearMath
-
-all debug:: objdirs
-
-include nan_compile.mk
-
-.PHONY: objdirs clean
-objdirs:
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)BroadphaseCollision
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)NarrowPhaseCollision
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)CollisionShapes
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)CollisionDispatch
-
-optclean::
-	@-[ ! -d $(DIR)/BroadphaseCollision ] || (cd $(DIR)/BroadphaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/NarrowPhaseCollision ] || (cd $(DIR)/NarrowPhaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/CollisionShapes ] || (cd $(DIR)/CollisionShapes && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/CollisionDispatch ] || (cd $(DIR)/CollisionDispatch && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-
-debugclean::
-	@-[ ! -d $(DIR)/debug/BroadphaseCollision ] || (cd $(DIR)/debug/BroadphaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/debug/NarrowPhaseCollision ] || (cd $(DIR)/debug/NarrowPhaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/debug/CollisionShapes ] || (cd $(DIR)/debug/CollisionShapes && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/debug/CollisionDispatch ] || (cd $(DIR)/debug/CollisionDispatch && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp
deleted file mode 100644
index e318c25da23..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp
+++ /dev/null
@@ -1,360 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "BU_AlgebraicPolynomialSolver.h"
-#include <math.h>
-#include <SimdMinMax.h>
-
-int BU_AlgebraicPolynomialSolver::Solve2Quadratic(SimdScalar p, SimdScalar q) 
-{ 
-
-	SimdScalar basic_h_local;
-	SimdScalar basic_h_local_delta;
-	
-	basic_h_local       = p * 0.5f; 
-   basic_h_local_delta = basic_h_local * basic_h_local - q; 
-   if (basic_h_local_delta > 0.0f)  { 
-      basic_h_local_delta = SimdSqrt(basic_h_local_delta); 
-      m_roots[0]  = - basic_h_local + basic_h_local_delta; 
-      m_roots[1]  = - basic_h_local - basic_h_local_delta; 
-      return 2; 
-   } 
-   else if (SimdGreaterEqual(basic_h_local_delta, SIMD_EPSILON)) { 
-      m_roots[0]  = - basic_h_local; 
-      return 1; 
-   } 
-   else { 
-      return 0; 
-   } 
- }
-
-
-int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c) 
-{ 
-    SimdScalar radical = b * b - 4.0f * a * c;
-    if(radical >= 0.f)
-    {
-        SimdScalar sqrtRadical = SimdSqrt(radical); 
-        SimdScalar idenom = 1.0f/(2.0f * a);
-        m_roots[0]=(-b + sqrtRadical) * idenom;
-        m_roots[1]=(-b - sqrtRadical) * idenom;
-		return 2;
-	}
-	return 0;
-}
-
-
-#define cubic_rt(x) \
- ((x) > 0.0f ? SimdPow((SimdScalar)(x), 0.333333333333333333333333f) : \
-  ((x) < 0.0f ? -SimdPow((SimdScalar)-(x), 0.333333333333333333333333f) : 0.0f))
-
-
-
-/*                                                                           */
-/* this function solves the following cubic equation:                        */
-/*                                                                           */
-/*              3          2                                                */
-/*      lead * x   +  a * x   +  b * x  +  c  =  0.                          */
-/*                                                                           */
-/* it returns the number of different roots found, and stores the roots in   */
-/* roots[0,2]. it returns -1 for a degenerate equation 0 = 0.                */
-/*                                                                           */
-int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c)
-{ 
-   SimdScalar p, q, r;
-   SimdScalar delta, u, phi;
-   SimdScalar dummy;
-
-   if (lead != 1.0) {
-      /*                                                                     */
-      /* transform into normal form: x^3 + a x^2 + b x + c = 0               */
-      /*                                                                     */
-      if (SimdEqual(lead, SIMD_EPSILON)) {
-         /*                                                                  */
-         /* we have  a x^2 + b x + c = 0                                     */
-         /*                                                                  */
-         if (SimdEqual(a, SIMD_EPSILON)) {
-            /*                                                               */
-            /* we have  b x + c = 0                                          */
-            /*                                                               */
-            if (SimdEqual(b, SIMD_EPSILON)) {
-               if (SimdEqual(c, SIMD_EPSILON)) {
-                  return -1;
-               }
-               else {
-                  return 0;
-               }
-            }
-            else {
-               m_roots[0] = -c / b;
-               return 1;
-            }
-         }
-         else {
-            p = c / a;
-            q = b / a;
-            return Solve2QuadraticFull(a,b,c);
-         }
-      }
-      else {
-         a = a / lead;
-         b = b / lead;
-         c = c / lead;
-      }
-   }
-               
-   /*                                                                        */
-   /* we substitute  x = y - a / 3  in order to eliminate the quadric term.  */
-   /* we get   x^3 + p x + q = 0                                             */
-   /*                                                                        */
-   a /= 3.0f;
-   u  = a * a;
-   p  = b / 3.0f - u;
-   q  = a * (2.0f * u - b) + c;
-
-   /*                                                                        */
-   /* now use Cardano's formula                                              */
-   /*                                                                        */
-   if (SimdEqual(p, SIMD_EPSILON)) {
-      if (SimdEqual(q, SIMD_EPSILON)) {
-         /*                                                                  */
-         /* one triple root                                                  */
-         /*                                                                  */
-         m_roots[0] = -a;
-         return 1;
-      }
-      else {
-         /*                                                                  */
-         /* one real and two complex roots                                   */
-         /*                                                                  */
-         m_roots[0] = cubic_rt(-q) - a;
-         return 1;
-      }
-   }
-
-   q /= 2.0f;
-   delta = p * p * p + q * q;
-   if (delta > 0.0f) {
-      /*                                                                     */
-      /* one real and two complex roots. note that  v = -p / u.              */
-      /*                                                                     */
-      u = -q + SimdSqrt(delta);
-      u = cubic_rt(u);
-      m_roots[0] = u - p / u - a;
-      return 1;
-   }
-   else if (delta < 0.0) {
-      /*                                                                     */
-      /* Casus irreducibilis: we have three real roots                       */
-      /*                                                                     */
-      r        = SimdSqrt(-p);
-      p       *= -r;
-      r       *= 2.0;
-      phi      = SimdAcos(-q / p) / 3.0f;
-      dummy    = SIMD_2_PI / 3.0f; 
-      m_roots[0] = r * SimdCos(phi) - a;
-      m_roots[1] = r * SimdCos(phi + dummy) - a;
-      m_roots[2] = r * SimdCos(phi - dummy) - a;
-      return 3;
-   }
-   else {
-      /*                                                                     */
-      /* one single and one SimdScalar root                                      */
-      /*                                                                     */
-      r = cubic_rt(-q);
-      m_roots[0] = 2.0f * r - a;
-      m_roots[1] = -r - a;
-      return 2;
-   }
-}
-
-
-/*                                                                           */
-/* this function solves the following quartic equation:                      */
-/*                                                                           */
-/*             4           3          2                                      */
-/*     lead * x   +  a *  x   +  b * x   +  c * x  +  d = 0.                 */
-/*                                                                           */
-/* it returns the number of different roots found, and stores the roots in   */
-/* roots[0,3]. it returns -1 for a degenerate equation 0 = 0.                */
-/*                                                                           */
-int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d)
-{ 
-   SimdScalar p, q ,r;
-   SimdScalar u, v, w;
-   int i, num_roots, num_tmp;
-   //SimdScalar tmp[2];
-
-   if (lead != 1.0) {
-      /*                                                                     */
-      /* transform into normal form: x^4 + a x^3 + b x^2 + c x + d = 0       */
-      /*                                                                     */
-      if (SimdEqual(lead, SIMD_EPSILON)) {
-         /*                                                                  */
-         /* we have  a x^3 + b x^2 + c x + d = 0                             */
-         /*                                                                  */
-         if (SimdEqual(a, SIMD_EPSILON)) { 
-            /*                                                               */
-            /* we have  b x^2 + c x + d = 0                                  */
-            /*                                                               */
-            if (SimdEqual(b, SIMD_EPSILON)) {
-               /*                                                            */
-               /* we have  c x + d = 0                                       */
-               /*                                                            */
-               if (SimdEqual(c, SIMD_EPSILON)) {
-                  if (SimdEqual(d, SIMD_EPSILON)) {
-                     return -1;
-                  }
-                  else {
-                     return 0;
-                  }
-               }
-               else {
-                  m_roots[0] = -d / c;
-                  return 1;
-               }
-            }
-            else {
-               p = c / b;
-               q = d / b;
-               return Solve2QuadraticFull(b,c,d);
-               
-            }
-         }
-         else { 
-            return Solve3Cubic(1.0, b / a, c / a, d / a);
-         }
-      }
-      else {
-         a = a / lead;
-         b = b / lead;
-         c = c / lead;
-         d = d / lead;
-      }
-   }
-
-   /*                                                                        */
-   /* we substitute  x = y - a / 4  in order to eliminate the cubic term.    */
-   /* we get:  y^4 + p y^2 + q y + r = 0.                                    */
-   /*                                                                        */
-   a /= 4.0f;
-   p  = b - 6.0f * a * a;
-   q  = a * (8.0f * a * a - 2.0f * b) + c;
-   r  = a * (a * (b - 3.f * a * a) - c) + d;
-   if (SimdEqual(q, SIMD_EPSILON)) {
-      /*                                                                     */
-      /* biquadratic equation:  y^4 + p y^2 + r = 0.                         */
-      /*                                                                     */
-      num_roots = Solve2Quadratic(p, r);
-      if (num_roots > 0) {                 
-         if (m_roots[0] > 0.0f) {
-            if (num_roots > 1)  {
-               if ((m_roots[1] > 0.0f)  &&  (m_roots[1] != m_roots[0])) {
-                  u        = SimdSqrt(m_roots[1]);
-                  m_roots[2] =  u - a;
-                  m_roots[3] = -u - a;
-                  u        = SimdSqrt(m_roots[0]);
-                  m_roots[0] =  u - a;
-                  m_roots[1] = -u - a;
-                  return 4;
-               }
-               else {
-                  u        = SimdSqrt(m_roots[0]);
-                  m_roots[0] =  u - a;
-                  m_roots[1] = -u - a;
-                  return 2;
-               }
-            }
-            else {
-               u        = SimdSqrt(m_roots[0]);
-               m_roots[0] =  u - a;
-               m_roots[1] = -u - a;
-               return 2;
-            }
-         }
-      }
-      return 0;
-   }
-   else if (SimdEqual(r, SIMD_EPSILON)) {
-      /*                                                                     */
-      /* no absolute term:  y (y^3 + p y + q) = 0.                           */
-      /*                                                                     */
-      num_roots = Solve3Cubic(1.0, 0.0, p, q);
-      for (i = 0;  i < num_roots;  ++i)  m_roots[i] -= a;
-      if (num_roots != -1) {
-         m_roots[num_roots] = -a;
-         ++num_roots;
-      }
-      else {
-         m_roots[0]  = -a;
-         num_roots = 1;;
-      }
-      return num_roots;
-   }
-   else {
-      /*                                                                     */
-      /* we solve the resolvent cubic equation                               */
-      /*                                                                     */
-      num_roots = Solve3Cubic(1.0f, -0.5f * p, -r, 0.5f * r * p - 0.125f * q * q);
-      if (num_roots == -1) {
-         num_roots = 1;
-         m_roots[0]  = 0.0f;
-      }
-
-      /*                                                                     */
-      /* build two quadric equations                                         */
-      /*                                                                     */
-      w = m_roots[0];
-      u = w * w - r;
-      v = 2.0f * w - p;
-
-      if (SimdEqual(u, SIMD_EPSILON))
-         u = 0.0;
-      else if (u > 0.0f)
-         u = SimdSqrt(u);
-      else
-         return 0;
-      
-      if (SimdEqual(v, SIMD_EPSILON))
-         v = 0.0;
-      else if (v > 0.0f)
-         v = SimdSqrt(v);
-      else
-         return 0;
-
-      if (q < 0.0f)  v = -v;
-      w -= u;
-      num_roots=Solve2Quadratic(v, w);
-      for (i = 0;  i < num_roots;  ++i)  
-	  {
-		  m_roots[i] -= a;
-	  }
-      w += 2.0f *u;
-	  SimdScalar tmp[2];
-	  tmp[0] = m_roots[0];
-	  tmp[1] = m_roots[1];
-
-      num_tmp = Solve2Quadratic(-v, w);
-      for (i = 0;  i < num_tmp;  ++i)
-	  {
-		 m_roots[i + num_roots] = tmp[i] - a;
-		 m_roots[i]=tmp[i];
-	  }
-
-      return  (num_tmp + num_roots);
-   }
-}
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.h
deleted file mode 100644
index 2d2fe5fc1f9..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
-#define BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
-
-#include "BU_PolynomialSolverInterface.h"
-
-/// BU_AlgebraicPolynomialSolver implements polynomial root finding by analytically solving algebraic equations.
-/// Polynomials up to 4rd degree are supported, Cardano's formula is used for 3rd degree
-class BU_AlgebraicPolynomialSolver : public BUM_PolynomialSolverInterface
-{
-public:
-	BU_AlgebraicPolynomialSolver() {};
-
-	int Solve2Quadratic(SimdScalar p, SimdScalar q);
-	int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c);
-	int	Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c);
-	int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d);
-	
-
-	SimdScalar GetRoot(int i) const 
-	{
-		return m_roots[i];
-	}
-
-private:
-	SimdScalar	m_roots[4];
-
-};
-
-#endif //BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.cpp
deleted file mode 100644
index bb06e7edb3a..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "BU_Collidable.h"
-#include "CollisionShapes/CollisionShape.h"
-#include <SimdTransform.h>
-#include "BU_MotionStateInterface.h"
-
-BU_Collidable::BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape,void* userPointer )
-:m_motionState(motion),m_shape(shape),m_userPointer(userPointer)
-{
-}
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.h
deleted file mode 100644
index 0a63d32f663..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_COLLIDABLE
-#define BU_COLLIDABLE
-
-
-class PolyhedralConvexShape;
-class BU_MotionStateInterface;
-#include <SimdPoint3.h>
-
-class BU_Collidable
-{
-public:
-	BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape, void* userPointer);
-
-	void*		GetUserPointer() const
-	{
-		return m_userPointer;
-	}
-
-	BU_MotionStateInterface&	GetMotionState()
-	{
-		return m_motionState;
-	}
-	inline const BU_MotionStateInterface&	GetMotionState() const
-	{
-		return m_motionState;
-	}
-	
-	inline const PolyhedralConvexShape&	GetShape() const
-	{
-		return m_shape;
-	};
-
-
-private:
-	BU_MotionStateInterface& m_motionState;
-	PolyhedralConvexShape&	m_shape;
-	void*		m_userPointer;
-
-};
-
-#endif //BU_COLLIDABLE
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp
deleted file mode 100644
index ebd80cc31f1..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp
+++ /dev/null
@@ -1,581 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "BU_CollisionPair.h"
-#include "NarrowPhaseCollision/BU_VertexPoly.h"
-#include "NarrowPhaseCollision/BU_EdgeEdge.h"
-#include "BU_Collidable.h"
-
-
-#include "BU_MotionStateInterface.h"
-#include "CollisionShapes/PolyhedralConvexShape.h"
-#include <SimdMinMax.h>
-#include "SimdTransformUtil.h"
-
-
-
-BU_CollisionPair::BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance)
-: m_convexA(convexA),m_convexB(convexB),m_screwing(SimdVector3(0,0,0),SimdVector3(0,0,0)),
-m_tolerance(tolerance)
-{
-
-}
-
-// if there exists a time-of-impact between any feature_pair (edgeA,edgeB),
-// (vertexA,faceB) or (vertexB,faceA) in [0..1], report true and smallest time
-
-
-/*
-bool BU_CollisionPair::GetTimeOfImpact(const SimdVector3& linearMotionA,const SimdQuaternion& angularMotionA,const SimdVector3& linearMotionB,const SimdQuaternion& angularMotionB, SimdScalar& toi,SimdTransform& impactTransA,SimdTransform& impactTransB)
-
-*/
-
-bool BU_CollisionPair::calcTimeOfImpact(
-					const SimdTransform& fromA,
-					const SimdTransform& toA,
-					const SimdTransform& fromB,
-					const SimdTransform& toB,
-					CastResult& result)
-{
-
-
-
-	
-	SimdVector3 linvelA,angvelA;
-	SimdVector3 linvelB,angvelB;
-
-	SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linvelA,angvelA);
-	SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linvelB,angvelB);
-
-
-	SimdVector3 linearMotionA = toA.getOrigin() - fromA.getOrigin();
-	SimdQuaternion angularMotionA(0,0,0,1.f);
-	SimdVector3 linearMotionB = toB.getOrigin() - fromB.getOrigin();
-	SimdQuaternion angularMotionB(0,0,0,1);
-	
-
-
-	result.m_fraction = 1.f;
-
-	SimdTransform impactTransA;
-	SimdTransform impactTransB;
-
-	int index=0;
-
-	SimdScalar toiUnscaled=result.m_fraction;
-	const SimdScalar toiUnscaledLimit = result.m_fraction;
-
-	SimdTransform a2w;
-	a2w = fromA;
-	SimdTransform b2w = fromB;
-
-/* debugging code
-	{
-		const int numvertsB = m_convexB->GetNumVertices();
-		for (int v=0;v<numvertsB;v++)
-		{
-			SimdPoint3 pt;
-			m_convexB->GetVertex(v,pt);
-			pt = b2w * pt;
-			char buf[1000];
-
-			if (pt.y() < 0.)
-			{
-				sprintf(buf,"PRE ERROR (%d) %.20E %.20E %.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
-				if (debugFile)
-					fwrite(buf,1,strlen(buf),debugFile);
-			} else
-			{
-				sprintf(buf,"PRE %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
-				if (debugFile)
-					fwrite(buf,1,strlen(buf),debugFile);
-
-			}
-		}
-	}
-*/
-
-
-	SimdTransform b2wp = b2w;
-	
-	b2wp.setOrigin(b2w.getOrigin() + linearMotionB);
-	b2wp.setRotation( b2w.getRotation() + angularMotionB);
-
-	impactTransB = b2wp;
-	
-	SimdTransform a2wp;
-	a2wp.setOrigin(a2w.getOrigin()+ linearMotionA);
-	a2wp.setRotation(a2w.getRotation()+angularMotionA);
-
-	impactTransA = a2wp;
-
-	SimdTransform a2winv;
-	a2winv = a2w.inverse();
-
-	SimdTransform b2wpinv;
-	b2wpinv = b2wp.inverse();
-
-	SimdTransform b2winv;
-	b2winv = b2w.inverse();
-
-	SimdTransform a2wpinv;
-	a2wpinv = a2wp.inverse();
-
-		//Redon's version with concatenated transforms
-
-	SimdTransform relative;
-
-	relative = b2w * b2wpinv * a2wp * a2winv;
-
-	//relative = a2winv * a2wp  * b2wpinv * b2w;
-
-	SimdQuaternion qrel;
-	relative.getBasis().getRotation(qrel);
-
-	SimdVector3 linvel = relative.getOrigin();
-
-	if (linvel.length() < SCREWEPSILON)
-	{
-		linvel.setValue(0.,0.,0.);
-	}
-	SimdVector3 angvel;
-	angvel[0] = 2.f * SimdAsin (qrel[0]);
-	angvel[1] = 2.f * SimdAsin (qrel[1]);
-	angvel[2] = 2.f * SimdAsin (qrel[2]);
-	
-	if (angvel.length() < SCREWEPSILON)
-	{
-		angvel.setValue(0.f,0.f,0.f);
-	}
-
-	//Redon's version with concatenated transforms
-	m_screwing = BU_Screwing(linvel,angvel);
-	
-	SimdTransform w2s;
-	m_screwing.LocalMatrix(w2s);
-
-	SimdTransform s2w;
-	s2w = w2s.inverse();
-
-	//impactTransA = a2w;
-	//impactTransB = b2w;
-
-	bool hit = false;
-	
-	if (SimdFuzzyZero(m_screwing.GetS()) && SimdFuzzyZero(m_screwing.GetW()))
-	{
-		//W = 0 , S = 0 , no collision
-		//toi = 0;
-	/*	
-		{
-			const int numvertsB = m_convexB->GetNumVertices();
-			for (int v=0;v<numvertsB;v++)
-			{
-				SimdPoint3 pt;
-				m_convexB->GetVertex(v,pt);
-				pt = impactTransB * pt;
-				char buf[1000];
-				
-				if (pt.y() < 0.)
-				{
-					sprintf(buf,"EARLY POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
-					if (debugFile)
-						fwrite(buf,1,strlen(buf),debugFile);
-				}
-				else
-				{
-					sprintf(buf,"EARLY POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
-					if (debugFile)
-						fwrite(buf,1,strlen(buf),debugFile);
-				}
-			}
-		}
-	*/	
-		
-		return false;//don't continue moving within epsilon
-	}
-
-#define EDGEEDGE
-#ifdef EDGEEDGE
-
-	BU_EdgeEdge edgeEdge;
-
-	//for all edged in A check agains all edges in B
-	for (int ea = 0;ea < m_convexA->GetNumEdges();ea++)
-	{
-		SimdPoint3 pA0,pA1;
-
-		m_convexA->GetEdge(ea,pA0,pA1);
-
-		pA0= a2w * pA0;//in world space
-		pA0 = w2s * pA0;//in screwing space
-
-		pA1= a2w * pA1;//in world space
-		pA1 = w2s * pA1;//in screwing space
-
-		int numedgesB = m_convexB->GetNumEdges();
-		for (int eb = 0; eb < numedgesB;eb++)
-		{
-			{
-				SimdPoint3 pB0,pB1;
-				m_convexB->GetEdge(eb,pB0,pB1);
-
-				pB0= b2w * pB0;//in world space
-				pB0 = w2s * pB0;//in screwing space
-
-				pB1= b2w * pB1;//in world space
-				pB1 = w2s * pB1;//in screwing space
-
-
-				SimdScalar lambda,mu;
-				
-				toiUnscaled = 1.;
-
-				SimdVector3 edgeDirA(pA1-pA0);
-				SimdVector3 edgeDirB(pB1-pB0);
-
-				if (edgeEdge.GetTimeOfImpact(m_screwing,pA0,edgeDirA,pB0,edgeDirB,toiUnscaled,lambda,mu))
-				{
-					//printf("edgeedge potential hit\n");
-					if (toiUnscaled>=0)
-					{
-						if (toiUnscaled < toiUnscaledLimit)							
-						{
-		
-							//inside check is already done by checking the mu and gamma !
-
-							SimdPoint3 vtx  = pA0+lambda * (pA1-pA0);
-							SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
-							
-							SimdPoint3 hitptWorld =   s2w * hitpt;
-							{
-
-								if (toiUnscaled < result.m_fraction)
-									result.m_fraction = toiUnscaled;
-
-								hit = true;
-
-								SimdVector3 hitNormal = edgeDirB.cross(edgeDirA);
-								
-								hitNormal = m_screwing.InBetweenVector(hitNormal,toiUnscaled);
-							
-
-								hitNormal.normalize();
-								
-								//an approximated normal can be calculated by taking the cross product of both edges
-								//take care of the sign !
-								
-								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
-						
-								SimdScalar dist = m_screwing.GetU().dot(hitNormalWorld);
-								if (dist > 0)
-									hitNormalWorld *= -1;
-								
-								//todo: this is the wrong point, because b2winv is still at begin of motion
-								// not at time-of-impact location!
-								//bhitpt = b2winv * hitptWorld;
-
-//								m_manifold.SetContactPoint(BUM_FeatureEdgeEdge,index,ea,eb,hitptWorld,hitNormalWorld);
-							}
-					
-						}
-					}
-				}
-			}
-
-			index++;
-		}
-	};
-#endif //EDGEEDGE
-
-#define VERTEXFACE
-#ifdef VERTEXFACE
-
-	// for all vertices in A, for each face in B,do vertex-face
-	{
-		const int numvertsA = m_convexA->GetNumVertices();
-		for (int v=0;v<numvertsA;v++)
-		//int v=3;
-
-		{
-			SimdPoint3 vtx;
-			m_convexA->GetVertex(v,vtx);
-
-			vtx = a2w * vtx;//in world space
-			vtx = w2s * vtx;//in screwing space
-
-			const int numplanesB = m_convexB->GetNumPlanes();
-
-			for (int p = 0 ; p < numplanesB; p++)
-			//int p=2;
-			{
-
-				{
-				
-					SimdVector3 planeNorm;
-					SimdPoint3 planeSupport;
-
-					m_convexB->GetPlane(planeNorm,planeSupport,p);
-
-
-					planeSupport = b2w * planeSupport;//transform to world space
-					SimdVector3 planeNormWorld =  b2w.getBasis() * planeNorm;
-				
-					planeSupport =  w2s * planeSupport  ; //transform to screwing space
-					planeNorm =  w2s.getBasis() * planeNormWorld;
-
-					planeNorm.normalize();
-
-					SimdScalar d = planeSupport.dot(planeNorm);
-					
-					SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
-				
-					BU_VertexPoly vtxApolyB;
-
-					toiUnscaled = 1.;
-
-					if ((p==2) && (v==6))
-					{
-//						printf("%f toiUnscaled\n",toiUnscaled);
-
-					}
-					if (vtxApolyB.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,false))
-					{
-					
-
-
-						
-						if (toiUnscaled >= 0. )
-						{
-							//not only collect the first point, get every contactpoint, later we have to check the
-							//manifold properly!
-
-							if (toiUnscaled <= toiUnscaledLimit)
-							{
-	//							printf("toiUnscaled %f\n",toiUnscaled );
-
-								SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
-								SimdVector3 hitNormal = m_screwing.InBetweenVector(planeNorm ,toiUnscaled);
-
-								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
-								SimdPoint3 hitptWorld = s2w * hitpt;
-
-
-								hitpt = b2winv * hitptWorld;
-								//vertex has to be 'within' the facet's boundary
-								if (m_convexB->IsInside(hitpt,m_tolerance))
-								{
-//									m_manifold.SetContactPoint(BUM_FeatureVertexFace, index,v,p,hitptWorld,hitNormalWorld);
-									
-									if (toiUnscaled < result.m_fraction)
-										result.m_fraction= toiUnscaled;
-									hit = true;
-
-								}
-							}
-						}
-					}
-					
-				}
-
-				index++;
-			}
-		}
-	}
-
-	//
-	// for all vertices in B, for each face in A,do vertex-face
-	//copy and pasted from all verts A -> all planes B so potential typos!
-	//todo: make this into one method with a kind of 'swapped' logic
-	//
-	{
-		const int numvertsB = m_convexB->GetNumVertices();
-		for (int v=0;v<numvertsB;v++)
-		//int v=0;
-
-		{
-			SimdPoint3 vtx;
-			m_convexB->GetVertex(v,vtx);
-
-			vtx = b2w * vtx;//in world space
-/*
-			
-			char buf[1000];
-
-			if (vtx.y() < 0.)
-			{
-				sprintf(buf,"ERROR !!!!!!!!!\n",v,vtx.x(),vtx.y(),vtx.z());
-				if (debugFile)
-					fwrite(buf,1,strlen(buf),debugFile);
-			}
-			sprintf(buf,"vertexWorld(%d) = (%.20E,%.20E,%.20E)\n",v,vtx.x(),vtx.y(),vtx.z());
-			if (debugFile)
-				fwrite(buf,1,strlen(buf),debugFile);
-
-*/			
-			vtx = w2s * vtx;//in screwing space
-
-			const int numplanesA = m_convexA->GetNumPlanes();
-
-			for (int p = 0 ; p < numplanesA; p++)
-			//int p=2;
-			{
-
-				{
-					SimdVector3 planeNorm;
-					SimdPoint3 planeSupport;
-
-					m_convexA->GetPlane(planeNorm,planeSupport,p);
-
-
-					planeSupport = a2w * planeSupport;//transform to world space
-					SimdVector3 planeNormWorld =  a2w.getBasis() * planeNorm;
-				
-					planeSupport =  w2s * planeSupport  ; //transform to screwing space
-					planeNorm =  w2s.getBasis() * planeNormWorld;
-
-					planeNorm.normalize();
-
-					SimdScalar d = planeSupport.dot(planeNorm);
-					
-					SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
-				
-					BU_VertexPoly vtxBpolyA;
-
-					toiUnscaled = 1.;
-
-					if (vtxBpolyA.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,true))
-					{
-						if (toiUnscaled>=0.)
-						{
-							if (toiUnscaled < toiUnscaledLimit)
-							{
-								SimdPoint3 hitpt = m_screwing.InBetweenPosition( vtx , -toiUnscaled);
-								SimdVector3 hitNormal = m_screwing.InBetweenVector(-planeNorm ,-toiUnscaled);
-								//SimdScalar len =  hitNormal.length()-1;
-
-								//assert( SimdFuzzyZero(len) );
-
-								
-								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
-								SimdPoint3 hitptWorld = s2w * hitpt;
-								hitpt = a2winv * hitptWorld;
-							
-							
-								//vertex has to be 'within' the facet's boundary
-								if (m_convexA->IsInside(hitpt,m_tolerance))
-								{
-									
-//									m_manifold.SetContactPoint(BUM_FeatureFaceVertex,index,p,v,hitptWorld,hitNormalWorld);
-									if (toiUnscaled <result.m_fraction)
-										result.m_fraction = toiUnscaled;
-									hit = true;
-								}
-							}
-						
-						}
-					
-					}
-					}
-
-			}
-		
-			index++;
-		}
-	}
-	
-
-#endif// VERTEXFACE
-
-	//the manifold now consists of all points/normals generated by feature-pairs that have a time-of-impact within this frame
-	//in addition there are contact points from previous frames
-	//we have to cleanup the manifold, using an additional epsilon/tolerance
-	//as long as the distance from the contactpoint (in worldspace) to both objects is within this epsilon we keep the point
-	//else throw it away
-	
-
-	if (hit)
-	{
-
-		//try to avoid numerical drift on close contact
-		
-		if (result.m_fraction < 0.00001)
-		{
-//			printf("toiUnscaledMin< 0.00001\n");
-			impactTransA = a2w;
-			impactTransB = b2w;
-
-		} else
-		{
-
-			//SimdScalar vel = linearMotionB.length();
-			
-			//todo: check this margin
-			result.m_fraction *= 0.99f;
-
-			//move B to new position
-			impactTransB.setOrigin(b2w.getOrigin()+ result.m_fraction*linearMotionB);
-			SimdQuaternion ornB = b2w.getRotation()+angularMotionB*result.m_fraction;
-			ornB.normalize();
-			impactTransB.setRotation(ornB);
-
-			//now transform A
-			SimdTransform a2s,a2b;
-			a2s.mult( w2s , a2w);
-			a2s= m_screwing.InBetweenTransform(a2s,result.m_fraction);
-			a2s.multInverseLeft(w2s,a2s);
-			a2b.multInverseLeft(b2w, a2s);
-
-			//transform by motion B
-			impactTransA.mult(impactTransB, a2b);
-			//normalize rotation
-			SimdQuaternion orn;
-			impactTransA.getBasis().getRotation(orn);
-			orn.normalize();
-			impactTransA.setBasis(SimdMatrix3x3(orn));
-		}
-	}
-
-/*
-	{
-		const int numvertsB = m_convexB->GetNumVertices();
-		for (int v=0;v<numvertsB;v++)
-		{
-			SimdPoint3 pt;
-			m_convexB->GetVertex(v,pt);
-			pt = impactTransB * pt;
-			char buf[1000];
-
-			if (pt.y() < 0.)
-			{
-				sprintf(buf,"POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
-				if (debugFile)
-					fwrite(buf,1,strlen(buf),debugFile);
-			}
-			else
-			{
-				sprintf(buf,"POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
-				if (debugFile)
-					fwrite(buf,1,strlen(buf),debugFile);
-			}
-		}
-	}
-*/
-	return hit;
-}
-
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.h
deleted file mode 100644
index 8dcea364708..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_COLLISIONPAIR
-#define BU_COLLISIONPAIR
-
-#include <NarrowPhaseCollision/BU_Screwing.h>
-#include <NarrowPhaseCollision/ConvexCast.h>
-
-
-#include <SimdQuaternion.h>
-
-class PolyhedralConvexShape;
-
-
-///BU_CollisionPair implements collision algorithm for algebraic time of impact calculation of feature based shapes.
-class BU_CollisionPair : public ConvexCast
-{
-	
-public:
-	BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance=0.2f);
-	//toi
-
-	virtual bool	calcTimeOfImpact(
-					const SimdTransform& fromA,
-					const SimdTransform& toA,
-					const SimdTransform& fromB,
-					const SimdTransform& toB,
-					CastResult& result);
-
-	
-	
-
-private:
-	const PolyhedralConvexShape*	m_convexA;
-	const PolyhedralConvexShape*	m_convexB;
-	BU_Screwing	m_screwing;
-	SimdScalar	m_tolerance;
-	
-};
-#endif //BU_COLLISIONPAIR
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.cpp
deleted file mode 100644
index 75103c0f767..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.cpp
+++ /dev/null
@@ -1,578 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "BU_EdgeEdge.h"
-#include "BU_Screwing.h"
-#include <SimdPoint3.h>
-#include <SimdPoint3.h>
-
-//#include "BU_IntervalArithmeticPolynomialSolver.h"
-#include "BU_AlgebraicPolynomialSolver.h"
-
-#define USE_ALGEBRAIC
-#ifdef USE_ALGEBRAIC	
-#define BU_Polynomial BU_AlgebraicPolynomialSolver
-#else	
-#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
-#endif
-
-BU_EdgeEdge::BU_EdgeEdge()
-{
-}
-
-
-bool BU_EdgeEdge::GetTimeOfImpact(
-								  const BU_Screwing& screwAB,
-								  const SimdPoint3& a,//edge in object A
-								  const SimdVector3& u,
-								  const SimdPoint3& c,//edge in object B
-								  const SimdVector3& v,
-								  SimdScalar &minTime,
-								  SimdScalar &lambda1,
-								  SimdScalar& mu1
-								  
-								  )
-{
-	bool hit=false;
-	
-	SimdScalar lambda;
-	SimdScalar mu;
-	
-	const SimdScalar w=screwAB.GetW();
-	const SimdScalar s=screwAB.GetS();
-	
-	if (SimdFuzzyZero(s) &&
-		SimdFuzzyZero(w))
-	{
-		//no motion, no collision
-		return false;
-	}
-	
-	if (SimdFuzzyZero(w) )
-	{
-		//pure translation W=0, S <> 0
-		//no trig, f(t)=t
-		SimdScalar det = u.y()*v.x()-u.x()*v.y();
-		if (!SimdFuzzyZero(det))
-		{		
-			lambda = (a.x()*v.y() - c.x() * v.y() - v.x() * a.y() + v.x() * c.y()) / det;
-			mu = (u.y() * a.x() - u.y() * c.x() - u.x() * a.y() + u.x() * c.y()) / det;
-
-			if (mu >=0 && mu <= 1 && lambda >= 0 && lambda <= 1)
-			{
-				// single potential collision is
-				SimdScalar t = (c.z()-a.z()+mu*v.z()-lambda*u.z())/s;
-				//if this is on the edge, and time t within [0..1] report hit
-				if (t>=0 && t <= minTime)
-				{
-					hit = true;
-					lambda1 = lambda;
-					mu1 = mu;
-					minTime=t;
-				}
-			}
-			
-		} else
-		{
-			//parallel case, not yet
-		}
-	} else
-	{
-		if (SimdFuzzyZero(s) )
-		{
-			if (SimdFuzzyZero(u.z()) )
-			{
-				if (SimdFuzzyZero(v.z()) )
-				{
-					//u.z()=0,v.z()=0
-					if (SimdFuzzyZero(a.z()-c.z()))
-					{
-						//printf("NOT YET planar problem, 4 vertex=edge cases\n");
-						
-					} else
-					{
-						//printf("parallel but distinct planes, no collision\n");
-						return false;
-					}
-					
-				} else
-				{
-					SimdScalar mu = (a.z() - c.z())/v.z();
-					if (0<=mu && mu <= 1)
-					{
-					//	printf("NOT YET//u.z()=0,v.z()<>0\n");
-					} else
-					{
-						return false;
-					}
-					
-				}
-			} else
-			{
-				//u.z()<>0
-				
-				if (SimdFuzzyZero(v.z()) )
-				{
-					//printf("u.z()<>0,v.z()=0\n");
-					lambda =  (c.z() - a.z())/u.z();
-					if (0<=lambda && lambda <= 1)
-					{
-						//printf("u.z()<>0,v.z()=0\n");
-						SimdPoint3 rotPt(a.x()+lambda * u.x(), a.y()+lambda * u.y(),0.f);
-						SimdScalar r2 = rotPt.length2();//px*px + py*py;
-						
-						//either y=a*x+b, or x = a*x+b...
-						//depends on whether value v.x() is zero or not
-						SimdScalar aa;
-						SimdScalar bb;
-						
-						if (SimdFuzzyZero(v.x()))
-						{
-							aa = v.x()/v.y();
-							bb= c.x()+  (-c.y() /v.y()) *v.x();
-						} else
-						{
-							//line is c+mu*v;
-							//x = c.x()+mu*v.x();
-							//mu = ((x-c.x())/v.x());
-							//y = c.y()+((x-c.x())/v.x())*v.y();
-							//y = c.y()+  (-c.x() /v.x()) *v.y() + (x /v.x())   *v.y();
-							//y = a*x+b,where a = v.y()/v.x(), b= c.y()+  (-c.x() /v.x()) *v.y();
-							aa = v.y()/v.x();
-							bb= c.y()+  (-c.x() /v.x()) *v.y();
-						}
-						
-						SimdScalar disc = aa*aa*r2 + r2 - bb*bb;
-						if (disc <0)
-						{
-							//edge doesn't intersect the circle (motion of the vertex)
-							return false;
-						}
-						SimdScalar rad = SimdSqrt(r2);
-						
-						if (SimdFuzzyZero(disc))
-						{
-							SimdPoint3 intersectPt;
-							
-							SimdScalar mu;
-							//intersectionPoint edge with circle;
-							if (SimdFuzzyZero(v.x()))
-							{
-								intersectPt.setY( (-2*aa*bb)/(2*(aa*aa+1)));
-								intersectPt.setX( aa*intersectPt.y()+bb );
-								mu = ((intersectPt.y()-c.y())/v.y());
-							} else
-							{
-								intersectPt.setX((-2*aa*bb)/(2*(aa*aa+1)));
-								intersectPt.setY(aa*intersectPt.x()+bb);
-								mu = ((intersectPt.getX()-c.getX())/v.getX());
-								
-							}
-							
-							if (0 <= mu && mu <= 1)
-							{
-								hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
-							}
-							//only one solution
-						} else
-						{
-							//two points...
-							//intersectionPoint edge with circle;
-							SimdPoint3 intersectPt;
-							//intersectionPoint edge with circle;
-							if (SimdFuzzyZero(v.x()))
-							{
-								SimdScalar mu;
-								
-								intersectPt.setY((-2.f*aa*bb+2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
-								intersectPt.setX(aa*intersectPt.y()+bb);
-								mu = ((intersectPt.getY()-c.getY())/v.getY());
-								if (0.f <= mu && mu <= 1.f)
-								{
-									hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
-								}
-								intersectPt.setY((-2.f*aa*bb-2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
-								intersectPt.setX(aa*intersectPt.y()+bb);
-								mu = ((intersectPt.getY()-c.getY())/v.getY());
-								if (0 <= mu && mu <= 1)
-								{
-									hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
-								}
-								
-							} else
-							{
-								SimdScalar mu;
-								
-								intersectPt.setX((-2.f*aa*bb+2.f*SimdSqrt(disc))/(2*(aa*aa+1.f)));
-								intersectPt.setY(aa*intersectPt.x()+bb);
-								mu = ((intersectPt.getX()-c.getX())/v.getX());
-								if (0 <= mu && mu <= 1)
-								{
-									hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
-								}
-								intersectPt.setX((-2.f*aa*bb-2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
-								intersectPt.setY(aa*intersectPt.x()+bb);
-								mu = ((intersectPt.getX()-c.getX())/v.getX());
-								if (0.f <= mu && mu <= 1.f)
-								{
-									hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
-								}
-							}
-						}
-						
-						
-						
-						//int k=0;
-						
-					} else
-					{
-						return false;
-					}
-					
-					
-				} else
-				{
-					//u.z()<>0,v.z()<>0
-					//printf("general case with s=0\n");
-					hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
-					if (hit)
-					{
-						lambda1 = lambda;
-						mu1 = mu;
-						
-					}
-				}
-			}
-			
-		} else
-		{
-			//printf("general case, W<>0,S<>0\n");
-			hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
-			if (hit)
-			{
-				lambda1 = lambda;
-				mu1 = mu;
-			}
-			
-		}
-		
-		
-		//W <> 0,pure rotation
-	}
-	
-	return hit;
-}
-
-
-bool BU_EdgeEdge::GetTimeOfImpactGeneralCase(
-											 const BU_Screwing& screwAB,
-											 const SimdPoint3& a,//edge in object A
-											 const SimdVector3& u,
-											 const SimdPoint3& c,//edge in object B
-											 const SimdVector3& v,
-											 SimdScalar &minTime,
-											 SimdScalar &lambda,
-											 SimdScalar& mu
-											 
-											 )
-{
-	bool hit = false;
-	
-	SimdScalar coefs[4]={0.f,0.f,0.f,0.f};
-	BU_Polynomial polynomialSolver;
-	int numroots = 0;
-	
-	//SimdScalar eps=1e-15f;
-	//SimdScalar eps2=1e-20f;
-	SimdScalar s=screwAB.GetS();
-	SimdScalar w = screwAB.GetW();
-	
-	SimdScalar ax = a.x();
-	SimdScalar ay = a.y();
-	SimdScalar az = a.z();
-	SimdScalar cx = c.x();
-	SimdScalar cy = c.y();
-	SimdScalar cz = c.z();
-	SimdScalar vx = v.x();
-	SimdScalar vy = v.y();
-	SimdScalar vz = v.z();
-	SimdScalar ux = u.x();
-	SimdScalar uy = u.y();
-	SimdScalar uz = u.z();
-	
-	
-	if (!SimdFuzzyZero(v.z()))
-	{
-		
-		//Maple Autogenerated C code
-		SimdScalar t1,t2,t3,t4,t7,t8,t10;
-		SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
-		SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
-		SimdScalar t31,t32,t33,t34,t35,t36,t39,t40;
-		SimdScalar t41,t43,t48;
-		SimdScalar t63;
-		
-		SimdScalar aa,bb,cc,dd;//the coefficients
-		
-		t1 = v.y()*s;      t2 = t1*u.x();
-		t3 = v.x()*s;
-		t4 = t3*u.y();
-		t7 = SimdTan(w/2.0f);
-		t8 = 1.0f/t7;
-		t10 = 1.0f/v.z();
-		aa = (t2-t4)*t8*t10;
-		t13 = a.x()*t7;
-		t14 = u.z()*v.y();
-		t15 = t13*t14;
-		t16 = u.x()*v.z();
-		t17 = a.y()*t7;
-		t18 = t16*t17;
-		t19 = u.y()*v.z();
-		t20 = t13*t19;
-		t21 = v.y()*u.x();
-		t22 = c.z()*t7;
-		t23 = t21*t22;
-		t24 = v.x()*a.z();
-		t25 = t7*u.y();
-		t26 = t24*t25;
-		t27 = c.y()*t7;
-		t28 = t16*t27;
-		t29 = a.z()*t7;
-		t30 = t21*t29;
-		t31 = u.z()*v.x();
-		t32 = t31*t27;
-		t33 = t31*t17;
-		t34 = c.x()*t7;
-		t35 = t34*t19;
-		t36 = t34*t14;
-		t39 = v.x()*c.z();
-		t40 = t39*t25;
-		t41 = 2.0f*t1*u.y()-t15+t18-t20-t23-t26+t28+t30+t32+t33-t35-t36+2.0f*t3*u.x()+t40;
-		bb = t41*t8*t10;
-		t43 = t7*u.x();
-		t48 = u.y()*v.y();
-		cc = (-2.0f*t39*t43+2.0f*t24*t43+t4-2.0f*t48*t22+2.0f*t34*t16-2.0f*t31*t13-t2
-			-2.0f*t17*t14+2.0f*t19*t27+2.0f*t48*t29)*t8*t10;
-		t63 = -t36+t26+t32-t40+t23+t35-t20+t18-t28-t33+t15-t30;
-		dd = t63*t8*t10;
-		
-		coefs[0]=aa;
-		coefs[1]=bb;
-		coefs[2]=cc;
-		coefs[3]=dd;
-		
-	} else
-	{
-		
-		SimdScalar t1,t2,t3,t4,t7,t8,t10;
-		SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
-		SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
-		SimdScalar t31,t32,t33,t34,t35,t36,t37,t38,t57;
-		SimdScalar p1,p2,p3,p4;
-
-	  t1 = uy*s;
-      t2 = t1*vx;
-      t3 = ux*s;
-      t4 = t3*vy;
-      t7 = SimdTan(w/2.0f);
-      t8 = 1/t7;
-      t10 = 1/uz;
-      t13 = ux*az;
-      t14 = t7*vy;
-      t15 = t13*t14;
-      t16 = ax*t7;
-      t17 = uy*vz;
-      t18 = t16*t17;
-      t19 = cx*t7;
-      t20 = t19*t17;
-      t21 = vy*uz;
-      t22 = t19*t21;
-      t23 = ay*t7;
-      t24 = vx*uz;
-      t25 = t23*t24;
-      t26 = uy*cz;
-      t27 = t7*vx;
-      t28 = t26*t27;
-      t29 = t16*t21;
-      t30 = cy*t7;
-      t31 = ux*vz;
-      t32 = t30*t31;
-      t33 = ux*cz;
-      t34 = t33*t14;
-      t35 = t23*t31;
-      t36 = t30*t24;
-      t37 = uy*az;
-      t38 = t37*t27;
-
-	  p4 = (-t2+t4)*t8*t10;
-      p3 = 2.0f*t1*vy+t15-t18-t20-t22+t25+t28-t29+t32-t34+t35+t36-t38+2.0f*t3*vx;
-      p2 = -2.0f*t33*t27-2.0f*t26*t14-2.0f*t23*t21+2.0f*t37*t14+2.0f*t30*t17+2.0f*t13
-*t27+t2-t4+2.0f*t19*t31-2.0f*t16*t24;
-      t57 = -t22+t29+t36-t25-t32+t34+t35-t28-t15+t20-t18+t38;
-      p1 = t57*t8*t10;
-
-	coefs[0] = p4;
-	coefs[1] = p3;
-	coefs[2] = p2;
-	coefs[1] = p1;
-		
-	}
-	
-	numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
-	
-	for (int i=0;i<numroots;i++)
-	{
-		//SimdScalar tau = roots[i];//polynomialSolver.GetRoot(i);
-		SimdScalar tau = polynomialSolver.GetRoot(i);
-		
-		//check whether mu and lambda are in range [0..1]
-		
-		if (!SimdFuzzyZero(v.z()))
-		{
-			SimdScalar A1=(ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz);
-			SimdScalar B1=((1.f+tau*tau)*(cx*SimdTan(1.f/2.f*w)*vz+
-				vx*az*SimdTan(1.f/2.f*w)-vx*cz*SimdTan(1.f/2.f*w)+
-				vx*s*tau)/SimdTan(1.f/2.f*w)/vz)-(ax-ax*tau*tau-2.f*tau*ay);
-			lambda = B1/A1;
-			
-			mu = (a.z()-c.z()+lambda*u.z()+(s*tau)/(SimdTan(w/2.f)))/v.z();
-			
-			
-			//double check in original equation
-			
-			SimdScalar lhs = (a.x()+lambda*u.x())
-				*((1.f-tau*tau)/(1.f+tau*tau))-
-				(a.y()+lambda*u.y())*((2.f*tau)/(1.f+tau*tau));
-			
-			lhs = lambda*((ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz));
-			
-			SimdScalar rhs = c.x()+mu*v.x();
-			
-			rhs = ((1.f+tau*tau)*(cx*SimdTan(1.f/2.f*w)*vz+vx*az*SimdTan(1.f/2.f*w)-
-				vx*cz*SimdTan(1.f/2.f*w)+vx*s*tau)/(SimdTan(1.f/2.f*w)*vz))-
-				
-				(ax-ax*tau*tau-2.f*tau*ay);
-			
-			/*SimdScalar res = coefs[0]*tau*tau*tau+
-				coefs[1]*tau*tau+
-				coefs[2]*tau+
-				coefs[3];*/
-			
-			//lhs should be rhs !
-			
-			if (0.<= mu && mu <=1 && 0.<=lambda && lambda <= 1)
-			{
-				
-			} else
-			{
-				//skip this solution, not really touching
-				continue;				
-			}
-			
-		}
-		
-		SimdScalar t = 2.f*SimdAtan(tau)/screwAB.GetW();
-		//tau = tan (wt/2) so 2*atan (tau)/w
-		if (t>=0.f && t<minTime)
-		{
-#ifdef STATS_EDGE_EDGE
-			printf(" ax = %12.12f\n ay = %12.12f\n az = %12.12f\n",a.x(),a.y(),a.z());
-			printf(" ux = %12.12f\n uy = %12.12f\n uz = %12.12f\n",u.x(),u.y(),u.z());
-			printf(" cx = %12.12f\n cy = %12.12f\n cz = %12.12f\n",c.x(),c.y(),c.z());
-			printf(" vx = %12.12f\n vy = %12.12f\n vz = %12.12f\n",v.x(),v.y(),v.z());
-			printf(" s  = %12.12f\n w  = %12.12f\n",       s,     w);
-			
-			printf(" tau = %12.12f \n lambda = %12.12f \n mu = %f\n",tau,lambda,mu); 
-			printf(" ---------------------------------------------\n"); 
-			
-#endif
-			
-			//	v,u,a,c,s,w
-			
-			//	BU_IntervalArithmeticPolynomialSolver iaSolver;
-			//	int numroots2 = iaSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
-			
-			minTime = t;
-			hit = true;
-		}
-	}
-	
-	return hit;
-}
-
-
-//C -S
-//S C
-
-bool BU_EdgeEdge::Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime)
-{
-	bool hit = false;
-	
-	// now calculate the planeEquation for the vertex motion,
-	// and check if the intersectionpoint is at the positive side
-	SimdPoint3 rotPt1(SimdCos(rotW)*rotPt.x()-SimdSin(rotW)*rotPt.y(),
-	SimdSin(rotW)*rotPt.x()+SimdCos(rotW)*rotPt.y(),
-	0.f);
-
-	SimdVector3 rotVec = rotPt1-rotPt;
-	
-	SimdVector3 planeNormal( -rotVec.y() , rotVec.x() ,0.f);
-	
-	//SimdPoint3 pt(a.x(),a.y());//for sake of readability,could write dot directly
-	SimdScalar planeD = planeNormal.dot(rotPt1);
-	
-	SimdScalar dist = (planeNormal.dot(intersectPt)-planeD);
-	hit = (dist >= -0.001);
-	
-	//if (hit)
-	{
-		//		minTime = 0;
-		//calculate the time of impact, using the fact of
-		//toi = alpha / screwAB.getW();
-		// cos (alpha) = adjacent/hypothenuse;
-		//adjacent = dotproduct(ipedge,point);
-		//hypothenuse = sqrt(r2);
-		SimdScalar adjacent = intersectPt.dot(rotPt)/rotRadius;
-		SimdScalar hypo = rotRadius;
-		SimdScalar alpha = SimdAcos(adjacent/hypo);
-		SimdScalar t = alpha / rotW;
-		if (t >= 0 && t < minTime)
-		{
-			hit = true;
-			minTime = t;
-		} else
-		{
-			hit = false;
-		}
-		
-	}
-	return hit;
-}
-
-bool BU_EdgeEdge::GetTimeOfImpactVertexEdge(
-											const BU_Screwing& screwAB,
-											const SimdPoint3& a,//edge in object A
-											const SimdVector3& u,
-											const SimdPoint3& c,//edge in object B
-											const SimdVector3& v,
-											SimdScalar &minTime,
-											SimdScalar &lamda,
-											SimdScalar& mu
-											
-											)
-{
-	return false;
-}
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h
deleted file mode 100644
index 4823f1deec2..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_EDGEEDGE
-#define BU_EDGEEDGE
-
-class BU_Screwing;
-#include <SimdTransform.h>
-#include <SimdPoint3.h>
-#include <SimdVector3.h>
-
-//class BUM_Point2;
-
-#include <SimdScalar.h>
-
-///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
-class BU_EdgeEdge
-{
-public:
-	
-
-	BU_EdgeEdge();
-	bool GetTimeOfImpact(
-		const BU_Screwing& screwAB,
-		const SimdPoint3& a,//edge in object A
-		const SimdVector3& u,
-		const SimdPoint3& c,//edge in object B
-		const SimdVector3& v,
-		SimdScalar &minTime,
-		SimdScalar &lamda,
-		SimdScalar& mu
-		);
-private:
-
-	bool Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime);
-	bool GetTimeOfImpactGeneralCase(
-		const BU_Screwing& screwAB,
-		const SimdPoint3& a,//edge in object A
-		const SimdVector3& u,
-		const SimdPoint3& c,//edge in object B
-		const SimdVector3& v,
-		SimdScalar &minTime,
-		SimdScalar &lamda,
-		SimdScalar& mu
-
-		);
-
-	
-	bool GetTimeOfImpactVertexEdge(
-		const BU_Screwing& screwAB,
-		const SimdPoint3& a,//edge in object A
-		const SimdVector3& u,
-		const SimdPoint3& c,//edge in object B
-		const SimdVector3& v,
-		SimdScalar &minTime,
-		SimdScalar &lamda,
-		SimdScalar& mu
-
-		);
-
-};
-
-#endif //BU_EDGEEDGE
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_MotionStateInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_MotionStateInterface.h
deleted file mode 100644
index d06a8fab094..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_MotionStateInterface.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_MOTIONSTATE
-#define BU_MOTIONSTATE
-
-
-#include <SimdTransform.h>
-#include <SimdPoint3.h>
-#include <SimdQuaternion.h>
-
-class BU_MotionStateInterface
-{
-public:
-	virtual ~BU_MotionStateInterface(){};
-
-	virtual void	SetTransform(const SimdTransform& trans) = 0;
-	virtual void	GetTransform(SimdTransform& trans) const = 0; 
-
-	virtual void	SetPosition(const SimdPoint3& position) = 0;
-	virtual void	GetPosition(SimdPoint3& position) const = 0; 
-
-	virtual void	SetOrientation(const SimdQuaternion& orientation) = 0;
-	virtual void	GetOrientation(SimdQuaternion& orientation) const = 0; 
-
-	virtual void	SetBasis(const SimdMatrix3x3& basis) = 0;
-	virtual void	GetBasis(SimdMatrix3x3& basis) const = 0; 
-
-	virtual void	SetLinearVelocity(const SimdVector3& linvel) = 0;
-	virtual void	GetLinearVelocity(SimdVector3& linvel) const = 0;
-	
-	virtual void	GetAngularVelocity(SimdVector3& angvel) const = 0;
-	virtual void	SetAngularVelocity(const SimdVector3& angvel) = 0;
-
-};
-
-#endif //BU_MOTIONSTATE
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_PolynomialSolverInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_PolynomialSolverInterface.h
deleted file mode 100644
index 15d67faee1c..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_PolynomialSolverInterface.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#ifndef BUM_POLYNOMIAL_SOLVER_INTERFACE
-#define BUM_POLYNOMIAL_SOLVER_INTERFACE
-
-#include <SimdScalar.h>
-//
-//BUM_PolynomialSolverInterface is interface class for polynomial root finding.
-//The number of roots is returned as a result, query GetRoot to get the actual solution.
-//
-class BUM_PolynomialSolverInterface
-{
-public:
-	virtual ~BUM_PolynomialSolverInterface() {};
-
-	
-//	virtual int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c) = 0;
-	
-	virtual int	Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c) = 0;
-	
-	virtual int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d) = 0;
-
-	virtual SimdScalar GetRoot(int i) const = 0;
-
-};
-
-#endif //BUM_POLYNOMIAL_SOLVER_INTERFACE
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.cpp
deleted file mode 100644
index 997fcc3a9e6..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.cpp
+++ /dev/null
@@ -1,200 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Stephane Redon / 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 "BU_Screwing.h"
-
-
-BU_Screwing::BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel) {
-
-
-	const SimdScalar dx=relLinVel[0];
-	const SimdScalar dy=relLinVel[1];
-	const SimdScalar dz=relLinVel[2];
-	const SimdScalar wx=relAngVel[0];
-	const SimdScalar wy=relAngVel[1];
-	const SimdScalar wz=relAngVel[2];
-
-	// Compute the screwing parameters :
-	// w : total amount of rotation
-	// s : total amount of translation
-	// u : vector along the screwing axis (||u||=1)
-	// o : point on the screwing axis
-	
-	m_w=SimdSqrt(wx*wx+wy*wy+wz*wz);
-	//if (!w) {
-	if (fabs(m_w)<SCREWEPSILON ) {
-
-		assert(m_w == 0.f);
-
-		m_w=0.;
-		m_s=SimdSqrt(dx*dx+dy*dy+dz*dz);
-		if (fabs(m_s)<SCREWEPSILON ) {
-			assert(m_s == 0.);
-
-			m_s=0.;
-			m_u=SimdPoint3(0.,0.,1.);
-			m_o=SimdPoint3(0.,0.,0.);
-		}
-		else {
-			float t=1.f/m_s;
-			m_u=SimdPoint3(dx*t,dy*t,dz*t);
-			m_o=SimdPoint3(0.f,0.f,0.f);
-		}
-	}
-	else { // there is some rotation
-		
-		// we compute u
-		
-		float v(1.f/m_w);
-		m_u=SimdPoint3(wx*v,wy*v,wz*v); // normalization
-		
-		// decomposition of the translation along u and one orthogonal vector
-		
-		SimdPoint3 t(dx,dy,dz);
-		m_s=t.dot(m_u); // component along u
-		if (fabs(m_s)<SCREWEPSILON)
-		{
-			//printf("m_s component along u < SCREWEPSILION\n");
-			m_s=0.f;
-		}
-		SimdPoint3 n1(t-(m_s*m_u)); // the remaining part (which is orthogonal to u)
-		
-		// now we have to compute o
-		
-		//SimdScalar len = n1.length2();
-		//(len >= BUM_EPSILON2) {
-		if (n1[0] || n1[1] || n1[2]) { // n1 is not the zero vector
-			n1.normalize();
-			SimdVector3 n1orth=m_u.cross(n1);
-
-			float n2x=SimdCos(0.5f*m_w);
-			float n2y=SimdSin(0.5f*m_w);
-			
-			m_o=0.5f*t.dot(n1)*(n1+n2x/n2y*n1orth);
-		}
-		else 
-		{
-			m_o=SimdPoint3(0.f,0.f,0.f);
-		}
-		
-	}
-	
-}
-
-//Then, I need to compute Pa, the matrix from the reference (global) frame to
-//the screwing frame :
-
-
-void BU_Screwing::LocalMatrix(SimdTransform &t) const {
-//So the whole computations do this : align the Oz axis along the
-//	screwing axis (thanks to u), and then find two others orthogonal axes to
-//	complete the basis.
-		
-		if ((m_u[0]>SCREWEPSILON)||(m_u[0]<-SCREWEPSILON)||(m_u[1]>SCREWEPSILON)||(m_u[1]<-SCREWEPSILON)) 
-		{ 
-			// to avoid numerical problems
-			float n=SimdSqrt(m_u[0]*m_u[0]+m_u[1]*m_u[1]);
-			float invn=1.0f/n;
-			SimdMatrix3x3 mat;
-
-	  		mat[0][0]=-m_u[1]*invn;
-			mat[0][1]=m_u[0]*invn;
-			mat[0][2]=0.f;
-	
-			mat[1][0]=-m_u[0]*invn*m_u[2];
-			mat[1][1]=-m_u[1]*invn*m_u[2];
-			mat[1][2]=n;
-
-			mat[2][0]=m_u[0];
-			mat[2][1]=m_u[1];
-			mat[2][2]=m_u[2];
-			
-			t.setOrigin(SimdPoint3(
-				  m_o[0]*m_u[1]*invn-m_o[1]*m_u[0]*invn,
-				-(m_o[0]*mat[1][0]+m_o[1]*mat[1][1]+m_o[2]*n),
-				-(m_o[0]*m_u[0]+m_o[1]*m_u[1]+m_o[2]*m_u[2])));
-
-			t.setBasis(mat);
-
-		}
-		else {
-
-			SimdMatrix3x3 m;
-
-			m[0][0]=1.;
-			m[1][0]=0.;
-			m[2][0]=0.;
-
-			m[0][1]=0.f;
-			m[1][1]=float(SimdSign(m_u[2]));
-			m[2][1]=0.f;
-
-			m[0][2]=0.f;
-			m[1][2]=0.f;
-			m[2][2]=float(SimdSign(m_u[2]));
-
-			t.setOrigin(SimdPoint3(
-					-m_o[0],
-					-SimdSign(m_u[2])*m_o[1],
-					-SimdSign(m_u[2])*m_o[2]
-				));
-			t.setBasis(m);
-
-		}
-}
-
-//gives interpolated transform for time in [0..1] in screwing frame
-SimdTransform	BU_Screwing::InBetweenTransform(const SimdTransform& tr,SimdScalar t) const
-{
-	SimdPoint3 org = tr.getOrigin();
-
-	SimdPoint3 neworg (
-	org.x()*SimdCos(m_w*t)-org.y()*SimdSin(m_w*t),
-	org.x()*SimdSin(m_w*t)+org.y()*SimdCos(m_w*t),
-	org.z()+m_s*CalculateF(t));
-		
-	SimdTransform newtr;
-	newtr.setOrigin(neworg);
-	SimdMatrix3x3 basis = tr.getBasis();
-	SimdMatrix3x3 basisorg = tr.getBasis();
-
-	SimdQuaternion rot(SimdVector3(0.,0.,1.),m_w*t);
-	SimdQuaternion tmpOrn;
-	tr.getBasis().getRotation(tmpOrn);
-	rot = rot *  tmpOrn;
-
-	//to avoid numerical drift, normalize quaternion
-	rot.normalize();
-	newtr.setBasis(SimdMatrix3x3(rot));
-	return newtr;
-
-}
-
-
-SimdScalar BU_Screwing::CalculateF(SimdScalar t) const
-{
-	SimdScalar result;
-	if (!m_w)
-	{
-		result = t;
-	} else
-	{
-		result = ( SimdTan((m_w*t)/2.f) / SimdTan(m_w/2.f));
-	}
-	return result;
-}
-	
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.h
deleted file mode 100644
index 17603cec0b7..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef B_SCREWING_H
-#define B_SCREWING_H
-
-
-#include <SimdVector3.h>
-#include <SimdPoint3.h>
-#include <SimdTransform.h>
-
-
-#define SCREWEPSILON 0.00001f
-
-///BU_Screwing implements screwing motion interpolation.
-class BU_Screwing
-{
-public:
-
-	
-	BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel);
-
-	~BU_Screwing() {
-	};
-	
-	SimdScalar CalculateF(SimdScalar t) const;
-	//gives interpolated position for time in [0..1] in screwing frame
-
-	inline SimdPoint3	InBetweenPosition(const SimdPoint3& pt,SimdScalar t) const
-	{
-		return SimdPoint3(
-		pt.x()*SimdCos(m_w*t)-pt.y()*SimdSin(m_w*t),
-		pt.x()*SimdSin(m_w*t)+pt.y()*SimdCos(m_w*t),
-		pt.z()+m_s*CalculateF(t));
-	}
-
-	inline SimdVector3	InBetweenVector(const SimdVector3& vec,SimdScalar t) const
-	{
-		return SimdVector3(
-		vec.x()*SimdCos(m_w*t)-vec.y()*SimdSin(m_w*t),
-		vec.x()*SimdSin(m_w*t)+vec.y()*SimdCos(m_w*t),
-		vec.z());
-	}
-
-	//gives interpolated transform for time in [0..1] in screwing frame
-	SimdTransform	InBetweenTransform(const SimdTransform& tr,SimdScalar t) const;
-
-	
-	//gives matrix from global frame into screwing frame
-	void	LocalMatrix(SimdTransform &t) const;
-
-	inline const SimdVector3& GetU() const {	return m_u;}
-	inline const SimdVector3& GetO() const {return m_o;}
-	inline const SimdScalar GetS() const{ return m_s;}
-	inline const SimdScalar GetW() const { return m_w;}
-	
-private:
-	float		m_w;
-	float		m_s;
-	SimdVector3 m_u;
-	SimdVector3	m_o;
-};
-
-#endif //B_SCREWING_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_StaticMotionState.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_StaticMotionState.h
deleted file mode 100644
index 4202b3dde23..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_StaticMotionState.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BU_STATIC_MOTIONSTATE
-#define BU_STATIC_MOTIONSTATE
-
-
-#include <CollisionShapes/BU_MotionStateInterface.h>
-
-class BU_StaticMotionState :public BU_MotionStateInterface
-{
-public:
-	virtual ~BU_StaticMotionState(){};
-
-	virtual void	SetTransform(const SimdTransform& trans)
-	{
-		m_trans = trans;
-	}
-	virtual void	GetTransform(SimdTransform& trans) const
-	{
-		trans = m_trans;
-	}
-	virtual void	SetPosition(const SimdPoint3& position)
-	{
-		m_trans.setOrigin( position );
-	}
-	virtual void	GetPosition(SimdPoint3& position) const
-	{
-		position = m_trans.getOrigin();
-	}
-
-	virtual void	SetOrientation(const SimdQuaternion& orientation)
-	{
-		m_trans.setRotation( orientation);
-	}
-	virtual void	GetOrientation(SimdQuaternion& orientation) const
-	{
-		orientation = m_trans.getRotation();
-	}
-
-	virtual void	SetBasis(const SimdMatrix3x3& basis)
-	{
-		m_trans.setBasis( basis);
-	}
-	virtual void	GetBasis(SimdMatrix3x3& basis) const
-	{ 
-		basis = m_trans.getBasis();
-	}
-
-	virtual void	SetLinearVelocity(const SimdVector3& linvel)
-	{
-		m_linearVelocity = linvel;
-	}
-	virtual void	GetLinearVelocity(SimdVector3& linvel) const
-	{
-		linvel = m_linearVelocity;
-	}
-	
-	virtual void	SetAngularVelocity(const SimdVector3& angvel)
-	{
-		m_angularVelocity = angvel;
-	}
-	virtual void	GetAngularVelocity(SimdVector3& angvel) const
-	{
-		angvel = m_angularVelocity;
-	}
-
-
-
-protected:
-
-	SimdTransform	m_trans;
-	SimdVector3		m_angularVelocity;
-	SimdVector3		m_linearVelocity;
-
-};
-
-#endif //BU_STATIC_MOTIONSTATE
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.cpp
deleted file mode 100644
index 71de3a284be..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.cpp
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "BU_VertexPoly.h"
-#include "BU_Screwing.h"
-#include <SimdTransform.h>
-#include <SimdPoint3.h>
-#include <SimdVector3.h>
-
-#define USE_ALGEBRAIC
-#ifdef USE_ALGEBRAIC
-	#include "BU_AlgebraicPolynomialSolver.h"
-	#define BU_Polynomial BU_AlgebraicPolynomialSolver
-#else
-	#include "BU_IntervalArithmeticPolynomialSolver.h"
-	#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
-#endif
-
-inline bool      TestFuzzyZero(SimdScalar x) { return SimdFabs(x) < 0.0001f; }
-
-
-BU_VertexPoly::BU_VertexPoly()
-{
-
-}
-//return true if a collision will occur between [0..1]
-//false otherwise. If true, minTime contains the time of impact
-bool BU_VertexPoly::GetTimeOfImpact(
-		const BU_Screwing& screwAB,
-		const SimdPoint3& a,
-		const SimdVector4& planeEq,
-		SimdScalar &minTime,bool swapAB)
-{
-
-	bool hit = false;
-
-	// precondition: s=0 and w= 0 is catched by caller!
-	if (TestFuzzyZero(screwAB.GetS()) &&
-		TestFuzzyZero(screwAB.GetW()))
-	{
-		return false;
-	}
-
-
-	//case w<>0 and s<> 0
-	const SimdScalar w=screwAB.GetW();
-	const SimdScalar s=screwAB.GetS();
-
-	SimdScalar coefs[4];
-	const SimdScalar p=planeEq[0];
-	const SimdScalar q=planeEq[1];
-	const SimdScalar r=planeEq[2];
-	const SimdScalar d=planeEq[3];
-
-	const SimdVector3 norm(p,q,r);
-	BU_Polynomial polynomialSolver;
-	int numroots = 0;
-
-	//SimdScalar eps=1e-80f;
-	//SimdScalar eps2=1e-100f;
-	
-	if (TestFuzzyZero(screwAB.GetS()) )	
-	{
-		//S = 0 , W <> 0
-		
-		//ax^3+bx^2+cx+d=0
-		coefs[0]=0.;
-		coefs[1]=(-p*a.x()-q*a.y()+r*a.z()-d);
-		coefs[2]=-2*p*a.y()+2*q*a.x();
-		coefs[3]=p*a.x()+q*a.y()+r*a.z()-d;
-
-//		numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
-		numroots = polynomialSolver.Solve2QuadraticFull(coefs[1],coefs[2],coefs[3]);
-
-	} else
-	{
-		if (TestFuzzyZero(screwAB.GetW()))
-		{
-			// W = 0 , S <> 0
-			//pax+qay+r(az+st)=d
-			
-			SimdScalar dist = (d - a.dot(norm));
-
-			if (TestFuzzyZero(r))
-			{
-				if (TestFuzzyZero(dist))
-				{
-					// no hit
-				} else
-				{
-					// todo a a' might hit sides of polygon T
-					//printf("unhandled case, w=0,s<>0,r<>0, a a' might hit sides of polygon T \n");
-				}
-				
-			} else
-			{
-				SimdScalar etoi = (dist)/(r*screwAB.GetS());
-				if (swapAB)
-					etoi *= -1;
-
-				if (etoi >= 0. && etoi <= minTime)
-				{
-					minTime = etoi;
-					hit = true;
-				}
-			}
-
-		} else
-		{
-				//ax^3+bx^2+cx+d=0
-
-				//degenerate coefficients mess things up :(
-				SimdScalar ietsje = (r*s)/SimdTan(w/2.f);
-				if (ietsje*ietsje < 0.01f)
-					ietsje = 0.f;
-
-				coefs[0]=ietsje;//(r*s)/tan(w/2.);
-				coefs[1]=(-p*a.x()-q*a.y()+r*a.z()-d);
-				coefs[2]=-2.f*p*a.y()+2.f*q*a.x()+ietsje;//((r*s)/(tan(w/2.)));
-				coefs[3]=p*a.x()+q*a.y()+r*a.z()-d;
-
-				numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
-		}
-	}
-
-
-	for (int i=0;i<numroots;i++)
-	{
-		SimdScalar tau = polynomialSolver.GetRoot(i);
-
-		SimdScalar t = 2.f*SimdAtan(tau)/w;
-		//tau = tan (wt/2) so 2*atan (tau)/w
-		if (swapAB)
-		{
-			t *= -1.;
-		}
-		if (t>=0 && t<minTime)
-		{
-			minTime = t;
-			hit = true;
-		}
-	}
-	
-	return hit;
-}
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.h
deleted file mode 100644
index 96ac73c7aae..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef VERTEX_POLY_H
-#define VERTEX_POLY_H
-
-
-class BU_Screwing;
-#include <SimdTransform.h>
-#include <SimdPoint3.h>
-#include <SimdScalar.h>
-
-///BU_VertexPoly implements algebraic time of impact calculation between vertex and a plane.
-class BU_VertexPoly
-{
-public:
-	BU_VertexPoly();
-	bool GetTimeOfImpact(
-		const BU_Screwing& screwAB,
-		const SimdPoint3& vtx,
-		const SimdVector4& planeEq,
-		SimdScalar &minTime,
-		bool swapAB);
-
-private:
-
-	//cached data (frame coherency etc.) here
-
-};
-#endif //VERTEX_POLY_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/CollisionMargin.h b/extern/bullet/Bullet/NarrowPhaseCollision/CollisionMargin.h
deleted file mode 100644
index 377f0e506a2..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/CollisionMargin.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
-
-//used by Gjk and some other algorithms
-
-#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f
-
-
-
-#endif //COLLISION_MARGIN_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
deleted file mode 100644
index 710208a916e..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ContinuousConvexCollision.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "CollisionShapes/MinkowskiSumShape.h"
-#include "NarrowPhaseCollision/SimplexSolverInterface.h"
-#include "SimdTransformUtil.h"
-#include "CollisionShapes/SphereShape.h"
-
-#include "GjkPairDetector.h"
-#include "PointCollector.h"
-
-
-
-ContinuousConvexCollision::ContinuousConvexCollision ( ConvexShape*	convexA,ConvexShape*	convexB,SimplexSolverInterface* simplexSolver, ConvexPenetrationDepthSolver* penetrationDepthSolver)
-:m_simplexSolver(simplexSolver),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_convexA(convexA),m_convexB(convexB)
-{
-}
-
-/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
-/// You don't want your game ever to lock-up.
-#define MAX_ITERATIONS 1000
-
-bool	ContinuousConvexCollision::calcTimeOfImpact(
-				const SimdTransform& fromA,
-				const SimdTransform& toA,
-				const SimdTransform& fromB,
-				const SimdTransform& toB,
-				CastResult& result)
-{
-
-	m_simplexSolver->reset();
-
-	/// compute linear and angular velocity for this interval, to interpolate
-	SimdVector3 linVelA,angVelA,linVelB,angVelB;
-	SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linVelA,angVelA);
-	SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linVelB,angVelB);
-
-	SimdScalar boundingRadiusA = m_convexA->GetAngularMotionDisc();
-	SimdScalar boundingRadiusB = m_convexB->GetAngularMotionDisc();
-
-	SimdScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
-
-	float radius = 0.001f;
-
-	SimdScalar lambda = 0.f;
-	SimdVector3 v(1,0,0);
-
-	int maxIter = MAX_ITERATIONS;
-
-	SimdVector3 n;
-	n.setValue(0.f,0.f,0.f);
-	bool hasResult = false;
-	SimdVector3 c;
-
-	float lastLambda = lambda;
-	//float epsilon = 0.001f;
-
-	int numIter = 0;
-	//first solution, using GJK
-
-
-	SimdTransform identityTrans;
-	identityTrans.setIdentity();
-
-	SphereShape	raySphere(0.0f);
-	raySphere.SetMargin(0.f);
-
-
-//	result.DrawCoordSystem(sphereTr);
-
-	PointCollector	pointCollector1;
-
-	{
-		
-		GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);		
-		GjkPairDetector::ClosestPointInput input;
-	
-		//we don't use margins during CCD
-		gjk.SetIgnoreMargin(true);
-
-		input.m_transformA = fromA;
-		input.m_transformB = fromB;
-		gjk.GetClosestPoints(input,pointCollector1,0);
-
-		hasResult = pointCollector1.m_hasResult;
-		c = pointCollector1.m_pointInWorld;
-	}
-
-	if (hasResult)
-	{
-		SimdScalar dist;
-		dist = pointCollector1.m_distance;
-		n = pointCollector1.m_normalOnBInWorld;
-		
-		//not close enough
-		while (dist > radius)
-		{
-			numIter++;
-			if (numIter > maxIter)
-				return false; //todo: report a failure
-
-			float dLambda = 0.f;
-
-			//calculate safe moving fraction from distance / (linear+rotational velocity)
-			
-			//float clippedDist  = GEN_min(angularConservativeRadius,dist);
-			//float clippedDist  = dist;
-			
-			float projectedLinearVelocity = (linVelB-linVelA).dot(n);
-			
-			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
-
-			lambda = lambda + dLambda;
-
-			if (lambda > 1.f)
-				return false;
-
-			if (lambda < 0.f)
-				return false;
-
-			//todo: next check with relative epsilon
-			if (lambda <= lastLambda)
-				break;
-			lastLambda = lambda;
-
-			
-
-			//interpolate to next lambda
-			SimdTransform interpolatedTransA,interpolatedTransB,relativeTrans;
-
-			SimdTransformUtil::IntegrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA);
-			SimdTransformUtil::IntegrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
-			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
-
-			result.DebugDraw( lambda );
-
-			PointCollector	pointCollector;
-			GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
-			GjkPairDetector::ClosestPointInput input;
-			input.m_transformA = interpolatedTransA;
-			input.m_transformB = interpolatedTransB;
-			gjk.GetClosestPoints(input,pointCollector,0);
-			if (pointCollector.m_hasResult)
-			{
-				if (pointCollector.m_distance < 0.f)
-				{
-					//degenerate ?!
-					result.m_fraction = lastLambda;
-					result.m_normal = n;
-					return true;
-				}
-				c = pointCollector.m_pointInWorld;		
-				
-				dist = pointCollector.m_distance;
-			} else
-			{
-				//??
-				return false;
-			}
-
-		}
-
-		result.m_fraction = lambda;
-		result.m_normal = n;
-		return true;
-	}
-
-	return false;
-
-/*
-//todo:
-	//if movement away from normal, discard result
-	SimdVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
-	if (result.m_fraction < 1.f)
-	{
-		if (move.dot(result.m_normal) <= 0.f)
-		{
-		}
-	}
-*/
-
-}
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h b/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h
deleted file mode 100644
index 0128f19f657..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
-#define CONTINUOUS_COLLISION_CONVEX_CAST_H
-
-#include "ConvexCast.h"
-#include "SimplexSolverInterface.h"
-class ConvexPenetrationDepthSolver;
-class ConvexShape;
-
-/// ContinuousConvexCollision implements angular and linear time of impact for convex objects.
-/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
-/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
-/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
-class ContinuousConvexCollision : public ConvexCast
-{
-	SimplexSolverInterface* m_simplexSolver;
-	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	ConvexShape*	m_convexA;
-	ConvexShape*	m_convexB;
-
-
-public:
-
-	ContinuousConvexCollision (ConvexShape*	shapeA,ConvexShape*	shapeB ,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
-
-	virtual bool	calcTimeOfImpact(
-				const SimdTransform& fromA,
-				const SimdTransform& toA,
-				const SimdTransform& fromB,
-				const SimdTransform& toB,
-				CastResult& result);
-
-
-};
-
-#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.cpp
deleted file mode 100644
index 689655086be..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "ConvexCast.h"
-
-ConvexCast::~ConvexCast()
-{
-}
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.h b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.h
deleted file mode 100644
index 22c0966df23..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef CONVEX_CAST_H
-#define CONVEX_CAST_H
-
-#include <SimdTransform.h>
-#include <SimdVector3.h>
-#include <SimdScalar.h>
-class MinkowskiSumShape;
-#include "IDebugDraw.h"
-
-/// ConvexCast is an interface for Casting
-class ConvexCast
-{
-public:
-
-
-	virtual ~ConvexCast();
-
-	///RayResult stores the closest result
-	/// alternatively, add a callback method to decide about closest/all results
-	struct	CastResult
-	{
-		//virtual bool	addRayResult(const SimdVector3& normal,SimdScalar	fraction) = 0;
-				
-		virtual void	DebugDraw(SimdScalar	fraction) {}
-		virtual void	DrawCoordSystem(const SimdTransform& trans) {}
-
-		CastResult()
-			:m_fraction(1e30f),
-			m_debugDrawer(0)
-		{
-		}
-
-
-		virtual ~CastResult() {};
-
-		SimdVector3	m_normal;
-		SimdScalar	m_fraction;
-		SimdTransform	m_hitTransformA;
-		SimdTransform	m_hitTransformB;
-
-		IDebugDraw* m_debugDrawer;
-
-	};
-
-
-	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const SimdTransform& fromA,
-					const SimdTransform& toA,
-					const SimdTransform& fromB,
-					const SimdTransform& toB,
-					CastResult& result) = 0;
-};
-
-#endif //CONVEX_CAST_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
deleted file mode 100644
index 8f8c0a97e04..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef CONVEX_PENETRATION_DEPTH_H
-#define CONVEX_PENETRATION_DEPTH_H
-
-class SimdVector3;
-#include "SimplexSolverInterface.h"
-class ConvexShape;
-#include "SimdPoint3.h"
-class SimdTransform;
-
-///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
-class ConvexPenetrationDepthSolver
-{
-public:	
-	
-	virtual ~ConvexPenetrationDepthSolver() {};
-	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
-		ConvexShape* convexA,ConvexShape* convexB,
-					const SimdTransform& transA,const SimdTransform& transB,
-				SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
-				class IDebugDraw* debugDraw
-				) = 0;
-
-
-};
-#endif //CONVEX_PENETRATION_DEPTH_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
deleted file mode 100644
index da5ecc2d78b..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef DISCRETE_COLLISION_DETECTOR_INTERFACE_H
-#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
-#include "SimdTransform.h"
-#include "SimdVector3.h"
-
-
-/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
-/// This interface allows to query for closest points and penetration depth between two (convex) objects
-/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
-/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
-/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
-struct DiscreteCollisionDetectorInterface
-{
-	void operator delete(void* ptr) {};
-
-	struct Result
-	{
-		void operator delete(void* ptr) {};
-	
-		virtual ~Result(){}	
-
-		///SetShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
-		virtual void SetShapeIdentifiers(int partId0,int index0,	int partId1,int index1)=0;
-		virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
-	};
-
-	struct ClosestPointInput
-	{
-		ClosestPointInput()
-			:m_maximumDistanceSquared(1e30f)
-		{
-		}
-
-		SimdTransform m_transformA;
-		SimdTransform m_transformB;
-		SimdScalar	m_maximumDistanceSquared;
-	};
-
-	virtual ~DiscreteCollisionDetectorInterface() {};
-
-	//
-	// give either closest points (distance > 0) or penetration (distance)
-	// the normal always points from B towards A
-	//
-	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw) = 0;
-
-	SimdScalar	getCollisionMargin() { return 0.2f;}
-};
-
-struct StorageResult : public DiscreteCollisionDetectorInterface::Result
-{
-		SimdVector3	m_normalOnSurfaceB;
-		SimdVector3	m_closestPointInB;
-		SimdScalar	m_distance; //negative means penetration !
-
-		StorageResult() : m_distance(1e30f)
-		{
-
-		}
-		virtual ~StorageResult() {};
-
-		virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-		{
-			if (depth < m_distance)
-			{
-				m_normalOnSurfaceB = normalOnBInWorld;
-				m_closestPointInB = pointInWorld;
-				m_distance = depth;
-			}
-		}
-};
-
-#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
deleted file mode 100644
index 2b494e45954..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "GjkConvexCast.h"
-#include "CollisionShapes/SphereShape.h"
-#include "CollisionShapes/MinkowskiSumShape.h"
-#include "GjkPairDetector.h"
-#include "PointCollector.h"
-
-
-GjkConvexCast::GjkConvexCast(ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
-:m_simplexSolver(simplexSolver),
-m_convexA(convexA),
-m_convexB(convexB)
-{
-}
-
-bool	GjkConvexCast::calcTimeOfImpact(
-					const SimdTransform& fromA,
-					const SimdTransform& toA,
-					const SimdTransform& fromB,
-					const SimdTransform& toB,
-					CastResult& result)
-{
-
-
-	MinkowskiSumShape combi(m_convexA,m_convexB);
-	MinkowskiSumShape* convex = &combi;
-
-	SimdTransform	rayFromLocalA;
-	SimdTransform	rayToLocalA;
-
-	rayFromLocalA = fromA.inverse()* fromB;
-	rayToLocalA = toA.inverse()* toB;
-
-
-	SimdTransform trA,trB;
-	trA = SimdTransform(fromA);
-	trB = SimdTransform(fromB);
-	trA.setOrigin(SimdPoint3(0,0,0));
-	trB.setOrigin(SimdPoint3(0,0,0));
-
-	convex->SetTransformA(trA);
-	convex->SetTransformB(trB);
-
-
-
-
-	float radius = 0.01f;
-
-	SimdScalar lambda = 0.f;
-	SimdVector3 s = rayFromLocalA.getOrigin();
-	SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
-	SimdVector3 x = s;
-	SimdVector3 n;
-	n.setValue(0,0,0);
-	bool hasResult = false;
-	SimdVector3 c;
-
-	float lastLambda = lambda;
-
-	//first solution, using GJK
-
-	//no penetration support for now, perhaps pass a pointer when we really want it
-	ConvexPenetrationDepthSolver* penSolverPtr = 0;
-
-	SimdTransform identityTrans;
-	identityTrans.setIdentity();
-
-	SphereShape	raySphere(0.0f);
-	raySphere.SetMargin(0.f);
-
-	SimdTransform sphereTr;
-	sphereTr.setIdentity();
-	sphereTr.setOrigin( rayFromLocalA.getOrigin());
-
-	result.DrawCoordSystem(sphereTr);
-	{
-		PointCollector	pointCollector1;
-		GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);		
-
-		GjkPairDetector::ClosestPointInput input;
-		input.m_transformA = sphereTr;
-		input.m_transformB = identityTrans;
-		gjk.GetClosestPoints(input,pointCollector1,0);
-
-		hasResult = pointCollector1.m_hasResult;
-		c = pointCollector1.m_pointInWorld;
-		n = pointCollector1.m_normalOnBInWorld;
-	}
-
-	
-
-	if (hasResult)
-	{
-		SimdScalar dist;
-		dist = (c-x).length();
-		if (dist < radius)
-		{
-			//penetration
-			lastLambda = 1.f;
-		}
-
-		//not close enough
-		while (dist > radius)
-		{
-			
-			n = x - c;
-			SimdScalar nDotr = n.dot(r);
-
-			if (nDotr >= -(SIMD_EPSILON*SIMD_EPSILON))
-				return false;
-			
-			lambda = lambda - n.dot(n) / nDotr;
-			if (lambda <= lastLambda)
-				break;
-
-			lastLambda = lambda;
-
-			x = s + lambda * r;
-
-			sphereTr.setOrigin( x );
-			result.DrawCoordSystem(sphereTr);
-			PointCollector	pointCollector;
-			GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
-			GjkPairDetector::ClosestPointInput input;
-			input.m_transformA = sphereTr;
-			input.m_transformB = identityTrans;
-			gjk.GetClosestPoints(input,pointCollector,0);
-			if (pointCollector.m_hasResult)
-			{
-				if (pointCollector.m_distance < 0.f)
-				{
-					//degeneracy, report a hit
-					result.m_fraction = lastLambda;
-					result.m_normal = n;
-					return true;
-				}
-				c = pointCollector.m_pointInWorld;			
-				dist = (c-x).length();
-			} else
-			{
-				//??
-				return false;
-			}
-
-		}
-
-		if (lastLambda < 1.f)
-		{
-		
-			result.m_fraction = lastLambda;
-			result.m_normal = n;
-			return true;
-		}
-	}
-
-	return false;
-}
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h
deleted file mode 100644
index c83ffc12f59..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#ifndef GJK_CONVEX_CAST_H
-#define GJK_CONVEX_CAST_H
-
-#include <CollisionShapes/CollisionMargin.h>
-
-#include "SimdVector3.h"
-#include "ConvexCast.h"
-class ConvexShape;
-class MinkowskiSumShape;
-#include "SimplexSolverInterface.h"
-
-///GjkConvexCast performs a raycast on a convex object using support mapping.
-class GjkConvexCast : public ConvexCast
-{
-	SimplexSolverInterface*	m_simplexSolver;
-	ConvexShape*	m_convexA;
-	ConvexShape*	m_convexB;
-
-public:
-
-	GjkConvexCast(ConvexShape*	convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver);
-
-	/// cast a convex against another convex object
-	virtual bool	calcTimeOfImpact(
-					const SimdTransform& fromA,
-					const SimdTransform& toA,
-					const SimdTransform& fromB,
-					const SimdTransform& toB,
-					CastResult& result);
-
-};
-
-#endif //GJK_CONVEX_CAST_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
deleted file mode 100644
index 0887ba71901..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
+++ /dev/null
@@ -1,229 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "GjkPairDetector.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "NarrowPhaseCollision/SimplexSolverInterface.h"
-#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
-
-#if defined(DEBUG) || defined (_DEBUG)
-#include <stdio.h> //for debug printf
-#endif
-
-static const SimdScalar rel_error = SimdScalar(1.0e-5);
-SimdScalar rel_error2 = rel_error * rel_error;
-float maxdist2 = 1.e30f;
-
-
-int gGjkMaxIter=1000;
-
-GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver)
-:m_cachedSeparatingAxis(0.f,0.f,1.f),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_simplexSolver(simplexSolver),
-m_minkowskiA(objectA),
-m_minkowskiB(objectB),
-m_ignoreMargin(false),
-m_partId0(-1),
-m_index0(-1),
-m_partId1(-1),
-m_index1(-1)
-{
-}
-
-void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw)
-{
-	SimdScalar distance=0.f;
-	SimdVector3	normalInB(0.f,0.f,0.f);
-	SimdVector3 pointOnA,pointOnB;
-
-	float marginA = m_minkowskiA->GetMargin();
-	float marginB = m_minkowskiB->GetMargin();
-
-	//for CCD we don't use margins
-	if (m_ignoreMargin)
-	{
-		marginA = 0.f;
-		marginB = 0.f;
-	}
-
-int curIter = 0;
-
-	bool isValid = false;
-	bool checkSimplex = false;
-	bool checkPenetration = true;
-
-	{
-		SimdScalar squaredDistance = SIMD_INFINITY;
-		SimdScalar delta = 0.f;
-		
-		SimdScalar margin = marginA + marginB;
-		
-		
-
-		m_simplexSolver->reset();
-		
-		while (true)
-		{
-			//rare failure case, perhaps deferate shapes?
-			if (curIter++ > gGjkMaxIter)
-			{
-				#if defined(DEBUG) || defined (_DEBUG)
-					printf("GjkPairDetector maxIter exceeded:%i\n",curIter);
-					printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
-					m_cachedSeparatingAxis.getX(),
-					m_cachedSeparatingAxis.getY(),
-					m_cachedSeparatingAxis.getZ(),
-					squaredDistance,
-					m_minkowskiA->GetShapeType(),
-					m_minkowskiB->GetShapeType());
-				#endif
-				break;
-
-			}
-
-			SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
-			SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
-
-			SimdVector3 pInA = m_minkowskiA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
-			SimdVector3 qInB = m_minkowskiB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
-			SimdPoint3  pWorld = input.m_transformA(pInA);	
-			SimdPoint3  qWorld = input.m_transformB(qInB);
-			
-			SimdVector3 w	= pWorld - qWorld;
-			delta = m_cachedSeparatingAxis.dot(w);
-
-			// potential exit, they don't overlap
-			if ((delta > SimdScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
-			{
-				checkPenetration = false;
-				break;
-			}
-
-			//exit 0: the new point is already in the simplex, or we didn't come any closer
-			if (m_simplexSolver->inSimplex(w))
-			{
-				checkSimplex = true;
-				break;
-			}
-			// are we getting any closer ?
-			if (squaredDistance - delta <= squaredDistance * rel_error2)
-			{
-				checkSimplex = true;
-				break;
-			}
-			//add current vertex to simplex
-			m_simplexSolver->addVertex(w, pWorld, qWorld);
-
-			//calculate the closest point to the origin (update vector v)
-			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
-			{
-				checkSimplex = true;
-				break;
-			}
-
-			SimdScalar previousSquaredDistance = squaredDistance;
-			squaredDistance = m_cachedSeparatingAxis.length2();
-			
-			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-			//are we getting any closer ?
-			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) 
-			{ 
-				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				checkSimplex = true;
-				break;
-			}
-			bool check = (!m_simplexSolver->fullSimplex());
-			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
-
-			if (!check)
-			{
-				//do we need this backup_closest here ?
-				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				break;
-			}
-		}
-
-		if (checkSimplex)
-		{
-			m_simplexSolver->compute_points(pointOnA, pointOnB);
-			normalInB = pointOnA-pointOnB;
-			float lenSqr = m_cachedSeparatingAxis.length2();
-			//valid normal
-			if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
-			{
-				float rlen = 1.f / SimdSqrt(lenSqr );
-				normalInB *= rlen; //normalize
-				SimdScalar s = SimdSqrt(squaredDistance);
-				ASSERT(s > SimdScalar(0.0));
-				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-				pointOnB += m_cachedSeparatingAxis * (marginB / s);
-				distance = ((1.f/rlen) - margin);
-				isValid = true;
-			}
-		}
-
-		if (checkPenetration && !isValid)
-		{
-			//penetration case
-		
-			//if there is no way to handle penetrations, bail out
-			if (m_penetrationDepthSolver)
-			{
-				// Penetration depth case.
-				isValid = m_penetrationDepthSolver->CalcPenDepth( 
-					*m_simplexSolver, 
-					m_minkowskiA,m_minkowskiB,
-					input.m_transformA,input.m_transformB,
-					m_cachedSeparatingAxis, pointOnA, pointOnB,
-					debugDraw
-					);
-
-				if (isValid)
-				{
-					normalInB = pointOnB-pointOnA;
-					float lenSqr = normalInB.length2();
-					if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
-					{
-						normalInB /= SimdSqrt(lenSqr);
-						distance = -(pointOnA-pointOnB).length();
-					} else
-					{
-						isValid = false;
-					}
-				}
-			}
-		}
-	}
-
-	if (isValid)
-	{
-		output.SetShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
-
-		output.AddContactPoint(
-			normalInB,
-			pointOnB,
-			distance);
-		//printf("gjk add:%f",distance);
-	} 
-
-
-}
-
-
-
-
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
deleted file mode 100644
index 5eee81e82c6..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-#ifndef GJK_PAIR_DETECTOR_H
-#define GJK_PAIR_DETECTOR_H
-
-#include "DiscreteCollisionDetectorInterface.h"
-#include "SimdPoint3.h"
-
-#include <CollisionShapes/CollisionMargin.h>
-
-class ConvexShape;
-#include "SimplexSolverInterface.h"
-class ConvexPenetrationDepthSolver;
-
-/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
-class GjkPairDetector : public DiscreteCollisionDetectorInterface
-{
-	
-
-	SimdVector3	m_cachedSeparatingAxis;
-	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	SimplexSolverInterface* m_simplexSolver;
-	ConvexShape* m_minkowskiA;
-	ConvexShape* m_minkowskiB;
-	bool		m_ignoreMargin;
-	
-
-public:
-
-	//experimental feature information, per triangle, per convex etc.
-	//'material combiner' / contact added callback
-	int	m_partId0;
-	int	m_index0;
-	int	m_partId1;
-	int	m_index1;
-
-	GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver);
-	virtual ~GjkPairDetector() {};
-
-	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw);
-
-	void SetMinkowskiA(ConvexShape* minkA)
-	{
-		m_minkowskiA = minkA;
-	}
-
-	void SetMinkowskiB(ConvexShape* minkB)
-	{
-		m_minkowskiB = minkB;
-	}
-	void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
-	{
-		m_cachedSeparatingAxis = seperatingAxis;
-	}
-
-	void	SetPenetrationDepthSolver(ConvexPenetrationDepthSolver*	penetrationDepthSolver)
-	{
-		m_penetrationDepthSolver = penetrationDepthSolver;
-	}
-
-	void	SetIgnoreMargin(bool ignoreMargin)
-	{
-		m_ignoreMargin = ignoreMargin;
-	}
-
-};
-
-#endif //GJK_PAIR_DETECTOR_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
deleted file mode 100644
index ad97b9579b0..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "ManifoldContactAddResult.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-
-ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr)
-		:m_manifoldPtr(manifoldPtr)
-{
-	m_transAInv = transA.inverse();
-	m_transBInv = transB.inverse();
-
-}
-
-
-void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-{
-	if (depth > m_manifoldPtr->GetContactBreakingTreshold())
-		return;
-
-
-	SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
-	SimdVector3 localA = m_transAInv(pointA );
-	SimdVector3 localB = m_transBInv(pointInWorld);
-	ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
-
-	int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
-	if (insertIndex >= 0)
-	{
-		m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
-	} else
-	{
-		m_manifoldPtr->AddManifoldPoint(newPt);
-	}
-}
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.h b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.h
deleted file mode 100644
index 5dc9f3129b2..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef MANIFOLD_CONTACT_ADD_RESULT_H
-#define MANIFOLD_CONTACT_ADD_RESULT_H
-
-#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
-class PersistentManifold;
-
-class ManifoldContactAddResult : public DiscreteCollisionDetectorInterface::Result
-{
-	PersistentManifold* m_manifoldPtr;
-	SimdTransform	m_transAInv;
-	SimdTransform	m_transBInv;
-
-public:
-
-	ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr);
-
-	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
-
-};
-
-#endif //MANIFOLD_CONTACT_ADD_RESULT_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
deleted file mode 100644
index 250d9a9a8b4..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MANIFOLD_CONTACT_POINT_H
-#define MANIFOLD_CONTACT_POINT_H
-
-#include "SimdVector3.h"
-#include "SimdTransformUtil.h"
-
-
-
-
-
-/// ManifoldContactPoint collects and maintains persistent contactpoints.
-/// used to improve stability and performance of rigidbody dynamics response.
-class ManifoldPoint
-	{
-		public:
-			ManifoldPoint()
-				:m_userPersistentData(0)
-			{
-			}
-
-			ManifoldPoint( const SimdVector3 &pointA, const SimdVector3 &pointB, 
-					const SimdVector3 &normal, 
-					SimdScalar distance ) :
-					m_localPointA( pointA ), 
-					m_localPointB( pointB ), 
-					m_normalWorldOnB( normal ), 
-					m_distance1( distance ),
-					m_combinedFriction(0.f),
-					m_combinedRestitution(0.f),
-					m_userPersistentData(0),					
-					m_lifeTime(0)
-			{
-				
-					
-			}
-
-			
-
-			SimdVector3 m_localPointA;			
-			SimdVector3 m_localPointB;			
-			SimdVector3	m_positionWorldOnB;
-			///m_positionWorldOnA is redundant information, see GetPositionWorldOnA(), but for clarity
-			SimdVector3	m_positionWorldOnA;
-			SimdVector3 m_normalWorldOnB;
-		
-			float	m_distance1;
-			float	m_combinedFriction;
-			float	m_combinedRestitution;
-
-				
-			void*	m_userPersistentData;
-
-			int		m_lifeTime;//lifetime of the contactpoint in frames
-			
-			float GetDistance() const
-			{
-				return m_distance1;
-			}
-			int	GetLifeTime() const
-			{
-				return m_lifeTime;
-			}
-
-			SimdVector3 GetPositionWorldOnA() {
-				return m_positionWorldOnA;
-//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
-			}
-
-			const SimdVector3& GetPositionWorldOnB()
-			{
-				return m_positionWorldOnB;
-			}
-
-			void	SetDistance(float dist)
-			{
-				m_distance1 = dist;
-			}
-			
-			
-
-	};
-
-#endif //MANIFOLD_CONTACT_POINT_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
deleted file mode 100644
index 70b856c32a9..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
+++ /dev/null
@@ -1,246 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "MinkowskiPenetrationDepthSolver.h"
-#include "CollisionShapes/MinkowskiSumShape.h"
-#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
-#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
-#include "NarrowPhaseCollision/GjkPairDetector.h"
-
-
-struct MyResult : public DiscreteCollisionDetectorInterface::Result
-{
-
-	MyResult():m_hasResult(false)
-	{
-	}
-	
-	SimdVector3 m_normalOnBInWorld;
-	SimdVector3 m_pointInWorld;
-	float m_depth;
-	bool	m_hasResult;
-
-	virtual void SetShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-	}
-	void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-	{
-		m_normalOnBInWorld = normalOnBInWorld;
-		m_pointInWorld = pointInWorld;
-		m_depth = depth;
-		m_hasResult = true;
-	}
-};
-
-#define NUM_UNITSPHERE_POINTS 42
-static SimdVector3	sPenetrationDirections[NUM_UNITSPHERE_POINTS] = 
-{
-SimdVector3(0.000000f , -0.000000f,-1.000000f),
-SimdVector3(0.723608f , -0.525725f,-0.447219f),
-SimdVector3(-0.276388f , -0.850649f,-0.447219f),
-SimdVector3(-0.894426f , -0.000000f,-0.447216f),
-SimdVector3(-0.276388f , 0.850649f,-0.447220f),
-SimdVector3(0.723608f , 0.525725f,-0.447219f),
-SimdVector3(0.276388f , -0.850649f,0.447220f),
-SimdVector3(-0.723608f , -0.525725f,0.447219f),
-SimdVector3(-0.723608f , 0.525725f,0.447219f),
-SimdVector3(0.276388f , 0.850649f,0.447219f),
-SimdVector3(0.894426f , 0.000000f,0.447216f),
-SimdVector3(-0.000000f , 0.000000f,1.000000f),
-SimdVector3(0.425323f , -0.309011f,-0.850654f),
-SimdVector3(-0.162456f , -0.499995f,-0.850654f),
-SimdVector3(0.262869f , -0.809012f,-0.525738f),
-SimdVector3(0.425323f , 0.309011f,-0.850654f),
-SimdVector3(0.850648f , -0.000000f,-0.525736f),
-SimdVector3(-0.525730f , -0.000000f,-0.850652f),
-SimdVector3(-0.688190f , -0.499997f,-0.525736f),
-SimdVector3(-0.162456f , 0.499995f,-0.850654f),
-SimdVector3(-0.688190f , 0.499997f,-0.525736f),
-SimdVector3(0.262869f , 0.809012f,-0.525738f),
-SimdVector3(0.951058f , 0.309013f,0.000000f),
-SimdVector3(0.951058f , -0.309013f,0.000000f),
-SimdVector3(0.587786f , -0.809017f,0.000000f),
-SimdVector3(0.000000f , -1.000000f,0.000000f),
-SimdVector3(-0.587786f , -0.809017f,0.000000f),
-SimdVector3(-0.951058f , -0.309013f,-0.000000f),
-SimdVector3(-0.951058f , 0.309013f,-0.000000f),
-SimdVector3(-0.587786f , 0.809017f,-0.000000f),
-SimdVector3(-0.000000f , 1.000000f,-0.000000f),
-SimdVector3(0.587786f , 0.809017f,-0.000000f),
-SimdVector3(0.688190f , -0.499997f,0.525736f),
-SimdVector3(-0.262869f , -0.809012f,0.525738f),
-SimdVector3(-0.850648f , 0.000000f,0.525736f),
-SimdVector3(-0.262869f , 0.809012f,0.525738f),
-SimdVector3(0.688190f , 0.499997f,0.525736f),
-SimdVector3(0.525730f , 0.000000f,0.850652f),
-SimdVector3(0.162456f , -0.499995f,0.850654f),
-SimdVector3(-0.425323f , -0.309011f,0.850654f),
-SimdVector3(-0.425323f , 0.309011f,0.850654f),
-SimdVector3(0.162456f , 0.499995f,0.850654f)
-};
-
-
-bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
-												   ConvexShape* convexA,ConvexShape* convexB,
-												   const SimdTransform& transA,const SimdTransform& transB,
-												   SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
-												   class IDebugDraw* debugDraw
-												   )
-{
-
-	//just take fixed number of orientation, and sample the penetration depth in that direction
-	float minProj = 1e30f;
-	SimdVector3 minNorm;
-	SimdVector3 minVertex;
-	SimdVector3 minA,minB;
-	SimdVector3 seperatingAxisInA,seperatingAxisInB;
-	SimdVector3 pInA,qInB,pWorld,qWorld,w;
-
-#define USE_BATCHED_SUPPORT 1
-#ifdef USE_BATCHED_SUPPORT
-	SimdVector3	supportVerticesABatch[NUM_UNITSPHERE_POINTS];
-	SimdVector3	supportVerticesBBatch[NUM_UNITSPHERE_POINTS];
-	SimdVector3	seperatingAxisInABatch[NUM_UNITSPHERE_POINTS];
-	SimdVector3	seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS];
-	int i;
-
-	for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
-	{
-		const SimdVector3& norm = sPenetrationDirections[i];
-		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++)
-	{
-		const SimdVector3& norm = sPenetrationDirections[i];
-		seperatingAxisInA = seperatingAxisInABatch[i];
-		seperatingAxisInB = seperatingAxisInBBatch[i];
-
-		pInA = supportVerticesABatch[i];
-		qInB = supportVerticesBBatch[i];
-
-		pWorld = transA(pInA);	
-		qWorld = transB(qInB);
-		w	= qWorld - pWorld;
-		float delta = norm.dot(w);
-		//find smallest delta
-		if (delta < minProj)
-		{
-			minProj = delta;
-			minNorm = norm;
-			minA = pWorld;
-			minB = qWorld;
-		}
-	}	
-#else
-	for (int i=0;i<NUM_UNITSPHERE_POINTS;i++)
-	{
-		const SimdVector3& norm = sPenetrationDirections[i];
-		seperatingAxisInA = (-norm)* transA.getBasis();
-		seperatingAxisInB = norm* transB.getBasis();
-		pInA = convexA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
-		qInB = convexB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
-		pWorld = transA(pInA);	
-		qWorld = transB(qInB);
-		w	= qWorld - pWorld;
-		float delta = norm.dot(w);
-		//find smallest delta
-		if (delta < minProj)
-		{
-			minProj = delta;
-			minNorm = norm;
-			minA = pWorld;
-			minB = qWorld;
-		}
-	}
-#endif //USE_BATCHED_SUPPORT
-
-	//add the margins
-
-	minA += minNorm*convexA->GetMargin();
-	minB -= minNorm*convexB->GetMargin();
-	minProj += (convexA->GetMargin() + convexB->GetMargin());
-
-
-	
-
-//#define DEBUG_DRAW 1
-#ifdef DEBUG_DRAW
-	if (debugDraw)
-	{
-		SimdVector3 color(0,1,0);
-		debugDraw->DrawLine(minA,minB,color);
-		color = SimdVector3 (1,1,1);
-		SimdVector3 vec = minB-minA;
-		float prj2 = minNorm.dot(vec);
-		debugDraw->DrawLine(minA,minA+(minNorm*minProj),color);
-
-	}
-#endif //DEBUG_DRAW
-
-	
-
-	GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
-
-	SimdScalar offsetDist = minProj;
-	SimdVector3 offset = minNorm * offsetDist;
-	
-
-
-	GjkPairDetector::ClosestPointInput input;
-		
-	SimdVector3 newOrg = transA.getOrigin() + offset;
-
-	SimdTransform displacedTrans = transA;
-	displacedTrans.setOrigin(newOrg);
-
-	input.m_transformA = displacedTrans;
-	input.m_transformB = transB;
-	input.m_maximumDistanceSquared = 1e30f;//minProj;
-	
-	MyResult res;
-	gjkdet.GetClosestPoints(input,res,debugDraw);
-
-	float correctedMinNorm = minProj - res.m_depth;
-
-
-	//the penetration depth is over-estimated, relax it
-	float penetration_relaxation= 1.f;
-	minNorm*=penetration_relaxation;
-
-	if (res.m_hasResult)
-	{
-
-		pa = res.m_pointInWorld - minNorm * correctedMinNorm;
-		pb = res.m_pointInWorld;
-		
-#ifdef DEBUG_DRAW
-		if (debugDraw)
-		{
-			SimdVector3 color(1,0,0);
-			debugDraw->DrawLine(pa,pb,color);
-		}
-#endif//DEBUG_DRAW
-
-
-	}
-	return res.m_hasResult;
-}
-
-
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
deleted file mode 100644
index b7a0da3a024..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-
-#include "ConvexPenetrationDepthSolver.h"
-
-///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
-///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
-class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver
-{
-public:
-
-	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
-	ConvexShape* convexA,ConvexShape* convexB,
-				const SimdTransform& transA,const SimdTransform& transB,
-			SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
-			class IDebugDraw* debugDraw
-			);
-
-};
-
-#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
deleted file mode 100644
index 39227e3ead2..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ /dev/null
@@ -1,246 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "PersistentManifold.h"
-#include "SimdTransform.h"
-#include <assert.h>
-
-float						gContactBreakingTreshold = 0.02f;
-ContactDestroyedCallback	gContactDestroyedCallback = 0;
-
-
-
-PersistentManifold::PersistentManifold()
-:m_body0(0),
-m_body1(0),
-m_cachedPoints (0),
-m_index1(0)
-{
-}
-
-
-void	PersistentManifold::ClearManifold()
-{
-	int i;
-	for (i=0;i<m_cachedPoints;i++)
-	{
-		ClearUserCache(m_pointCache[i]);
-	}
-	m_cachedPoints = 0;
-}
-
-#ifdef DEBUG_PERSISTENCY
-#include <stdio.h>
-void	PersistentManifold::DebugPersistency()
-{
-	int i;
-	printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
-	for (i=0;i<m_cachedPoints;i++)
-	{
-		printf("m_pointCache[%d].m_userPersistentData = %x\n",i,m_pointCache[i].m_userPersistentData);
-	}
-}
-#endif //DEBUG_PERSISTENCY
-
-void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
-{
-
-	void* oldPtr = pt.m_userPersistentData;
-	if (oldPtr)
-	{
-#ifdef DEBUG_PERSISTENCY
-		int i;
-		int occurance = 0;
-		for (i=0;i<m_cachedPoints;i++)
-		{
-			if (m_pointCache[i].m_userPersistentData == oldPtr)
-			{
-				occurance++;
-				if (occurance>1)
-					printf("error in ClearUserCache\n");
-			}
-		}
-		assert(occurance<=0);
-#endif //DEBUG_PERSISTENCY
-
-		if (pt.m_userPersistentData && gContactDestroyedCallback)
-		{
-			(*gContactDestroyedCallback)(pt.m_userPersistentData);
-			pt.m_userPersistentData = 0;
-		}
-		
-#ifdef DEBUG_PERSISTENCY
-		DebugPersistency();
-#endif
-	}
-
-	
-}
-
-
-int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt) 
-{
-
-		//calculate 4 possible cases areas, and take biggest area
-		//also need to keep 'deepest'
-		
-		int maxPenetrationIndex = -1;
-#define KEEP_DEEPEST_POINT 1
-#ifdef KEEP_DEEPEST_POINT
-		float maxPenetration = pt.GetDistance();
-		for (int i=0;i<4;i++)
-		{
-			if (m_pointCache[i].GetDistance() < maxPenetration)
-			{
-				maxPenetrationIndex = i;
-				maxPenetration = m_pointCache[i].GetDistance();
-			}
-		}
-#endif //KEEP_DEEPEST_POINT
-		
-		SimdScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
-		if (maxPenetrationIndex != 0)
-		{
-			SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
-			SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			SimdVector3 cross = a0.cross(b0);
-			res0 = cross.length2();
-		}
-		if (maxPenetrationIndex != 1)
-		{
-			SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
-			SimdVector3 cross = a1.cross(b1);
-			res1 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 2)
-		{
-			SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
-			SimdVector3 cross = a2.cross(b2);
-			res2 = cross.length2();
-		}
-
-		if (maxPenetrationIndex != 3)
-		{
-			SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
-			SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
-			SimdVector3 cross = a3.cross(b3);
-			res3 = cross.length2();
-		}
-
-		SimdVector4 maxvec(res0,res1,res2,res3);
-		int biggestarea = maxvec.closestAxis4();
-		return biggestarea;
-}
-
-
-int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
-{
-	SimdScalar shortestDist =  GetContactBreakingTreshold() * GetContactBreakingTreshold();
-	int size = GetNumContacts();
-	int nearestPoint = -1;
-	for( int i = 0; i < size; i++ )
-	{
-		const ManifoldPoint &mp = m_pointCache[i];
-
-		SimdVector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
-		const SimdScalar distToManiPoint = diffA.dot(diffA);
-		if( distToManiPoint < shortestDist )
-		{
-			shortestDist = distToManiPoint;
-			nearestPoint = i;
-		}
-	}
-	return nearestPoint;
-}
-
-void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
-{
-	assert(ValidContactDistance(newPoint));
-
-	int insertIndex = GetNumContacts();
-	if (insertIndex == MANIFOLD_CACHE_SIZE)
-	{
-#if MANIFOLD_CACHE_SIZE >= 4
-		//sort cache so best points come first, based on area
-		insertIndex = SortCachedPoints(newPoint);
-#else
-		insertIndex = 0;
-#endif
-
-		
-	} else
-	{
-		m_cachedPoints++;
-
-		
-	}
-	ReplaceContactPoint(newPoint,insertIndex);
-}
-
-float	PersistentManifold::GetContactBreakingTreshold() const
-{
-	return gContactBreakingTreshold;
-}
-
-void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
-{
-	int i;
-
-	/// first refresh worldspace positions and distance
-	for (i=GetNumContacts()-1;i>=0;i--)
-	{
-		ManifoldPoint &manifoldPoint = m_pointCache[i];
-		manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
-		manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
-		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA -  manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
-		manifoldPoint.m_lifeTime++;
-	}
-
-	/// then 
-	SimdScalar distance2d;
-	SimdVector3 projectedDifference,projectedPoint;
-	for (i=GetNumContacts()-1;i>=0;i--)
-	{
-		
-		ManifoldPoint &manifoldPoint = m_pointCache[i];
-		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
-		if (!ValidContactDistance(manifoldPoint))
-		{
-			RemoveContactPoint(i);
-		} else
-		{
-			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
-			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
-			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
-			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > GetContactBreakingTreshold()*GetContactBreakingTreshold() )
-			{
-				RemoveContactPoint(i);
-			}
-		}
-	}
-#ifdef DEBUG_PERSISTENCY
-	DebugPersistency();
-#endif //
-}
-
-
-
-
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
deleted file mode 100644
index 53895be9ade..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PERSISTENT_MANIFOLD_H
-#define PERSISTENT_MANIFOLD_H
-
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-#include "ManifoldPoint.h"
-
-struct CollisionResult;
-
-///contact breaking and merging treshold
-extern float gContactBreakingTreshold;
-
-typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
-extern ContactDestroyedCallback	gContactDestroyedCallback;
-
-
-
-
-#define MANIFOLD_CACHE_SIZE 4
-
-///PersistentManifold maintains contact points, and reduces them to 4.
-///It does contact filtering/contact reduction.
-class PersistentManifold 
-{
-
-	ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
-
-	/// this two body pointers can point to the physics rigidbody class.
-	/// void* will allow any rigidbody class
-	void* m_body0;
-	void* m_body1;
-	int	m_cachedPoints;
-
-	
-	/// sort cached points so most isolated points come first
-	int	SortCachedPoints(const ManifoldPoint& pt);
-
-	int		FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
-
-public:
-
-	int m_index1;
-
-	PersistentManifold();
-
-	PersistentManifold(void* body0,void* body1)
-		: m_body0(body0),m_body1(body1),m_cachedPoints(0)
-	{
-	}
-
-	inline void* GetBody0() { return m_body0;}
-	inline void* GetBody1() { return m_body1;}
-
-	inline const void* GetBody0() const { return m_body0;}
-	inline const void* GetBody1() const { return m_body1;}
-
-	void	SetBodies(void* body0,void* body1)
-	{
-		m_body0 = body0;
-		m_body1 = body1;
-	}
-
-	void ClearUserCache(ManifoldPoint& pt);
-
-#ifdef DEBUG_PERSISTENCY
-	void	DebugPersistency();
-#endif //
-	
-	inline int	GetNumContacts() const { return m_cachedPoints;}
-
-	inline const ManifoldPoint& GetContactPoint(int index) const
-	{
-		ASSERT(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	inline ManifoldPoint& GetContactPoint(int index)
-	{
-		ASSERT(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	/// todo: get this margin from the current physics / collision environment
-	float	GetContactBreakingTreshold() const;
-	
-	int GetCacheEntry(const ManifoldPoint& newPoint) const;
-
-	void AddManifoldPoint( const ManifoldPoint& newPoint);
-
-	void RemoveContactPoint (int index)
-	{
-		ClearUserCache(m_pointCache[index]);
-
-		int lastUsedIndex = GetNumContacts() - 1;
-		m_pointCache[index] = m_pointCache[lastUsedIndex];
-		//get rid of duplicated userPersistentData pointer
-		m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-		m_cachedPoints--;
-	}
-	void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
-	{
-		assert(ValidContactDistance(newPoint));
-
-		ClearUserCache(m_pointCache[insertIndex]);
-		
-		m_pointCache[insertIndex] = newPoint;
-	}
-
-	bool ValidContactDistance(const ManifoldPoint& pt) const
-	{
-		return pt.m_distance1 <= GetContactBreakingTreshold();
-	}
-	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	void	RefreshContactPoints(  const SimdTransform& trA,const SimdTransform& trB);
-
-	void	ClearManifold();
-
-
-
-};
-
-
-
-#endif //PERSISTENT_MANIFOLD_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h b/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h
deleted file mode 100644
index 9d1daf01c46..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef POINT_COLLECTOR_H
-#define POINT_COLLECTOR_H
-
-#include "DiscreteCollisionDetectorInterface.h"
-
-
-
-struct PointCollector : public DiscreteCollisionDetectorInterface::Result
-{
-	
-	
-	SimdVector3 m_normalOnBInWorld;
-	SimdVector3 m_pointInWorld;
-	SimdScalar	m_distance;//negative means penetration
-
-	bool	m_hasResult;
-
-	PointCollector () 
-		: m_distance(1e30f),m_hasResult(false)
-	{
-	}
-
-	virtual void SetShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-		//??
-	}
-
-	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
-	{
-		if (depth< m_distance)
-		{
-			m_hasResult = true;
-			m_normalOnBInWorld = normalOnBInWorld;
-			m_pointInWorld = pointInWorld;
-			//negative means penetration
-			m_distance = depth;
-		}
-	}
-};
-
-#endif //POINT_COLLECTOR_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
deleted file mode 100644
index 209d9612bfd..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "RaycastCallback.h"
-
-TriangleRaycastCallback::TriangleRaycastCallback(const SimdVector3& from,const SimdVector3& to)
-	:
-	m_from(from),
-	m_to(to),
-	m_hitFraction(1.f)
-{
-
-}
-
-
-
-void TriangleRaycastCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
-{
-	
-
-	const SimdVector3 &vert0=triangle[0];
-	const SimdVector3 &vert1=triangle[1];
-	const SimdVector3 &vert2=triangle[2];
-
-	SimdVector3 v10; v10 = vert1 - vert0 ;
-	SimdVector3 v20; v20 = vert2 - vert0 ;
-
-	SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
-	
-	const float dist = vert0.dot(triangleNormal);
-	float dist_a = triangleNormal.dot(m_from) ;
-	dist_a-= dist;
-	float dist_b = triangleNormal.dot(m_to);
-	dist_b -= dist;
-
-	if ( dist_a * dist_b >= 0.0f)
-	{
-		return ; // same sign
-	}
-	
-	const float proj_length=dist_a-dist_b;
-	const float distance = (dist_a)/(proj_length);
-	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
-	// Add an epsilon as a tolerance for the raycast,
-	// in case the ray hits exacly on the edge of the triangle.
-	// It must be scaled for the triangle size.
-	
-	if(distance < m_hitFraction)
-	{
-		
-
-		float edge_tolerance =triangleNormal.length2();		
-		edge_tolerance *= -0.0001f;
-		SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
-		{
-			SimdVector3 v0p; v0p = vert0 - point;
-			SimdVector3 v1p; v1p = vert1 - point;
-			SimdVector3 cp0; cp0 = v0p.cross( v1p );
-
-			if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance) 
-			{
-						
-
-				SimdVector3 v2p; v2p = vert2 -  point;
-				SimdVector3 cp1;
-				cp1 = v1p.cross( v2p);
-				if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance) 
-				{
-					SimdVector3 cp2;
-					cp2 = v2p.cross(v0p);
-					
-					if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance) 
-					{
-
-						if ( dist_a > 0 )
-						{
-							m_hitFraction = ReportHit(triangleNormal,distance,partId,triangleIndex);
-						}
-						else
-						{
-							m_hitFraction = ReportHit(-triangleNormal,distance,partId,triangleIndex);
-						}
-					}
-				}
-			}
-		}
-	}
-}
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h
deleted file mode 100644
index 463c576c57e..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef RAYCAST_TRI_CALLBACK_H
-#define RAYCAST_TRI_CALLBACK_H
-
-#include "CollisionShapes/TriangleCallback.h"
-struct BroadphaseProxy;
-
-
-class  TriangleRaycastCallback: public TriangleCallback
-{
-public:
-
-		//input
-	SimdVector3 m_from;
-	SimdVector3 m_to;
-
-	float	m_hitFraction;
-
-	TriangleRaycastCallback(const SimdVector3& from,const SimdVector3& to);
-	
-	virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
-
-	virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex ) = 0;
-	
-};
-
-#endif //RAYCAST_TRI_CALLBACK_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h
deleted file mode 100644
index 6a15d8e4f0c..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#ifndef SIMPLEX_SOLVER_INTERFACE_H
-#define SIMPLEX_SOLVER_INTERFACE_H
-
-#include "SimdVector3.h"
-#include "SimdPoint3.h"
-
-#define NO_VIRTUAL_INTERFACE 1
-#ifdef NO_VIRTUAL_INTERFACE
-#include "VoronoiSimplexSolver.h"
-#define SimplexSolverInterface VoronoiSimplexSolver
-#else
-
-/// SimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices
-/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on
-/// voronoi regions or barycentric coordinates
-class SimplexSolverInterface
-{
-	public:
-		virtual ~SimplexSolverInterface() {};
-
-	virtual void reset() = 0;
-
-	virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q) = 0;
-	
-	virtual bool closest(SimdVector3& v) = 0;
-
-	virtual SimdScalar maxVertex() = 0;
-
-	virtual bool fullSimplex() const = 0;
-
-	virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const = 0;
-
-	virtual bool inSimplex(const SimdVector3& w) = 0;
-	
-	virtual void backup_closest(SimdVector3& v) = 0;
-
-	virtual bool emptySimplex() const = 0;
-
-	virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2) = 0;
-
-	virtual int numVertices() const =0;
-
-
-};
-#endif
-#endif //SIMPLEX_SOLVER_INTERFACE_H
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
deleted file mode 100644
index a913261988a..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "SubSimplexConvexCast.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "CollisionShapes/MinkowskiSumShape.h"
-#include "NarrowPhaseCollision/SimplexSolverInterface.h"
-
-
-SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
-:m_simplexSolver(simplexSolver),
-m_convexA(convexA),m_convexB(convexB)
-{
-}
-
-
-#define MAX_ITERATIONS 1000
-
-bool	SubsimplexConvexCast::calcTimeOfImpact(
-		const SimdTransform& fromA,
-		const SimdTransform& toA,
-		const SimdTransform& fromB,
-		const SimdTransform& toB,
-		CastResult& result)
-{
-
-	MinkowskiSumShape combi(m_convexA,m_convexB);
-	MinkowskiSumShape* convex = &combi;
-
-	SimdTransform	rayFromLocalA;
-	SimdTransform	rayToLocalA;
-
-	rayFromLocalA = fromA.inverse()* fromB;
-	rayToLocalA = toA.inverse()* toB;
-
-
-	m_simplexSolver->reset();
-
-	convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
-
-	//float radius = 0.01f;
-
-	SimdScalar lambda = 0.f;
-	//todo: need to verify this:
-	//because of minkowski difference, we need the inverse direction
-	
-	SimdVector3 s = -rayFromLocalA.getOrigin();
-	SimdVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
-	SimdVector3 x = s;
-	SimdVector3 v;
-	SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
-	
-	v = x - arbitraryPoint;
-
-	int maxIter = MAX_ITERATIONS;
-
-	SimdVector3 n;
-	n.setValue(0.f,0.f,0.f);
-	bool hasResult = false;
-	SimdVector3 c;
-
-	float lastLambda = lambda;
-
-
-	float dist2 = v.length2();
-	float epsilon = 0.0001f;
-
-	SimdVector3	w,p;
-	float VdotR;
-	
-	while ( (dist2 > epsilon) && maxIter--)
-	{
-		p = convex->LocalGetSupportingVertex( v);
-		 w = x - p;
-
-		float VdotW = v.dot(w);
-
-		if ( VdotW > 0.f)
-		{
-			VdotR = v.dot(r);
-
-			if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
-				return false;
-			else
-			{
-				lambda = lambda - VdotW / VdotR;
-				x = s + lambda * r;
-				m_simplexSolver->reset();
-				//check next line
-				w = x-p;
-				lastLambda = lambda;
-				n = v;
-				hasResult = true;
-			}
-		} 
-		m_simplexSolver->addVertex( w, x , p);
-		if (m_simplexSolver->closest(v))
-		{
-			dist2 = v.length2();
-			hasResult = true;
-			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
-			//printf("DIST2=%f\n",dist2);
-			//printf("numverts = %i\n",m_simplexSolver->numVertices());
-		} else
-		{
-			dist2 = 0.f;
-		} 
-	}
-
-	//int numiter = MAX_ITERATIONS - maxIter;
-//	printf("number of iterations: %d", numiter);
-	result.m_fraction = lambda;
-	result.m_normal = n;
-
-	return true;
-}
-
-
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.h b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.h
deleted file mode 100644
index 9fc58e133df..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef SUBSIMPLEX_CONVEX_CAST_H
-#define SUBSIMPLEX_CONVEX_CAST_H
-
-#include "ConvexCast.h"
-#include "SimplexSolverInterface.h"
-class ConvexShape;
-
-/// SubsimplexConvexCast implements Gino van den Bergens' paper
-///"Ray Casting against General Convex Objects with Application to Continuous Collision Detection"
-/// GJK based Ray Cast, optimized version
-/// Objects should not start in overlap, otherwise results are not defined.
-class SubsimplexConvexCast : public ConvexCast
-{
-	SimplexSolverInterface* m_simplexSolver;
-	ConvexShape*	m_convexA;
-	ConvexShape*	m_convexB;
-
-public:
-
-	SubsimplexConvexCast (ConvexShape*	shapeA,ConvexShape*	shapeB,SimplexSolverInterface* simplexSolver);
-
-	//virtual ~SubsimplexConvexCast();
-	///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
-	///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using GjkPairDetector.
-	virtual bool	calcTimeOfImpact(
-			const SimdTransform& fromA,
-			const SimdTransform& toA,
-			const SimdTransform& fromB,
-			const SimdTransform& toB,
-			CastResult& result);
-
-};
-
-#endif //SUBSIMPLEX_CONVEX_CAST_H
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp
deleted file mode 100644
index f0b69cfe755..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp
+++ /dev/null
@@ -1,598 +0,0 @@
-
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-	
-	Elsevier CDROM license agreements grants nonexclusive license to use the software
-	for any purpose, commercial or non-commercial as long as the following credit is included
-	identifying the original source of the software:
-
-	Parts of the source are "from the book Real-Time Collision Detection by
-	Christer Ericson, published by Morgan Kaufmann Publishers,
-	(c) 2005 Elsevier Inc."
-		
-*/
-
-
-#include "VoronoiSimplexSolver.h"
-#include <assert.h>
-#include <stdio.h>
-
-#define VERTA  0
-#define VERTB  1
-#define VERTC  2
-#define VERTD  3
-
-#define CATCH_DEGENERATE_TETRAHEDRON 1
-void	VoronoiSimplexSolver::removeVertex(int index)
-{
-	
-	assert(m_numVertices>0);
-	m_numVertices--;
-	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
-	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
-	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
-}
-
-void	VoronoiSimplexSolver::ReduceVertices (const UsageBitfield& usedVerts)
-{
-	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
-		removeVertex(3);
-
-	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
-		removeVertex(2);
-
-	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
-		removeVertex(1);
-	
-	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
-		removeVertex(0);
-
-}
-
-
-
-
-
-//clear the simplex, remove all the vertices
-void VoronoiSimplexSolver::reset()
-{
-	m_cachedValidClosest = false;
-	m_numVertices = 0;
-	m_needsUpdate = true;
-	m_lastW = SimdVector3(1e30f,1e30f,1e30f);
-	m_cachedBC.Reset();
-}
-
-
-
-	//add a vertex
-void VoronoiSimplexSolver::addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q)
-{
-	m_lastW = w;
-	m_needsUpdate = true;
-
-	m_simplexVectorW[m_numVertices] = w;
-	m_simplexPointsP[m_numVertices] = p;
-	m_simplexPointsQ[m_numVertices] = q;
-
-	m_numVertices++;
-}
-
-bool	VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
-{
-	
-	if (m_needsUpdate)
-	{
-		m_cachedBC.Reset();
-
-		m_needsUpdate = false;
-
-		switch (numVertices())
-		{
-		case 0:
-				m_cachedValidClosest = false;
-				break;
-		case 1:
-			{
-				m_cachedP1 = m_simplexPointsP[0];
-				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
-				m_cachedBC.Reset();
-				m_cachedBC.SetBarycentricCoordinates(1.f,0.f,0.f,0.f);
-				m_cachedValidClosest = m_cachedBC.IsValid();
-				break;
-			};
-		case 2:
-			{
-			//closest point origin from line segment
-					const SimdVector3& from = m_simplexVectorW[0];
-					const SimdVector3& to = m_simplexVectorW[1];
-					SimdVector3 nearest;
-
-					SimdVector3 p (0.f,0.f,0.f);
-					SimdVector3 diff = p - from;
-					SimdVector3 v = to - from;
-					float t = v.dot(diff);
-					
-					if (t > 0) {
-						float dotVV = v.dot(v);
-						if (t < dotVV) {
-							t /= dotVV;
-							diff -= t*v;
-							m_cachedBC.m_usedVertices.usedVertexA = true;
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						} else {
-							t = 1;
-							diff -= v;
-							//reduce to 1 point
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						}
-					} else
-					{
-						t = 0;
-						//reduce to 1 point
-						m_cachedBC.m_usedVertices.usedVertexA = true;
-					}
-					m_cachedBC.SetBarycentricCoordinates(1-t,t);
-					nearest = from + t*v;
-
-					m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-					m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-					m_cachedV = m_cachedP1 - m_cachedP2;
-					
-					ReduceVertices(m_cachedBC.m_usedVertices);
-
-					m_cachedValidClosest = m_cachedBC.IsValid();
-					break;
-			}
-		case 3:
-			{
-				//closest point origin from triangle
-				SimdVector3 p (0.f,0.f,0.f);
-				
-				const SimdVector3& a = m_simplexVectorW[0];
-				const SimdVector3& b = m_simplexVectorW[1];
-				const SimdVector3& c = m_simplexVectorW[2];
-
-				ClosestPtPointTriangle(p,a,b,c,m_cachedBC);
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-								m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-								m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-								m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-					m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-					m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-					m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
-				m_cachedV = m_cachedP1-m_cachedP2;
-
-				ReduceVertices (m_cachedBC.m_usedVertices);
-				m_cachedValidClosest =  m_cachedBC.IsValid();
-
-				break;
-			}
-		case 4:
-			{
-
-				
-				SimdVector3 p (0.f,0.f,0.f);
-				
-				const SimdVector3& a = m_simplexVectorW[0];
-				const SimdVector3& b = m_simplexVectorW[1];
-				const SimdVector3& c = m_simplexVectorW[2];
-				const SimdVector3& d = m_simplexVectorW[3];
-
-				bool hasSeperation = ClosestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
-
-				if (hasSeperation)
-				{
-
-					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedV = m_cachedP1-m_cachedP2;
-					ReduceVertices (m_cachedBC.m_usedVertices);
-				} else
-				{
-//					printf("sub distance got penetration\n");
-
-					if (m_cachedBC.m_degenerate)
-					{
-						m_cachedValidClosest = false;
-					} else
-					{
-						m_cachedValidClosest = true;
-						//degenerate case == false, penetration = true + zero
-						m_cachedV.setValue(0.f,0.f,0.f);
-					}
-					break;
-				}
-
-				m_cachedValidClosest = m_cachedBC.IsValid();
-
-				//closest point origin from tetrahedron
-				break;
-			}
-		default:
-			{
-				m_cachedValidClosest = false;
-			}
-		};
-	}
-
-	return m_cachedValidClosest;
-
-}
-
-//return/calculate the closest vertex
-bool VoronoiSimplexSolver::closest(SimdVector3& v)
-{
-	bool succes = UpdateClosestVectorAndPoints();
-	v = m_cachedV;
-	return succes;
-}
-
-
-
-SimdScalar VoronoiSimplexSolver::maxVertex()
-{
-	int i, numverts = numVertices();
-	SimdScalar maxV = 0.f;
-	for (i=0;i<numverts;i++)
-	{
-		SimdScalar curLen2 = m_simplexVectorW[i].length2();
-		if (maxV < curLen2)
-			maxV = curLen2;
-	}
-	return maxV;
-}
-
-
-
-	//return the current simplex
-int VoronoiSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const
-{
-	int i;
-	for (i=0;i<numVertices();i++)
-	{
-		yBuf[i] = m_simplexVectorW[i];
-		pBuf[i] = m_simplexPointsP[i];
-		qBuf[i] = m_simplexPointsQ[i];
-	}
-	return numVertices();
-}
-
-
-
-
-bool VoronoiSimplexSolver::inSimplex(const SimdVector3& w)
-{
-	bool found = false;
-	int i, numverts = numVertices();
-	//SimdScalar maxV = 0.f;
-	
-	//w is in the current (reduced) simplex
-	for (i=0;i<numverts;i++)
-	{
-		if (m_simplexVectorW[i] == w)
-			found = true;
-	}
-
-	//check in case lastW is already removed
-	if (w == m_lastW)
-		return true;
-    	
-	return found;
-}
-
-void VoronoiSimplexSolver::backup_closest(SimdVector3& v) 
-{
-	v = m_cachedV;
-}
-
-
-bool VoronoiSimplexSolver::emptySimplex() const 
-{
-	return (numVertices() == 0);
-
-}
-
-void VoronoiSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2) 
-{
-	UpdateClosestVectorAndPoints();
-	p1 = m_cachedP1;
-	p2 = m_cachedP2;
-
-}
-
-
-
-
-bool	VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result)
-{
-	result.m_usedVertices.reset();
-
-    // Check if P in vertex region outside A
-    SimdVector3 ab = b - a;
-    SimdVector3 ac = c - a;
-    SimdVector3 ap = p - a;
-    float d1 = ab.dot(ap);
-    float d2 = ac.dot(ap);
-    if (d1 <= 0.0f && d2 <= 0.0f) 
-	{
-		result.m_closestPointOnSimplex = a;
-		result.m_usedVertices.usedVertexA = true;
-		result.SetBarycentricCoordinates(1,0,0);
-		return true;// a; // barycentric coordinates (1,0,0)
-	}
-
-    // Check if P in vertex region outside B
-    SimdVector3 bp = p - b;
-    float d3 = ab.dot(bp);
-    float d4 = ac.dot(bp);
-    if (d3 >= 0.0f && d4 <= d3) 
-	{
-		result.m_closestPointOnSimplex = b;
-		result.m_usedVertices.usedVertexB = true;
-		result.SetBarycentricCoordinates(0,1,0);
-
-		return true; // b; // barycentric coordinates (0,1,0)
-	}
-    // Check if P in edge region of AB, if so return projection of P onto AB
-    float vc = d1*d4 - d3*d2;
-    if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) {
-        float v = d1 / (d1 - d3);
-		result.m_closestPointOnSimplex = a + v * ab;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexB = true;
-		result.SetBarycentricCoordinates(1-v,v,0);
-		return true;
-        //return a + v * ab; // barycentric coordinates (1-v,v,0)
-    }
-
-    // Check if P in vertex region outside C
-    SimdVector3 cp = p - c;
-    float d5 = ab.dot(cp);
-    float d6 = ac.dot(cp);
-    if (d6 >= 0.0f && d5 <= d6) 
-	{
-		result.m_closestPointOnSimplex = c;
-		result.m_usedVertices.usedVertexC = true;
-		result.SetBarycentricCoordinates(0,0,1);
-		return true;//c; // barycentric coordinates (0,0,1)
-	}
-
-    // Check if P in edge region of AC, if so return projection of P onto AC
-    float vb = d5*d2 - d1*d6;
-    if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) {
-        float w = d2 / (d2 - d6);
-		result.m_closestPointOnSimplex = a + w * ac;
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.SetBarycentricCoordinates(1-w,0,w);
-		return true;
-        //return a + w * ac; // barycentric coordinates (1-w,0,w)
-    }
-
-    // Check if P in edge region of BC, if so return projection of P onto BC
-    float va = d3*d6 - d5*d4;
-    if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) {
-        float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		
-		result.m_closestPointOnSimplex = b + w * (c - b);
-		result.m_usedVertices.usedVertexB = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.SetBarycentricCoordinates(0,1-w,w);
-		return true;		
-       // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-    }
-
-    // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-    float denom = 1.0f / (va + vb + vc);
-    float v = vb * denom;
-    float w = vc * denom;
-    
-	result.m_closestPointOnSimplex = a + ab * v + ac * w;
-	result.m_usedVertices.usedVertexA = true;
-	result.m_usedVertices.usedVertexB = true;
-	result.m_usedVertices.usedVertexC = true;
-	result.SetBarycentricCoordinates(1-v-w,v,w);
-	
-	return true;
-//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0f - v - w
-
-}
-
-
-
-
-
-/// Test if point p and d lie on opposite sides of plane through abc
-int VoronoiSimplexSolver::PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d)
-{
-	SimdVector3 normal = (b-a).cross(c-a);
-
-    float signp = (p - a).dot(normal); // [AP AB AC]
-    float signd = (d - a).dot( normal); // [AD AB AC]
-
-#ifdef CATCH_DEGENERATE_TETRAHEDRON
-	if (signd * signd < (1e-4f * 1e-4f))
-	{
-//		printf("affine dependent/degenerate\n");//
-		return -1;
-	}
-#endif
-	// Points on opposite sides if expression signs are opposite
-    return signp * signd < 0.f;
-}
-
-
-bool	VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult)
-{
-	SubSimplexClosestResult tempResult;
-
-    // Start out assuming point inside all halfspaces, so closest to itself
-	finalResult.m_closestPointOnSimplex = p;
-	finalResult.m_usedVertices.reset();
-    finalResult.m_usedVertices.usedVertexA = true;
-	finalResult.m_usedVertices.usedVertexB = true;
-	finalResult.m_usedVertices.usedVertexC = true;
-	finalResult.m_usedVertices.usedVertexD = true;
-
-    int pointOutsideABC = PointOutsideOfPlane(p, a, b, c, d);
-	int pointOutsideACD = PointOutsideOfPlane(p, a, c, d, b);
-  	int	pointOutsideADB = PointOutsideOfPlane(p, a, d, b, c);
-	int	pointOutsideBDC = PointOutsideOfPlane(p, b, d, c, a);
-
-   if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-   {
-	   finalResult.m_degenerate = true;
-	   return false;
-   }
-
-   if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	 {
-		 return false;
-	 }
-
-
-    float bestSqDist = FLT_MAX;
-    // If point outside face abc then compute closest point on abc
-	if (pointOutsideABC) 
-	{
-        ClosestPtPointTriangle(p, a, b, c,tempResult);
-		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
-		
-        float sqDist = (q - p).dot( q - p);
-        // Update best closest point if (squared) distance is less than current best
-        if (sqDist < bestSqDist) {
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			//convert result bitmask!
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.SetBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC],
-					0
-			);
-
-		}
-    }
-  
-
-	// Repeat test for face acd
-	if (pointOutsideACD) 
-	{
-        ClosestPtPointTriangle(p, a, c, d,tempResult);
-		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-        float sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
-			finalResult.SetBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					0,
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC]
-			);
-
-		}
-    }
-    // Repeat test for face adb
-
-	
-	if (pointOutsideADB)
-	{
-		ClosestPtPointTriangle(p, a, d, b,tempResult);
-		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-
-        float sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-			finalResult.SetBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					0,
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
-		}
-    }
-    // Repeat test for face bdc
-    
-
-	if (pointOutsideBDC)
-	{
-        ClosestPtPointTriangle(p, b, d, c,tempResult);
-		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
-		//convert result bitmask!
-        float sqDist = (q - p).dot( q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = q;
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-
-			finalResult.SetBarycentricCoordinates(
-					0,
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
-		}
-    }
-
-	//help! we ended up full !
-	
-	if (finalResult.m_usedVertices.usedVertexA &&
-		finalResult.m_usedVertices.usedVertexB &&
-		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD) 
-	{
-		return true;
-	}
-
-    return true;
-}
-
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h
deleted file mode 100644
index defa071b996..00000000000
--- a/extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#ifndef VoronoiSimplexSolver_H
-#define VoronoiSimplexSolver_H
-
-#include "SimplexSolverInterface.h"
-
-
-
-#define VORONOI_SIMPLEX_MAX_VERTS 5
-
-struct UsageBitfield{
-	UsageBitfield()
-	{
-		reset();
-	}
-
-	void reset()
-	{
-		usedVertexA = false;
-		usedVertexB = false;
-		usedVertexC = false;
-		usedVertexD = false;
-	}
-	unsigned short usedVertexA	: 1;
-	unsigned short usedVertexB	: 1;
-	unsigned short usedVertexC	: 1;
-	unsigned short usedVertexD	: 1;
-	unsigned short unused1		: 1;
-	unsigned short unused2		: 1;
-	unsigned short unused3		: 1;
-	unsigned short unused4		: 1;
-};
-
-
-struct	SubSimplexClosestResult
-{
-	SimdPoint3	m_closestPointOnSimplex;
-	//MASK for m_usedVertices
-	//stores the simplex vertex-usage, using the MASK, 
-	// if m_usedVertices & MASK then the related vertex is used
-	UsageBitfield	m_usedVertices;
-	float	m_barycentricCoords[4];
-	bool m_degenerate;
-
-	void	Reset()
-	{
-		m_degenerate = false;
-		SetBarycentricCoordinates();
-		m_usedVertices.reset();
-	}
-	bool	IsValid()
-	{
-		bool valid = (m_barycentricCoords[0] >= 0.f) &&
-			(m_barycentricCoords[1] >= 0.f) &&
-			(m_barycentricCoords[2] >= 0.f) &&
-			(m_barycentricCoords[3] >= 0.f);
-
-
-		return valid;
-	}
-	void	SetBarycentricCoordinates(float a=0.f,float b=0.f,float c=0.f,float d=0.f)
-	{
-		m_barycentricCoords[0] = a;
-		m_barycentricCoords[1] = b;
-		m_barycentricCoords[2] = c;
-		m_barycentricCoords[3] = d;
-	}
-
-};
-
-/// VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
-/// Can be used with GJK, as an alternative to Johnson distance algorithm.
-#ifdef NO_VIRTUAL_INTERFACE
-class VoronoiSimplexSolver
-#else
-class VoronoiSimplexSolver : public SimplexSolverInterface
-#endif
-{
-public:
-
-	int	m_numVertices;
-
-	SimdVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
-	SimdPoint3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
-	SimdPoint3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
-
-	
-
-	SimdPoint3	m_cachedP1;
-	SimdPoint3	m_cachedP2;
-	SimdVector3	m_cachedV;
-	SimdVector3	m_lastW;
-	bool		m_cachedValidClosest;
-
-	SubSimplexClosestResult m_cachedBC;
-
-	bool	m_needsUpdate;
-	
-	void	removeVertex(int index);
-	void	ReduceVertices (const UsageBitfield& usedVerts);
-	bool	UpdateClosestVectorAndPoints();
-
-	bool	ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult);
-	int		PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d);
-	bool	ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result);
-
-public:
-
-	 void reset();
-
-	 void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
-
-
-	 bool closest(SimdVector3& v);
-
-	 SimdScalar maxVertex();
-
-	 bool fullSimplex() const
-	 {
-		 return (m_numVertices == 4);
-	 }
-
-	 int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
-
-	 bool inSimplex(const SimdVector3& w);
-	
-	 void backup_closest(SimdVector3& v) ;
-
-	 bool emptySimplex() const ;
-
-	 void compute_points(SimdPoint3& p1, SimdPoint3& p2) ;
-
-	 int numVertices() const 
-	 {
-		 return m_numVertices;
-	 }
-
-
-};
-
-#endif //VoronoiSimplexSolver
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deleted file mode 100644
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+++ /dev/null
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deleted file mode 100644
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-# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "../LinearMath" /I "../Bullet" /I "../BulletDynamics" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
-# ADD BASE RSC /l 0x809 /d "_DEBUG"
-# ADD RSC /l 0x809 /d "_DEBUG"
-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LIB32=link.exe -lib
-# ADD BASE LIB32 /nologo
-# ADD LIB32 /nologo
-
-!ENDIF 
-
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-
-# Name "BulletDynamics - Win32 Release"
-# Name "BulletDynamics - Win32 Debug"
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-SOURCE=.\ConstraintSolver\ContactConstraint.cpp
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-SOURCE=.\ConstraintSolver\ContactConstraint.h
-# End Source File
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-SOURCE=.\ConstraintSolver\ContactSolverInfo.h
-# End Source File
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-SOURCE=.\ConstraintSolver\HingeConstraint.cpp
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-# End Source File
-# Begin Source File
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-SOURCE=.\ConstraintSolver\OdeConstraintSolver.cpp
-# End Source File
-# Begin Source File
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-SOURCE=.\ConstraintSolver\OdeConstraintSolver.h
-# End Source File
-# Begin Source File
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-SOURCE=.\ConstraintSolver\Point2PointConstraint.cpp
-# End Source File
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-SOURCE=.\ConstraintSolver\Point2PointConstraint.h
-# End Source File
-# Begin Source File
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-SOURCE=.\ConstraintSolver\SimpleConstraintSolver.cpp
-# End Source File
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-SOURCE=.\ConstraintSolver\SimpleConstraintSolver.h
-# End Source File
-# Begin Source File
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-SOURCE=.\ConstraintSolver\Solve2LinearConstraint.cpp
-# End Source File
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-SOURCE=.\ConstraintSolver\Solve2LinearConstraint.h
-# End Source File
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-SOURCE=.\ConstraintSolver\SorLcp.cpp
-# End Source File
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-# End Source File
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-SOURCE=.\ConstraintSolver\TypedConstraint.cpp
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-# PROP Default_Filter ""
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-# End Source File
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-
-# PROP Default_Filter ""
-# Begin Source File
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-# End Source File
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-SOURCE=.\Vehicle\VehicleRaycaster.h
-# End Source File
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-SOURCE=.\Vehicle\WheelInfo.cpp
-# End Source File
-# Begin Source File
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-SOURCE=.\Vehicle\WheelInfo.h
-# End Source File
-# End Group
-# End Target
-# End Project
diff --git a/extern/bullet/BulletDynamics/BulletDynamics_vc7.vcproj b/extern/bullet/BulletDynamics/BulletDynamics_vc7.vcproj
deleted file mode 100644
index af96dc9cf88..00000000000
--- a/extern/bullet/BulletDynamics/BulletDynamics_vc7.vcproj
+++ /dev/null
@@ -1,190 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="7.10"
-	Name="Bullet3Dynamics"
-	ProjectGUID="{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
-	Keyword="Win32Proj">
-	<Platforms>
-		<Platform
-			Name="Win32"/>
-	</Platforms>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2">
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="TRUE"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
-				DebugInformationFormat="4"/>
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/BulletDynamics.lib"/>
-			<Tool
-				Name="VCMIDLTool"/>
-			<Tool
-				Name="VCPostBuildEventTool"/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
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-				Name="VCResourceCompilerTool"/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"/>
-			<Tool
-				Name="VCManagedWrapperGeneratorTool"/>
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-		</Configuration>
-		<Configuration
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-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
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-				Name="VCCLCompilerTool"
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-				DebugInformationFormat="3"/>
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-				Name="VCCustomBuildTool"/>
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-				Name="VCLibrarianTool"
-				OutputFile="..\..\..\..\build\msvc_7\libs\extern\BulletDynamics.lib"/>
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-	<References>
-	</References>
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-			Name="ConstraintSolver"
-			Filter="">
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-			</File>
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-			</File>
-			<File
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-			</File>
-			<File
-				RelativePath=".\ConstraintSolver\HingeConstraint.cpp">
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-			</File>
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-			</File>
-			<File
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-			</File>
-			<File
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-			</File>
-			<File
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-			</File>
-			<File
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-			</File>
-			<File
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-			<File
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-			</File>
-			<File
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-			<File
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-			</File>
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-		</Filter>
-		<Filter
-			Name="Dynamics"
-			Filter="">
-			<File
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-			</File>
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-			</File>
-			<File
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-			<File
-				RelativePath=".\Dynamics\MassProps.h">
-			</File>
-			<File
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-			</File>
-			<File
-				RelativePath=".\Dynamics\RigidBody.h">
-			</File>
-		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt">
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj b/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj
deleted file mode 100644
index 943479dc623..00000000000
--- a/extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj
+++ /dev/null
@@ -1,265 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="8.00"
-	Name="Bullet3Dynamics"
-	ProjectGUID="{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
-	Keyword="Win32Proj"
-	>
-	<Platforms>
-		<Platform
-			Name="Win32"
-		/>
-	</Platforms>
-	<ToolFiles>
-	</ToolFiles>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="true"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="1"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="4"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/BulletDynamics.lib"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
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-			CharacterSet="2"
-			>
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-				Name="VCPreBuildEventTool"
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-			/>
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-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
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-				UsePrecompiledHeader="0"
-				WarningLevel="3"
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-			/>
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-			<Tool
-				Name="VCFxCopTool"
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-			<File
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-				>
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-				>
-			</File>
-			<File
-				RelativePath=".\ConstraintSolver\OdeConstraintSolver.h"
-				>
-			</File>
-			<File
-				RelativePath=".\ConstraintSolver\Point2PointConstraint.cpp"
-				>
-			</File>
-			<File
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-				RelativePath=".\ConstraintSolver\SimpleConstraintSolver.cpp"
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-			</File>
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-				>
-			</File>
-			<File
-				RelativePath=".\ConstraintSolver\TypedConstraint.cpp"
-				>
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diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/ConstraintSolver.h
deleted file mode 100644
index a1975c187d2..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ConstraintSolver.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONSTRAINT_SOLVER_H
-#define CONSTRAINT_SOLVER_H
-
-class PersistentManifold;
-class RigidBody;
-
-struct ContactSolverInfo;
-struct BroadphaseProxy;
-class IDebugDraw;
-
-/// ConstraintSolver provides solver interface
-class ConstraintSolver
-{
-
-public:
-
-	virtual ~ConstraintSolver() {}
-	
-	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,class IDebugDraw* debugDrawer = 0) = 0;
-
-};
-
-
-
-
-#endif //CONSTRAINT_SOLVER_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
deleted file mode 100644
index 7b72784e721..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ /dev/null
@@ -1,236 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ContactConstraint.h"
-#include "Dynamics/RigidBody.h"
-#include "SimdVector3.h"
-#include "JacobianEntry.h"
-#include "ContactSolverInfo.h"
-#include "GEN_MinMax.h"
-#include "NarrowPhaseCollision/ManifoldPoint.h"
-
-#define ASSERT2 assert
-
-//some values to find stable tresholds
-
-float useGlobalSettingContacts = false;//true;
-SimdScalar contactDamping = 0.2f;
-SimdScalar contactTau = .02f;//0.02f;//*0.02f;
-
-
-
-
-
-
-
-//bilateral constraint between two dynamic objects
-void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
-{
-	float normalLenSqr = normal.length2();
-	ASSERT2(fabs(normalLenSqr) < 1.1f);
-	if (normalLenSqr > 1.1f)
-	{
-		impulse = 0.f;
-		return;
-	}
-	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	//this jacobian entry could be re-used for all iterations
-	
-	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	SimdVector3 vel = vel1 - vel2;
-	
-
-	  JacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
-		body2.getCenterOfMassTransform().getBasis().transpose(),
-		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
-		body2.getInvInertiaDiagLocal(),body2.getInvMass());
-
-	SimdScalar jacDiagAB = jac.getDiagonal();
-	SimdScalar jacDiagABInv = 1.f / jacDiagAB;
-	
-	  SimdScalar rel_vel = jac.getRelativeVelocity(
-		body1.getLinearVelocity(),
-		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
-		body2.getLinearVelocity(),
-		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
-	float a;
-	a=jacDiagABInv;
-
-
-	rel_vel = normal.dot(vel);
-		
-
-#ifdef ONLY_USE_LINEAR_MASS
-	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
-	impulse = - contactDamping * rel_vel * massTerm;
-#else	
-	SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
-	impulse = velocityImpulse;
-#endif
-}
-
-
-
-
-//velocity + friction
-//response  between two dynamic objects with friction
-float resolveSingleCollision(
-	RigidBody& body1,
-	RigidBody& body2,
-	ManifoldPoint& contactPoint,
-	const ContactSolverInfo& solverInfo
-
-		)
-{
-
-	const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
-	const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
-    
-	
-//	printf("distance=%f\n",distance);
-
-	const SimdVector3& normal = contactPoint.m_normalWorldOnB;
-
-	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	
-	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	SimdVector3 vel = vel1 - vel2;
-	SimdScalar rel_vel;
-	rel_vel = normal.dot(vel);
-	
-
-	SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
-
-	float damping = solverInfo.m_damping ;
-	float Kerp = solverInfo.m_erp;
-	
-	if (useGlobalSettingContacts)
-	{
-		damping = contactDamping;
-		Kerp = contactTau;
-	} 
-
-	float Kcor = Kerp *Kfps;
-
-	//printf("dist=%f\n",distance);
-
-		ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
-
-	SimdScalar distance = cpd->m_penetration;//contactPoint.GetDistance();
-	
-
-	//distance = 0.f;
-	SimdScalar positionalError = Kcor *-distance;
-	//jacDiagABInv;
-	SimdScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
-
-	
-	SimdScalar penetrationImpulse = positionalError * cpd->m_jacDiagABInv;
-
-	SimdScalar	velocityImpulse = velocityError * cpd->m_jacDiagABInv;
-
-	SimdScalar normalImpulse = penetrationImpulse+velocityImpulse;
-	
-	// See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
-	float oldNormalImpulse = cpd->m_appliedImpulse;
-	float sum = oldNormalImpulse + normalImpulse;
-	cpd->m_appliedImpulse = 0.f > sum ? 0.f: sum;
-
-	normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
-
-	body1.applyImpulse(normal*(normalImpulse), rel_pos1);
-	body2.applyImpulse(-normal*(normalImpulse), rel_pos2);
-	
-	return normalImpulse;
-}
-
-
-float resolveSingleFriction(
-	RigidBody& body1,
-	RigidBody& body2,
-	ManifoldPoint& contactPoint,
-	const ContactSolverInfo& solverInfo
-
-		)
-{
-
-	const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
-	const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
-	const SimdVector3& normal = contactPoint.m_normalWorldOnB;
-
-	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	
-	ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
-	assert(cpd);
-
-	float combinedFriction = cpd->m_friction;
-	
-	SimdScalar limit = cpd->m_appliedImpulse * combinedFriction;
-	//if (contactPoint.m_appliedImpulse>0.f)
-	//friction
-	{
-		//apply friction in the 2 tangential directions
-		
-		SimdScalar relaxation = solverInfo.m_damping;
-		{
-			// 1st tangent
-			SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-			SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-			SimdVector3 vel = vel1 - vel2;
-			
-			SimdScalar vrel = cpd->m_frictionWorldTangential0.dot(vel);
-
-			// calculate j that moves us to zero relative velocity
-			SimdScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
-			float total = cpd->m_accumulatedTangentImpulse0 + j;
-			GEN_set_min(total, limit);
-			GEN_set_max(total, -limit);
-			j = total - cpd->m_accumulatedTangentImpulse0;
-			cpd->m_accumulatedTangentImpulse0 = total;
-			body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
-			body2.applyImpulse(j * -cpd->m_frictionWorldTangential0, rel_pos2);
-		}
-
-				
-		{
-			// 2nd tangent
-			SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-			SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-			SimdVector3 vel = vel1 - vel2;
-
-			SimdScalar vrel = cpd->m_frictionWorldTangential1.dot(vel);
-			
-			// calculate j that moves us to zero relative velocity
-			SimdScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
-			float total = cpd->m_accumulatedTangentImpulse1 + j;
-			GEN_set_min(total, limit);
-			GEN_set_max(total, -limit);
-			j = total - cpd->m_accumulatedTangentImpulse1;
-			cpd->m_accumulatedTangentImpulse1 = total;
-			body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
-			body2.applyImpulse(j * -cpd->m_frictionWorldTangential1, rel_pos2);
-		}
-	} 
-	return cpd->m_appliedImpulse;
-}
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h
deleted file mode 100644
index 8304d412d6f..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_CONSTRAINT_H
-#define CONTACT_CONSTRAINT_H
-
-//todo: make into a proper class working with the iterative constraint solver
-
-class RigidBody;
-#include "SimdVector3.h"
-#include "SimdScalar.h"
-struct ContactSolverInfo;
-class ManifoldPoint;
-
-struct ConstraintPersistentData
-{
-	inline ConstraintPersistentData()
-	:m_appliedImpulse(0.f),
-	m_prevAppliedImpulse(0.f),
-	m_accumulatedTangentImpulse0(0.f),
-	m_accumulatedTangentImpulse1(0.f),
-	m_jacDiagABInv(0.f),
-	m_persistentLifeTime(0),
-	m_restitution(0.f),
-	m_friction(0.f),
-	m_penetration(0.f)
-	{
-	}
-	
-					
-				/// total applied impulse during most recent frame
-			float	m_appliedImpulse;
-			float	m_prevAppliedImpulse;
-			float	m_accumulatedTangentImpulse0;
-			float	m_accumulatedTangentImpulse1;
-			
-			float	m_jacDiagABInv;
-			float	m_jacDiagABInvTangent0;
-			float	m_jacDiagABInvTangent1;
-			int		m_persistentLifeTime;
-			float	m_restitution;
-			float	m_friction;
-			float	m_penetration;
-			SimdVector3	m_frictionWorldTangential0;
-			SimdVector3	m_frictionWorldTangential1;
-
-
-};
-
-///bilateral constraint between two dynamic objects
-///positive distance = separation, negative distance = penetration
-void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
-
-
-///contact constraint resolution:
-///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
-///positive distance = separation, negative distance = penetration
-float resolveSingleCollision(
-	RigidBody& body1,
-	RigidBody& body2,
-		ManifoldPoint& contactPoint,
-		 const ContactSolverInfo& info);
-
-float resolveSingleFriction(
-	RigidBody& body1,
-	RigidBody& body2,
-	ManifoldPoint& contactPoint,
-	const ContactSolverInfo& solverInfo
-		);
-
-#endif //CONTACT_CONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
deleted file mode 100644
index 2ec9b7f6ca1..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_SOLVER_INFO
-#define CONTACT_SOLVER_INFO
-
-
-struct ContactSolverInfo
-{
-
-	inline ContactSolverInfo()
-	{
-		m_tau = 0.6f;
-		m_damping = 1.0f;
-		m_friction = 0.3f;
-		m_restitution = 0.f;
-		m_maxErrorReduction = 20.f;
-		m_numIterations = 10;
-		m_erp = 0.4f;
-		m_sor = 1.3f;
-	}
-
-	float	m_tau;
-	float	m_damping;
-	float	m_friction;
-	float	m_timeStep;
-	float	m_restitution;
-	int		m_numIterations;
-	float	m_maxErrorReduction;
-	float	m_sor;
-	float	m_erp;
-
-};
-
-#endif //CONTACT_SOLVER_INFO
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
deleted file mode 100644
index 9597f2721c4..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
+++ /dev/null
@@ -1,250 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "Generic6DofConstraint.h"
-#include "Dynamics/RigidBody.h"
-#include "Dynamics/MassProps.h"
-#include "SimdTransformUtil.h"
-
-static const SimdScalar kSign[] = { 1.0f, -1.0f, 1.0f };
-static const int kAxisA[] = { 1, 0, 0 };
-static const int kAxisB[] = { 2, 2, 1 };
-
-Generic6DofConstraint::Generic6DofConstraint()
-{
-}
-
-Generic6DofConstraint::Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB)
-: TypedConstraint(rbA, rbB)
-, m_frameInA(frameInA)
-, m_frameInB(frameInB)
-{
-	//free means upper < lower, 
-	//locked means upper == lower
-	//limited means upper > lower
-	//so start all locked
-	for (int i=0; i<6;++i)
-	{
-		m_lowerLimit[i] = 0.0f;
-		m_upperLimit[i] = 0.0f;
-		m_accumulatedImpulse[i] = 0.0f;
-	}
-
-}
-
-
-void Generic6DofConstraint::BuildJacobian()
-{
-	SimdVector3	normal(0,0,0);
-
-	const SimdVector3& pivotInA = m_frameInA.getOrigin();
-	const SimdVector3& pivotInB = m_frameInB.getOrigin();
-
-	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin();
-	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin();
-
-	SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
-	int i;
-	//linear part
-	for (i=0;i<3;i++)
-	{
-		if (isLimited(i))
-		{
-			normal[i] = 1;
-			
-			// Create linear atom
-			new (&m_jacLinear[i]) JacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbA.getCenterOfMassTransform()*pivotInA - m_rbA.getCenterOfMassPosition(),
-				m_rbB.getCenterOfMassTransform()*pivotInB - m_rbB.getCenterOfMassPosition(),
-				normal,
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-
-			// Apply accumulated impulse
-			SimdVector3 impulse_vector = m_accumulatedImpulse[i] * normal;
-
-			m_rbA.applyImpulse( impulse_vector, rel_pos1);
-			m_rbB.applyImpulse(-impulse_vector, rel_pos2);
-
-			normal[i] = 0;
-		}
-	}
-
-	// angular part
-	for (i=0;i<3;i++)
-	{
-		if (isLimited(i+3))
-		{
-			SimdVector3 axisA = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn( kAxisA[i] );
-			SimdVector3 axisB = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn( kAxisB[i] );
-
-			// Dirk: This is IMO mathematically the correct way, but we should consider axisA and axisB being near parallel maybe
-			SimdVector3 axis = kSign[i] * axisA.cross(axisB);
-
-			// Create angular atom
-			new (&m_jacAng[i])	JacobianEntry(axis,
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbB.getInvInertiaDiagLocal());
-
-			// Apply accumulated impulse
-			SimdVector3 impulse_vector = m_accumulatedImpulse[i + 3] * axis;
-
-			m_rbA.applyTorqueImpulse( impulse_vector);
-			m_rbB.applyTorqueImpulse(-impulse_vector);
-		}
-	}
-}
-
-void	Generic6DofConstraint::SolveConstraint(SimdScalar	timeStep)
-{
-	SimdScalar tau = 0.1f;
-	SimdScalar damping = 1.0f;
-
-	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin();
-	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin();
-
-	SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-	
-	SimdVector3 normal(0,0,0);
-	int i;
-
-	// linear
-	for (i=0;i<3;i++)
-	{		
-		if (isLimited(i))
-		{
-			SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-			SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-		
-
-			normal[i] = 1;
-			SimdScalar jacDiagABInv = 1.f / m_jacLinear[i].getDiagonal();
-
-			//velocity error (first order error)
-			SimdScalar rel_vel = m_jacLinear[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
-																	m_rbB.getLinearVelocity(),angvelB);
-		
-			//positional error (zeroth order error)
-			SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); 
-			
-			SimdScalar impulse = (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv;
-			m_accumulatedImpulse[i] += impulse;
-
-			SimdVector3 impulse_vector = normal * impulse;
-			m_rbA.applyImpulse( impulse_vector, rel_pos1);
-			m_rbB.applyImpulse(-impulse_vector, rel_pos2);
-			
-			normal[i] = 0;
-		}
-	}
-
-	// angular
-	for (i=0;i<3;i++)
-	{
-		if (isLimited(i+3))
-		{
-			SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-			SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-		
-			SimdScalar jacDiagABInv = 1.f / m_jacAng[i].getDiagonal();
-			
-			//velocity error (first order error)
-			SimdScalar rel_vel = m_jacAng[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
-																			m_rbB.getLinearVelocity(),angvelB);
-
-			//positional error (zeroth order error)
-			SimdVector3 axisA = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn( kAxisA[i] );
-			SimdVector3 axisB = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn( kAxisB[i] );
-
-			SimdScalar rel_pos = kSign[i] * axisA.dot(axisB);
-
-			//impulse
-			SimdScalar impulse = -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv;
-			m_accumulatedImpulse[i + 3] += impulse;
-			
-			// Dirk: Not needed - we could actually project onto Jacobian entry here (same as above)
-			SimdVector3 axis = kSign[i] * axisA.cross(axisB);
-			SimdVector3 impulse_vector = axis * impulse;
-
-			m_rbA.applyTorqueImpulse( impulse_vector);
-			m_rbB.applyTorqueImpulse(-impulse_vector);
-		}
-	}
-}
-
-void	Generic6DofConstraint::UpdateRHS(SimdScalar	timeStep)
-{
-
-}
-
-SimdScalar Generic6DofConstraint::ComputeAngle(int axis) const
-	{
-	SimdScalar angle;
-
-	switch (axis)
-		{
-		case 0:
-			{
-			SimdVector3 v1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(1);
-			SimdVector3 v2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(1);
-			SimdVector3 w2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(2);
-
-			SimdScalar s = v1.dot(w2);
-			SimdScalar c = v1.dot(v2);
-
-			angle = SimdAtan2( s, c );
-			}
-			break;
-
-		case 1:
-			{
-			SimdVector3 w1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(2);
-			SimdVector3 w2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(2);
-			SimdVector3 u2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(0);
-
-			SimdScalar s = w1.dot(u2);
-			SimdScalar c = w1.dot(w2);
-
-			angle = SimdAtan2( s, c );
-			}
-			break;
-
-		case 2:
-			{
-			SimdVector3 u1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(0);
-			SimdVector3 u2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(0);
-			SimdVector3 v2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(1);
-
-			SimdScalar s = u1.dot(v2);
-			SimdScalar c = u1.dot(u2);
-
-			angle = SimdAtan2( s, c );
-			}
-			break;
-		}
-
-	return angle;
-	}
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
deleted file mode 100644
index 7a77253509c..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef GENERIC_6DOF_CONSTRAINT_H
-#define GENERIC_6DOF_CONSTRAINT_H
-
-#include "SimdVector3.h"
-
-#include "ConstraintSolver/JacobianEntry.h"
-#include "TypedConstraint.h"
-
-class RigidBody;
-
-
-
-/// Generic6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/// Generic6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
-/// Work in progress (is still a Hinge actually)
-class Generic6DofConstraint : public TypedConstraint
-{
-	JacobianEntry	m_jacLinear[3];			// 3 orthogonal linear constraints
-	JacobianEntry	m_jacAng[3];		// 3 orthogonal angular constraints
-
-	SimdTransform	m_frameInA;			// the constraint space w.r.t body A
-	SimdTransform	m_frameInB;			// the constraint space w.r.t body B
-
-	SimdScalar      m_lowerLimit[6];	// the constraint lower limits
-	SimdScalar      m_upperLimit[6];	// the constraint upper limits
-
-	SimdScalar		m_accumulatedImpulse[6];
-
-		
-public:
-	Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB );
-
-	Generic6DofConstraint();
-
-	virtual void	BuildJacobian();
-
-	virtual	void	SolveConstraint(SimdScalar	timeStep);
-
-	void	UpdateRHS(SimdScalar	timeStep);
-
-	SimdScalar ComputeAngle(int axis) const;
-
-	void	setLinearLowerLimit(const SimdVector3& linearLower)
-	{
-		m_lowerLimit[0] = linearLower.getX();
-		m_lowerLimit[1] = linearLower.getY();
-		m_lowerLimit[2] = linearLower.getZ();
-	}
-
-	void	setLinearUpperLimit(const SimdVector3& linearUpper)
-	{
-		m_upperLimit[0] = linearUpper.getX();
-		m_upperLimit[1] = linearUpper.getY();
-		m_upperLimit[2] = linearUpper.getZ();
-	}
-
-	void	setAngularLowerLimit(const SimdVector3& angularLower)
-	{
-		m_lowerLimit[3] = angularLower.getX();
-		m_lowerLimit[4] = angularLower.getY();
-		m_lowerLimit[5] = angularLower.getZ();
-	}
-
-	void	setAngularUpperLimit(const SimdVector3& angularUpper)
-	{
-		m_upperLimit[3] = angularUpper.getX();
-		m_upperLimit[4] = angularUpper.getY();
-		m_upperLimit[5] = angularUpper.getZ();
-	}
-
-	//first 3 are linear, next 3 are angular
-	void SetLimit(int axis, SimdScalar lo, SimdScalar hi)
-	{
-		m_lowerLimit[axis] = lo; 
-		m_upperLimit[axis] = hi; 
-	}
-
-	//free means upper < lower, 
-	//locked means upper == lower
-	//limited means upper > lower
-	//limitIndex: first 3 are linear, next 3 are angular
-	bool	isLimited(int limitIndex)
-	{
-		return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
-	}
-
-	const RigidBody& GetRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const RigidBody& GetRigidBodyB() const
-	{
-		return m_rbB;
-	}
-	
-
-};
-
-#endif //GENERIC_6DOF_CONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.cpp
deleted file mode 100644
index fb7f1f47cd7..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.cpp
+++ /dev/null
@@ -1,276 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "HingeConstraint.h"
-#include "Dynamics/RigidBody.h"
-#include "Dynamics/MassProps.h"
-#include "SimdTransformUtil.h"
-
-
-HingeConstraint::HingeConstraint()
-{
-}
-
-HingeConstraint::HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,
-								 SimdVector3& axisInA,SimdVector3& axisInB)
-:TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
-m_axisInA(axisInA),
-m_axisInB(-axisInB),
-m_angularOnly(false)
-{
-
-}
-
-
-HingeConstraint::HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA)
-:TypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
-m_axisInA(axisInA),
-//fixed axis in worldspace
-m_axisInB(rbA.getCenterOfMassTransform().getBasis() * -axisInA),
-m_angularOnly(false)
-{
-	
-}
-
-void	HingeConstraint::BuildJacobian()
-{
-	m_appliedImpulse = 0.f;
-
-	SimdVector3	normal(0,0,0);
-
-	if (!m_angularOnly)
-	{
-		for (int i=0;i<3;i++)
-		{
-			normal[i] = 1;
-			new (&m_jac[i]) JacobianEntry(
-				m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-				m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
-				m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
-				normal,
-				m_rbA.getInvInertiaDiagLocal(),
-				m_rbA.getInvMass(),
-				m_rbB.getInvInertiaDiagLocal(),
-				m_rbB.getInvMass());
-			normal[i] = 0;
-		}
-	}
-
-	//calculate two perpendicular jointAxis, orthogonal to hingeAxis
-	//these two jointAxis require equal angular velocities for both bodies
-
-	//this is unused for now, it's a todo
-	SimdVector3 axisWorldA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
-	SimdVector3 jointAxis0;
-	SimdVector3 jointAxis1;
-	SimdPlaneSpace1(axisWorldA,jointAxis0,jointAxis1);
-	
-	new (&m_jacAng[0])	JacobianEntry(jointAxis0,
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbB.getInvInertiaDiagLocal());
-
-	new (&m_jacAng[1])	JacobianEntry(jointAxis1,
-		m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-		m_rbA.getInvInertiaDiagLocal(),
-		m_rbB.getInvInertiaDiagLocal());
-
-
-}
-
-void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
-{
-//#define NEW_IMPLEMENTATION
-
-#ifdef NEW_IMPLEMENTATION
-	SimdScalar tau = 0.3f;
-	SimdScalar damping = 1.f;
-
-	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
-	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
-
-	// Dirk: Don't we need to update this after each applied impulse
-	SimdVector3 angvelA; // = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-    SimdVector3 angvelB; // = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
-
-	if (!m_angularOnly)
-	{
-		SimdVector3 normal(0,0,0);
-
-		for (int i=0;i<3;i++)
-		{		
-			normal[i] = 1;
-			SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
-
-			SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-			SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-			
-			SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-			SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-			SimdVector3 vel = vel1 - vel2;
-
-			// Dirk: Get new angular velocity since it changed after applying an impulse
-			angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-			angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-	
-			//velocity error (first order error)
-			SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
-																	m_rbB.getLinearVelocity(),angvelB);
-		
-			//positional error (zeroth order error)
-			SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); 
-			
-			SimdScalar impulse = tau*depth/timeStep * jacDiagABInv -  damping * rel_vel * jacDiagABInv;
-
-			SimdVector3 impulse_vector = normal * impulse;
-			m_rbA.applyImpulse( impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-			m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
-			
-			normal[i] = 0;
-		}
-	}
-
-	///solve angular part
-
-	// get axes in world space
-	SimdVector3 axisA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
-	SimdVector3 axisB = GetRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
-
-	// constraint axes in world space
-	SimdVector3 jointAxis0;
-	SimdVector3 jointAxis1;
-	SimdPlaneSpace1(axisA,jointAxis0,jointAxis1);
-
-
-	// Dirk: Get new angular velocity since it changed after applying an impulse
-	angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-    angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-	
-	SimdScalar jacDiagABInv0 = 1.f / m_jacAng[0].getDiagonal();
-	SimdScalar rel_vel0 = m_jacAng[0].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
-																	m_rbB.getLinearVelocity(),angvelB);
-	float tau1 = tau;//0.f;
-
-	SimdScalar impulse0 = (tau1 * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
-	SimdVector3 angular_impulse0 = jointAxis0 * impulse0;
-
-	m_rbA.applyTorqueImpulse( angular_impulse0);
-	m_rbB.applyTorqueImpulse(-angular_impulse0);
-
-
-
-	// Dirk: Get new angular velocity since it changed after applying an impulse	
-	angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-    angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
-	SimdScalar jacDiagABInv1 = 1.f / m_jacAng[1].getDiagonal();
-	SimdScalar rel_vel1 = m_jacAng[1].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
-																	m_rbB.getLinearVelocity(),angvelB);;
-
-	SimdScalar impulse1 = -(tau1 * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
-	SimdVector3 angular_impulse1 = jointAxis1 * impulse1;
-
-	m_rbA.applyTorqueImpulse( angular_impulse1);
-	m_rbB.applyTorqueImpulse(-angular_impulse1);
-
-#else
-
-
-	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
-	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
-
-	SimdVector3 normal(0,0,0);
-	SimdScalar tau = 0.3f;
-	SimdScalar damping = 1.f;
-
-//linear part
-	{
-		for (int i=0;i<3;i++)
-		{		
-			normal[i] = 1;
-			SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
-
-			SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-			SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-			
-			SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-			SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-			SimdVector3 vel = vel1 - vel2;
-			SimdScalar rel_vel;
-			rel_vel = normal.dot(vel);
-			//positional error (zeroth order error)
-			SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-			SimdScalar impulse = depth*tau/timeStep  * jacDiagABInv -  damping * rel_vel * jacDiagABInv * damping;
-			m_appliedImpulse += impulse;
-			SimdVector3 impulse_vector = normal * impulse;
-			m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-			m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
-			
-			normal[i] = 0;
-		}
-	}
-
-	///solve angular part
-
-	// get axes in world space
-	SimdVector3 axisA = GetRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA;
-	SimdVector3 axisB = GetRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB;
-
-	const SimdVector3& angVelA = GetRigidBodyA().getAngularVelocity();
-	const SimdVector3& angVelB = GetRigidBodyB().getAngularVelocity();
-	SimdVector3 angA = angVelA - axisA * axisA.dot(angVelA);
-	SimdVector3 angB = angVelB - axisB * axisB.dot(angVelB);
-	SimdVector3 velrel = angA-angB;
-
-	//solve angular velocity correction
-	float relaxation = 1.f;
-	float len = velrel.length();
-	if (len > 0.00001f)
-	{
-		SimdVector3 normal = velrel.normalized();
-		float denom = GetRigidBodyA().ComputeAngularImpulseDenominator(normal) +
-			GetRigidBodyB().ComputeAngularImpulseDenominator(normal);
-		// scale for mass and relaxation
-		velrel *= (1.f/denom) * 0.9;
-	}
-
-	//solve angular positional correction
-	SimdVector3 angularError = -axisA.cross(axisB) *(1.f/timeStep);
-	float len2 = angularError.length();
-	if (len2>0.00001f)
-	{
-		SimdVector3 normal2 = angularError.normalized();
-		float denom2 = GetRigidBodyA().ComputeAngularImpulseDenominator(normal2) +
-				GetRigidBodyB().ComputeAngularImpulseDenominator(normal2);
-		angularError *= (1.f/denom2) * relaxation;
-	}
-
-	m_rbA.applyTorqueImpulse(-velrel+angularError);
-	m_rbB.applyTorqueImpulse(velrel-angularError);
-
-#endif
-
-}
-
-void	HingeConstraint::UpdateRHS(SimdScalar	timeStep)
-{
-
-}
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.h
deleted file mode 100644
index a43463511b1..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/HingeConstraint.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef HINGECONSTRAINT_H
-#define HINGECONSTRAINT_H
-
-#include "SimdVector3.h"
-
-#include "ConstraintSolver/JacobianEntry.h"
-#include "TypedConstraint.h"
-
-class RigidBody;
-
-
-/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
-/// axis defines the orientation of the hinge axis
-class HingeConstraint : public TypedConstraint
-{
-	JacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	JacobianEntry	m_jacAng[2]; //2 orthogonal angular constraints
-
-	SimdVector3	m_pivotInA;
-	SimdVector3	m_pivotInB;
-	SimdVector3	m_axisInA;
-	SimdVector3	m_axisInB;
-
-	bool	m_angularOnly;
-	
-public:
-
-	HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);
-
-	HingeConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);
-
-	HingeConstraint();
-
-	virtual void	BuildJacobian();
-
-	virtual	void	SolveConstraint(SimdScalar	timeStep);
-
-	void	UpdateRHS(SimdScalar	timeStep);
-
-	const RigidBody& GetRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const RigidBody& GetRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	void	setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-
-
-};
-
-#endif //HINGECONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h b/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
deleted file mode 100644
index d1dd367a012..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef JACOBIAN_ENTRY_H
-#define JACOBIAN_ENTRY_H
-
-#include "SimdVector3.h"
-#include "Dynamics/RigidBody.h"
-
-
-//notes:
-// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
-// which makes the JacobianEntry memory layout 16 bytes
-// if you only are interested in angular part, just feed massInvA and massInvB zero
-
-/// Jacobian entry is an abstraction that allows to describe constraints
-/// it can be used in combination with a constraint solver
-/// Can be used to relate the effect of an impulse to the constraint error
-class JacobianEntry
-{
-public:
-	JacobianEntry() {};
-	//constraint between two different rigidbodies
-	JacobianEntry(
-		const SimdMatrix3x3& world2A,
-		const SimdMatrix3x3& world2B,
-		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& jointAxis,
-		const SimdVector3& inertiaInvA, 
-		const SimdScalar massInvA,
-		const SimdVector3& inertiaInvB,
-		const SimdScalar massInvB)
-		:m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
-		ASSERT(m_Adiag > 0.0f);
-	}
-
-	//angular constraint between two different rigidbodies
-	JacobianEntry(const SimdVector3& jointAxis,
-		const SimdMatrix3x3& world2A,
-		const SimdMatrix3x3& world2B,
-		const SimdVector3& inertiaInvA,
-		const SimdVector3& inertiaInvB)
-		:m_linearJointAxis(SimdVector3(0.f,0.f,0.f))
-	{
-		m_aJ= world2A*jointAxis;
-		m_bJ = world2B*-jointAxis;
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		ASSERT(m_Adiag > 0.0f);
-	}
-
-	//angular constraint between two different rigidbodies
-	JacobianEntry(const SimdVector3& axisInA,
-		const SimdVector3& axisInB,
-		const SimdVector3& inertiaInvA,
-		const SimdVector3& inertiaInvB)
-		: m_linearJointAxis(SimdVector3(0.f,0.f,0.f))
-		, m_aJ(axisInA)
-		, m_bJ(-axisInB)
-	{
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		ASSERT(m_Adiag > 0.0f);
-	}
-
-	//constraint on one rigidbody
-	JacobianEntry(
-		const SimdMatrix3x3& world2A,
-		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
-		const SimdVector3& jointAxis,
-		const SimdVector3& inertiaInvA, 
-		const SimdScalar massInvA)
-		:m_linearJointAxis(jointAxis)
-	{
-		m_aJ= world2A*(rel_pos1.cross(jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
-		m_0MinvJt	= inertiaInvA * m_aJ;
-		m_1MinvJt = SimdVector3(0.f,0.f,0.f);
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
-		ASSERT(m_Adiag > 0.0f);
-	}
-
-	SimdScalar	getDiagonal() const { return m_Adiag; }
-
-	// for two constraints on the same rigidbody (for example vehicle friction)
-	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
-	{
-		const JacobianEntry& jacA = *this;
-		SimdScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
-		SimdScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
-		return lin + ang;
-	}
-
-	
-
-	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
-	{
-		const JacobianEntry& jacA = *this;
-		SimdVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
-		SimdVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
-		SimdVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		SimdVector3 lin0 = massInvA * lin ;
-		SimdVector3 lin1 = massInvB * lin;
-		SimdVector3 sum = ang0+ang1+lin0+lin1;
-		return sum[0]+sum[1]+sum[2];
-	}
-
-	SimdScalar getRelativeVelocity(const SimdVector3& linvelA,const SimdVector3& angvelA,const SimdVector3& linvelB,const SimdVector3& angvelB)
-	{
-		SimdVector3 linrel = linvelA - linvelB;
-		SimdVector3 angvela  = angvelA * m_aJ;
-		SimdVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_linearJointAxis;
-		angvela += angvelb;
-		angvela += linrel;
-		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
-		return rel_vel2 + SIMD_EPSILON;
-	}
-//private:
-
-	SimdVector3	m_linearJointAxis;
-	SimdVector3	m_aJ;
-	SimdVector3	m_bJ;
-	SimdVector3	m_0MinvJt;
-	SimdVector3	m_1MinvJt;
-	//Optimization: can be stored in the w/last component of one of the vectors
-	SimdScalar	m_Adiag;
-
-};
-
-#endif //JACOBIAN_ENTRY_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
deleted file mode 100644
index b3e25e0fb45..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "Point2PointConstraint.h"
-#include "Dynamics/RigidBody.h"
-#include "Dynamics/MassProps.h"
-
-
-
-
-Point2PointConstraint::Point2PointConstraint()
-{
-}
-
-Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
-:TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
-{
-
-}
-
-
-Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA)
-:TypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
-{
-	
-}
-
-void	Point2PointConstraint::BuildJacobian()
-{
-	m_appliedImpulse = 0.f;
-
-	SimdVector3	normal(0,0,0);
-
-	for (int i=0;i<3;i++)
-	{
-		normal[i] = 1;
-		new (&m_jac[i]) JacobianEntry(
-			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
-			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
-			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
-			normal,
-			m_rbA.getInvInertiaDiagLocal(),
-			m_rbA.getInvMass(),
-			m_rbB.getInvInertiaDiagLocal(),
-			m_rbB.getInvMass());
-		normal[i] = 0;
-	}
-
-}
-
-void	Point2PointConstraint::SolveConstraint(SimdScalar	timeStep)
-{
-	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
-	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
-
-
-	SimdVector3 normal(0,0,0);
-	
-
-//	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-//	SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
-	for (int i=0;i<3;i++)
-	{		
-		normal[i] = 1;
-		SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
-
-		SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
-		SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-		//this jacobian entry could be re-used for all iterations
-		
-		SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
-		SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
-		SimdVector3 vel = vel1 - vel2;
-		
-		SimdScalar rel_vel;
-		rel_vel = normal.dot(vel);
-
-	/*
-		//velocity error (first order error)
-		SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
-														m_rbB.getLinearVelocity(),angvelB);
-	*/
-	
-		//positional error (zeroth order error)
-		SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-		
-		SimdScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
-		m_appliedImpulse+=impulse;
-		SimdVector3 impulse_vector = normal * impulse;
-		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
-		m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
-		
-		normal[i] = 0;
-	}
-}
-
-void	Point2PointConstraint::UpdateRHS(SimdScalar	timeStep)
-{
-
-}
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
deleted file mode 100644
index bd28ac7b1e5..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef POINT2POINTCONSTRAINT_H
-#define POINT2POINTCONSTRAINT_H
-
-#include "SimdVector3.h"
-
-#include "ConstraintSolver/JacobianEntry.h"
-#include "TypedConstraint.h"
-
-class RigidBody;
-
-struct	ConstraintSetting
-{
-	ConstraintSetting()	:
-		m_tau(0.3f),
-		m_damping(1.f)
-	{
-	}
-	float		m_tau;
-	float		m_damping;
-};
-
-/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-class Point2PointConstraint : public TypedConstraint
-{
-	JacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-	
-	SimdVector3	m_pivotInA;
-	SimdVector3	m_pivotInB;
-	
-	
-	
-public:
-
-	ConstraintSetting	m_setting;
-
-	Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
-
-	Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
-
-	Point2PointConstraint();
-
-	virtual void	BuildJacobian();
-
-
-	virtual	void	SolveConstraint(SimdScalar	timeStep);
-
-	void	UpdateRHS(SimdScalar	timeStep);
-
-	void	SetPivotA(const SimdVector3& pivotA)
-	{
-		m_pivotInA = pivotA;
-	}
-
-	void	SetPivotB(const SimdVector3& pivotB)
-	{
-		m_pivotInB = pivotB;
-	}
-
-
-
-};
-
-#endif //POINT2POINTCONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
deleted file mode 100644
index 26637bb9932..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "SequentialImpulseConstraintSolver.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "Dynamics/RigidBody.h"
-#include "ContactConstraint.h"
-#include "Solve2LinearConstraint.h"
-#include "ContactSolverInfo.h"
-#include "Dynamics/BU_Joint.h"
-#include "Dynamics/ContactJoint.h"
-#include "IDebugDraw.h"
-#include "JacobianEntry.h"
-#include "GEN_MinMax.h"
-
-#ifdef USE_PROFILE
-#include "quickprof.h"
-#endif //USE_PROFILE
-
-int totalCpd = 0;
-
-
-
-bool  MyContactDestroyedCallback(void* userPersistentData)
-{
-	assert (userPersistentData);
-	ConstraintPersistentData* cpd = (ConstraintPersistentData*)userPersistentData;
-	delete cpd;
-	totalCpd--;
-	//printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData);
-	return true;
-}
-
-
-SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
-{
-	gContactDestroyedCallback = &MyContactDestroyedCallback;
-}
-
-
-/// SequentialImpulseConstraintSolver Sequentially applies impulses
-float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
-{
-	
-	ContactSolverInfo info = infoGlobal;
-
-	int numiter = infoGlobal.m_numIterations;
-#ifdef USE_PROFILE
-	Profiler::beginBlock("Solve");
-#endif //USE_PROFILE
-
-	//should traverse the contacts random order...
-	int i;
-	for ( i = 0;i<numiter;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);
-		}
-		
-	}
-#ifdef USE_PROFILE
-	Profiler::endBlock("Solve");
-
-	Profiler::beginBlock("SolveFriction");
-#endif //USE_PROFILE
-
-	//now solve the friction		
-	for (i = 0;i<numiter;i++)
-	{
-		int j;
-	for (j=0;j<numManifolds;j++)
-		{
-			int k = j;
-			if (i&1)
-				k=numManifolds-j-1;
-			SolveFriction(manifoldPtr[k],info,i,debugDrawer);
-		}
-	}
-#ifdef USE_PROFILE
-	Profiler::endBlock("SolveFriction");
-#endif //USE_PROFILE
-
-	return 0.f;
-}
-
-
-float penetrationResolveFactor = 0.9f;
-SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
-{
-	SimdScalar rest = restitution * -rel_vel;
-	return rest;
-}
-
-
-
-
-float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
-{
-
-	RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
-	RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
-
-	float maxImpulse = 0.f;
-
-	//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
-	if (iter == 0)
-	{
-		manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
-		
-		int numpoints = manifoldPtr->GetNumContacts();
-
-		SimdVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
-		{
-			ManifoldPoint& cp = manifoldPtr->GetContactPoint(i);
-			if (cp.GetDistance() <= 0.f)
-			{
-				const SimdVector3& pos1 = cp.GetPositionWorldOnA();
-				const SimdVector3& pos2 = cp.GetPositionWorldOnB();
-
-				SimdVector3 rel_pos1 = pos1 - body0->getCenterOfMassPosition(); 
-				SimdVector3 rel_pos2 = pos2 - body1->getCenterOfMassPosition();
-				
-
-				//this jacobian entry is re-used for all iterations
-				JacobianEntry jac(body0->getCenterOfMassTransform().getBasis().transpose(),
-					body1->getCenterOfMassTransform().getBasis().transpose(),
-					rel_pos1,rel_pos2,cp.m_normalWorldOnB,body0->getInvInertiaDiagLocal(),body0->getInvMass(),
-					body1->getInvInertiaDiagLocal(),body1->getInvMass());
-
-				
-				SimdScalar jacDiagAB = jac.getDiagonal();
-
-				ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
-				if (cpd)
-				{
-					//might be invalid
-					cpd->m_persistentLifeTime++;
-					if (cpd->m_persistentLifeTime != cp.GetLifeTime())
-					{
-						//printf("Invalid: cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.GetLifeTime());
-						new (cpd) ConstraintPersistentData;
-						cpd->m_persistentLifeTime = cp.GetLifeTime();
-
-					} else
-					{
-						//printf("Persistent: cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.GetLifeTime());
-						
-					}
-				} else
-				{
-						
-					cpd = new ConstraintPersistentData();
-					totalCpd ++;
-					//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
-					cp.m_userPersistentData = cpd;
-					cpd->m_persistentLifeTime = cp.GetLifeTime();
-					//printf("CREATED: %x . cpd->m_persistentLifeTime = %i cp.GetLifeTime() = %i\n",cpd,cpd->m_persistentLifeTime,cp.GetLifeTime());
-					
-				}
-				assert(cpd);
-
-				cpd->m_jacDiagABInv = 1.f / jacDiagAB;
-
-
-				SimdVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
-				SimdVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
-				SimdVector3 vel = vel1 - vel2;
-				SimdScalar rel_vel;
-				rel_vel = cp.m_normalWorldOnB.dot(vel);
-				
-				float combinedRestitution = cp.m_combinedRestitution;
-				
-				cpd->m_penetration = cp.GetDistance();
-				cpd->m_friction = cp.m_combinedFriction;
-				cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
-				if (cpd->m_restitution <= 0.) //0.f)
-				{
-					cpd->m_restitution = 0.0f;
-
-				};
-				
-				//restitution and penetration work in same direction so
-				//rel_vel 
-				
-				SimdScalar penVel = -cpd->m_penetration/info.m_timeStep;
-
-				if (cpd->m_restitution >= penVel)
-				{
-					cpd->m_penetration = 0.f;
-				} 				
-				
-
-				float relaxation = info.m_damping;
-				cpd->m_appliedImpulse *= relaxation;
-				//for friction
-				cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;
-				
-				//re-calculate friction direction every frame, todo: check if this is really needed
-				SimdPlaneSpace1(cp.m_normalWorldOnB,cpd->m_frictionWorldTangential0,cpd->m_frictionWorldTangential1);
-
-
-#define NO_FRICTION_WARMSTART 1
-
-	#ifdef NO_FRICTION_WARMSTART
-				cpd->m_accumulatedTangentImpulse0 = 0.f;
-				cpd->m_accumulatedTangentImpulse1 = 0.f;
-	#endif //NO_FRICTION_WARMSTART
-				float denom0 = body0->ComputeImpulseDenominator(pos1,cpd->m_frictionWorldTangential0);
-				float denom1 = body1->ComputeImpulseDenominator(pos2,cpd->m_frictionWorldTangential0);
-				float denom = relaxation/(denom0+denom1);
-				cpd->m_jacDiagABInvTangent0 = denom;
-
-
-				denom0 = body0->ComputeImpulseDenominator(pos1,cpd->m_frictionWorldTangential1);
-				denom1 = body1->ComputeImpulseDenominator(pos2,cpd->m_frictionWorldTangential1);
-				denom = relaxation/(denom0+denom1);
-				cpd->m_jacDiagABInvTangent1 = denom;
-
-				SimdVector3 totalImpulse = 
-	#ifndef NO_FRICTION_WARMSTART
-					cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
-					cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
-	#endif //NO_FRICTION_WARMSTART
-					cp.m_normalWorldOnB*cpd->m_appliedImpulse;
-
-				//apply previous frames impulse on both bodies
-				body0->applyImpulse(totalImpulse, rel_pos1);
-				body1->applyImpulse(-totalImpulse, rel_pos2);
-			}
-			
-		}
-	}
-
-	{
-		const int numpoints = manifoldPtr->GetNumContacts();
-
-		SimdVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
-		{
-
-			int j=i;
-			if (iter % 2)
-				j = numpoints-1-i;
-			else
-				j=i;
-
-			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
-				if (cp.GetDistance() <= 0.f)
-			{
-
-				if (iter == 0)
-				{
-					if (debugDrawer)
-						debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
-				}
-
-				{
-
-
-					//float dist =  cp.GetDistance();
-					//printf("dist(%i)=%f\n",j,dist);
-					float impulse = resolveSingleCollision(
-						*body0,*body1,
-						cp,
-						info);
-					
-					if (maxImpulse < impulse)
-						maxImpulse  = impulse;
-
-				}
-			}
-		}
-	}
-	return maxImpulse;
-}
-
-float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
-{
-	RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
-	RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
-
-
-	{
-		const int numpoints = manifoldPtr->GetNumContacts();
-
-		SimdVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
-		{
-
-			int j=i;
-			//if (iter % 2)
-			//	j = numpoints-1-i;
-
-			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
-				if (cp.GetDistance() <= 0.f)
-			{
-
-				resolveSingleFriction(
-					*body0,*body1,
-					cp,
-					info);
-				
-			}
-		}
-
-	
-	}
-	return 0.f;
-}
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h
deleted file mode 100644
index 598a4cfa903..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
-#include "ConstraintSolver.h"
-class IDebugDraw;
-
-/// SequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-/// Applies impulses for combined restitution and penetration recovery and to simulate friction
-class SequentialImpulseConstraintSolver : public ConstraintSolver
-{
-	float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
-	float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
-	
-
-public:
-
-	SequentialImpulseConstraintSolver();
-
-	virtual ~SequentialImpulseConstraintSolver() {}
-	
-	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
-
-};
-
-#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
deleted file mode 100644
index 34bf3e48862..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "Solve2LinearConstraint.h"
-
-#include "Dynamics/RigidBody.h"
-#include "SimdVector3.h"
-#include "JacobianEntry.h"
-
-
-void Solve2LinearConstraint::resolveUnilateralPairConstraint(
-												   RigidBody* body1,
-		RigidBody* body2,
-
-						const SimdMatrix3x3& world2A,
-						const SimdMatrix3x3& world2B,
-						
-						const SimdVector3& invInertiaADiag,
-						const SimdScalar invMassA,
-						const SimdVector3& linvelA,const SimdVector3& angvelA,
-						const SimdVector3& rel_posA1,
-						const SimdVector3& invInertiaBDiag,
-						const SimdScalar invMassB,
-						const SimdVector3& linvelB,const SimdVector3& angvelB,
-						const SimdVector3& rel_posA2,
-
-					  SimdScalar depthA, const SimdVector3& normalA, 
-					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-					  SimdScalar depthB, const SimdVector3& normalB, 
-					  SimdScalar& imp0,SimdScalar& imp1)
-{
-
-	imp0 = 0.f;
-	imp1 = 0.f;
-
-	SimdScalar len = fabs(normalA.length())-1.f;
-	if (fabs(len) >= SIMD_EPSILON)
-		return;
-
-	ASSERT(len < SIMD_EPSILON);
-
-
-	//this jacobian entry could be re-used for all iterations
-	JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
-	//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
-
-//	SimdScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
-	SimdScalar massTerm = 1.f / (invMassA + invMassB);
-
-
-	// calculate rhs (or error) terms
-	const SimdScalar dv0 = depthA  * m_tau * massTerm - vel0 * m_damping;
-	const SimdScalar dv1 = depthB  * m_tau * massTerm - vel1 * m_damping;
-
-
-	// dC/dv * dv = -C
-	
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
-
-
-	SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	SimdScalar	invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-
-}
-
-
-
-void Solve2LinearConstraint::resolveBilateralPairConstraint(
-						RigidBody* body1,
-						RigidBody* body2,
-						const SimdMatrix3x3& world2A,
-						const SimdMatrix3x3& world2B,
-						
-						const SimdVector3& invInertiaADiag,
-						const SimdScalar invMassA,
-						const SimdVector3& linvelA,const SimdVector3& angvelA,
-						const SimdVector3& rel_posA1,
-						const SimdVector3& invInertiaBDiag,
-						const SimdScalar invMassB,
-						const SimdVector3& linvelB,const SimdVector3& angvelB,
-						const SimdVector3& rel_posA2,
-
-					  SimdScalar depthA, const SimdVector3& normalA, 
-					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-					  SimdScalar depthB, const SimdVector3& normalB, 
-					  SimdScalar& imp0,SimdScalar& imp1)
-{
-
-	imp0 = 0.f;
-	imp1 = 0.f;
-
-	SimdScalar len = fabs(normalA.length())-1.f;
-	if (fabs(len) >= SIMD_EPSILON)
-		return;
-
-	ASSERT(len < SIMD_EPSILON);
-
-
-	//this jacobian entry could be re-used for all iterations
-	JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
-		invInertiaBDiag,invMassB);
-	
-	//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-	//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
-
-	const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
-	const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
-
-	// calculate rhs (or error) terms
-	const SimdScalar dv0 = depthA  * m_tau - vel0 * m_damping;
-	const SimdScalar dv1 = depthB  * m_tau - vel1 * m_damping;
-
-	// dC/dv * dv = -C
-	
-	// jacobian * impulse = -error
-	//
-
-	//impulse = jacobianInverse * -error
-
-	// inverting 2x2 symmetric system (offdiagonal are equal!)
-	// 
-
-
-	SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
-	SimdScalar	invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
-	
-	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
-	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
-
-	//[a b]								  [d -c]
-	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
-
-	//[jA nD] * [imp0] = [dv0]
-	//[nD jB]   [imp1]   [dv1]
-
-	if ( imp0 > 0.0f)
-	{
-		if ( imp1 > 0.0f )
-		{
-			//both positive
-		}
-		else
-		{
-			imp1 = 0.f;
-
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > 0.0f )
-			{
-			} else
-			{
-				imp0 = 0.f;
-			}
-		}
-	}
-	else
-	{
-		imp0 = 0.f;
-
-		imp1 = dv1 / jacB.getDiagonal();
-		if ( imp1 <= 0.0f )
-		{
-			imp1 = 0.f;
-			// now imp0>0 imp1<0
-			imp0 = dv0 / jacA.getDiagonal();
-			if ( imp0 > 0.0f )
-			{
-			} else
-			{
-				imp0 = 0.f;
-			}
-		} else
-		{
-		}
-	}
-}
-
-
-
-void Solve2LinearConstraint::resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
-											const SimdScalar invMassA,
-											const SimdVector3& linvelA,const SimdVector3& angvelA,
-											const SimdVector3& rel_posA1,
-											const SimdMatrix3x3& invInertiaBWS,
-											const SimdScalar invMassB,
-											const SimdVector3& linvelB,const SimdVector3& angvelB,
-											const SimdVector3& rel_posA2,
-
-											SimdScalar depthA, const SimdVector3& normalA, 
-											const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-											SimdScalar depthB, const SimdVector3& normalB, 
-											SimdScalar& imp0,SimdScalar& imp1)
-{
-
-}
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
deleted file mode 100644
index 4a0986abfc7..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SOLVE_2LINEAR_CONSTRAINT_H
-#define SOLVE_2LINEAR_CONSTRAINT_H
-
-#include "SimdMatrix3x3.h"
-#include "SimdVector3.h"
-
-
-class RigidBody;
-
-
-
-/// constraint class used for lateral tyre friction.
-class	Solve2LinearConstraint
-{
-	SimdScalar	m_tau;
-	SimdScalar	m_damping;
-
-public:
-
-	Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
-	{
-		m_tau = tau;
-		m_damping = damping;
-	}
-	//
-	// solve unilateral constraint (equality, direct method)
-	//
-	void resolveUnilateralPairConstraint(		
-														   RigidBody* body0,
-		RigidBody* body1,
-
-		const SimdMatrix3x3& world2A,
-						const SimdMatrix3x3& world2B,
-						
-						const SimdVector3& invInertiaADiag,
-						const SimdScalar invMassA,
-						const SimdVector3& linvelA,const SimdVector3& angvelA,
-						const SimdVector3& rel_posA1,
-						const SimdVector3& invInertiaBDiag,
-						const SimdScalar invMassB,
-						const SimdVector3& linvelB,const SimdVector3& angvelB,
-						const SimdVector3& rel_posA2,
-
-					  SimdScalar depthA, const SimdVector3& normalA, 
-					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-					  SimdScalar depthB, const SimdVector3& normalB, 
-					  SimdScalar& imp0,SimdScalar& imp1);
-
-
-	//
-	// solving 2x2 lcp problem (inequality, direct solution )
-	//
-	void resolveBilateralPairConstraint(
-			RigidBody* body0,
-						RigidBody* body1,
-		const SimdMatrix3x3& world2A,
-						const SimdMatrix3x3& world2B,
-						
-						const SimdVector3& invInertiaADiag,
-						const SimdScalar invMassA,
-						const SimdVector3& linvelA,const SimdVector3& angvelA,
-						const SimdVector3& rel_posA1,
-						const SimdVector3& invInertiaBDiag,
-						const SimdScalar invMassB,
-						const SimdVector3& linvelB,const SimdVector3& angvelB,
-						const SimdVector3& rel_posA2,
-
-					  SimdScalar depthA, const SimdVector3& normalA, 
-					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-					  SimdScalar depthB, const SimdVector3& normalB, 
-					  SimdScalar& imp0,SimdScalar& imp1);
-
-
-	void resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
-						const SimdScalar invMassA,
-						const SimdVector3& linvelA,const SimdVector3& angvelA,
-						const SimdVector3& rel_posA1,
-						const SimdMatrix3x3& invInertiaBWS,
-						const SimdScalar invMassB,
-						const SimdVector3& linvelB,const SimdVector3& angvelB,
-						const SimdVector3& rel_posA2,
-
-					  SimdScalar depthA, const SimdVector3& normalA, 
-					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
-					  SimdScalar depthB, const SimdVector3& normalB, 
-					  SimdScalar& imp0,SimdScalar& imp1);
-
-
-};
-
-#endif //SOLVE_2LINEAR_CONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.cpp
deleted file mode 100644
index 61ea8ace7d6..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "TypedConstraint.h"
-#include "Dynamics/RigidBody.h"
-#include "Dynamics/MassProps.h"
-
-static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
-
-TypedConstraint::TypedConstraint()
-: m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_rbA(s_fixed),
-m_rbB(s_fixed),
-m_appliedImpulse(0.f)
-{
-	s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
-}
-TypedConstraint::TypedConstraint(RigidBody& rbA)
-: m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_rbA(rbA),
-m_rbB(s_fixed),
-m_appliedImpulse(0.f)
-{
-		s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
-
-}
-
-
-TypedConstraint::TypedConstraint(RigidBody& rbA,RigidBody& rbB)
-: m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_rbA(rbA),
-m_rbB(rbB),
-m_appliedImpulse(0.f)
-{
-		s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
-
-}
-
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.h
deleted file mode 100755
index bc90814de44..00000000000
--- a/extern/bullet/BulletDynamics/ConstraintSolver/TypedConstraint.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef TYPED_CONSTRAINT_H
-#define TYPED_CONSTRAINT_H
-
-class RigidBody;
-#include "SimdScalar.h"
-
-//TypedConstraint is the baseclass for Bullet constraints and vehicles
-class TypedConstraint
-{
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	
-
-protected:
-	RigidBody&	m_rbA;
-	RigidBody&	m_rbB;
-	float	m_appliedImpulse;
-
-
-public:
-
-	TypedConstraint();
-	virtual ~TypedConstraint() {};
-	TypedConstraint(RigidBody& rbA);
-
-	TypedConstraint(RigidBody& rbA,RigidBody& rbB);
-
-	virtual void	BuildJacobian() = 0;
-
-	virtual	void	SolveConstraint(SimdScalar	timeStep) = 0;
-
-	const RigidBody& GetRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const RigidBody& GetRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	RigidBody& GetRigidBodyA()
-	{
-		return m_rbA;
-	}
-	RigidBody& GetRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	int GetUserConstraintType() const
-	{
-		return m_userConstraintType ;
-	}
-
-	void	SetUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void	SetUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-	
-	int GetUserConstraintId()
-	{
-		return m_userConstraintId;
-	}
-	float	GetAppliedImpulse()
-	{
-		return m_appliedImpulse;
-	}
-};
-
-#endif //TYPED_CONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/Dynamics/BU_Joint.cpp b/extern/bullet/BulletDynamics/Dynamics/BU_Joint.cpp
deleted file mode 100644
index ab2a755703b..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/BU_Joint.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "BU_Joint.h"
-
-BU_Joint::BU_Joint()
-{
-
-}
-BU_Joint::~BU_Joint()
-{
-
-}
diff --git a/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h b/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h
deleted file mode 100644
index 5c790bd0296..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/BU_Joint.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BU_Joint_H
-#define BU_Joint_H
-
-class RigidBody;
-class BU_Joint;
-#include "SimdScalar.h"
-
-struct BU_ContactJointNode {
-  BU_Joint *joint;		// pointer to enclosing BU_Joint object
-  RigidBody*body;			// *other* body this joint is connected to
-};
-typedef SimdScalar dVector3[4];
-
-
-class BU_Joint  {
-  
-public:
-	// naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  BU_Joint();
-  virtual ~BU_Joint();
-  
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    SimdScalar fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    SimdScalar *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    SimdScalar *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    SimdScalar *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  virtual void GetInfo1 (Info1 *info)=0;
-  virtual void GetInfo2 (Info2 *info)=0;
-
-  int flags;			// dJOINT_xxx flags
-  BU_ContactJointNode node[2];		// connections to bodies. node[1].body can be 0
-   SimdScalar lambda[6];		// lambda generated by last step
-};
-
-
-#endif //BU_Joint_H
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
deleted file mode 100644
index cab71449f52..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
+++ /dev/null
@@ -1,270 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-#include "ContactJoint.h"
-#include "RigidBody.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-
-
-//this constant needs to be set up so different solvers give 'similar' results
-#define FRICTION_CONSTANT 120.f
-
-
-ContactJoint::ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1)
-:m_manifold(manifold),
-m_index(index),
-m_swapBodies(swap),
-m_body0(body0),
-m_body1(body1)
-{
-}
-
-int m_numRows = 3;
-
-
-void ContactJoint::GetInfo1(Info1 *info)
-{
-	info->m = m_numRows;
-	//friction adds another 2...
-	
-	info->nub = 0;
-}
-
-#define dCROSS(a,op,b,c) \
-  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
-  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
-  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
-
-#define M_SQRT12 SimdScalar(0.7071067811865475244008443621048490)
-
-#define dRecipSqrt(x) ((float)(1.0f/SimdSqrt(float(x))))		/* reciprocal square root */
-
-
-
-void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q)
-{
-  if (SimdFabs(n[2]) > M_SQRT12) {
-    // choose p in y-z plane
-    SimdScalar a = n[1]*n[1] + n[2]*n[2];
-    SimdScalar k = dRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    SimdScalar a = n[0]*n[0] + n[1]*n[1];
-    SimdScalar k = dRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}
-
-
-
-void ContactJoint::GetInfo2(Info2 *info)
-{
-	
-	int s = info->rowskip;
-	int s2 = 2*s;
-	
-	float swapFactor = m_swapBodies ? -1.f : 1.f;
-	
-	// get normal, with sign adjusted for body1/body2 polarity
-	dVector3 normal;
-	
-	
-	ManifoldPoint& point = m_manifold->GetContactPoint(m_index);
-	
-	normal[0] = swapFactor*point.m_normalWorldOnB[0];
-	normal[1] = swapFactor*point.m_normalWorldOnB[1];
-	normal[2] = swapFactor*point.m_normalWorldOnB[2];
-	normal[3] = 0;	// @@@ hmmm
-	
-	//	if (GetBody0())
-	SimdVector3 relativePositionA;
-	{
-		relativePositionA = point.GetPositionWorldOnA() - m_body0->getCenterOfMassPosition();
-		dVector3 c1;
-		c1[0] = relativePositionA[0];
-		c1[1] = relativePositionA[1];
-		c1[2] = relativePositionA[2];
-		
-		// set jacobian for normal
-		info->J1l[0] = normal[0];
-		info->J1l[1] = normal[1];
-		info->J1l[2] = normal[2];
-		dCROSS (info->J1a,=,c1,normal);
-		
-	}
-	//		if (GetBody1())
-	SimdVector3 relativePositionB;
-	{
-		dVector3 c2;
-		relativePositionB = point.GetPositionWorldOnB() - m_body1->getCenterOfMassPosition();
-		
-		//			for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
-		//					  j->node[1].body->pos[i];
-		c2[0] = relativePositionB[0];
-		c2[1] = relativePositionB[1];
-		c2[2] = relativePositionB[2];
-		
-		info->J2l[0] = -normal[0];
-		info->J2l[1] = -normal[1];
-		info->J2l[2] = -normal[2];
-		dCROSS (info->J2a,= -,c2,normal);
-	}
-	
-	SimdScalar k = info->fps * info->erp;
-	
-	float depth = -point.GetDistance();
-//	if (depth < 0.f)
-//		depth = 0.f;
-	
-	info->c[0] = k * depth;
-	//float maxvel = .2f;
-
-//	if (info->c[0] > maxvel)
-//		info->c[0] = maxvel;
-
-
-	//can override it, not necessary
-//	info->cfm[0] = 0.f;
-//	info->cfm[1] = 0.f;
-//	info->cfm[2] = 0.f;
-	
-	
-	
-	// set LCP limits for normal
-	info->lo[0] = 0;
-	info->hi[0] = 1e30f;//dInfinity;
-	info->lo[1] = 0;
-	info->hi[1] = 0.f;
-	info->lo[2] = 0.f;
-	info->hi[2] = 0.f;
-
-#define DO_THE_FRICTION_2
-#ifdef DO_THE_FRICTION_2
-	// now do jacobian for tangential forces
-	dVector3 t1,t2;	// two vectors tangential to normal
-	
-	dVector3 c1;
-	c1[0] = relativePositionA[0];
-	c1[1] = relativePositionA[1];
-	c1[2] = relativePositionA[2];
-	
-	dVector3 c2;
-	c2[0] = relativePositionB[0];
-	c2[1] = relativePositionB[1];
-	c2[2] = relativePositionB[2];
-	
-	//combined friction is available in the contact point
-	float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
-	
-	// first friction direction
-	if (m_numRows >= 2) 
-	{
-		
-		
-		
-		dPlaneSpace1 (normal,t1,t2);
-		
-		info->J1l[s+0] = t1[0];
-		info->J1l[s+1] = t1[1];
-		info->J1l[s+2] = t1[2];
-		dCROSS (info->J1a+s,=,c1,t1);
-		if (1) { //j->node[1].body) {
-			info->J2l[s+0] = -t1[0];
-			info->J2l[s+1] = -t1[1];
-			info->J2l[s+2] = -t1[2];
-			dCROSS (info->J2a+s,= -,c2,t1);
-		}
-		// set right hand side
-		if (0) {//j->contact.surface.mode & dContactMotion1) {
-			//info->c[1] = j->contact.surface.motion1;
-		}
-		// set LCP bounds and friction index. this depends on the approximation
-		// mode
-		//1e30f
-		
-		
-		info->lo[1] = -friction;//-j->contact.surface.mu;
-		info->hi[1] = friction;//j->contact.surface.mu;
-		if (1)//j->contact.surface.mode & dContactApprox1_1) 
-			info->findex[1] = 0;
-		
-		// set slip (constraint force mixing)
-		if (0)//j->contact.surface.mode & dContactSlip1)
-		{
-			//	info->cfm[1] = j->contact.surface.slip1;
-		} else
-		{
-			//info->cfm[1] = 0.f;
-		}
-	}
-	
-	// second friction direction
-	if (m_numRows >= 3) {
-		info->J1l[s2+0] = t2[0];
-		info->J1l[s2+1] = t2[1];
-		info->J1l[s2+2] = t2[2];
-		dCROSS (info->J1a+s2,=,c1,t2);
-		if (1) { //j->node[1].body) {
-			info->J2l[s2+0] = -t2[0];
-			info->J2l[s2+1] = -t2[1];
-			info->J2l[s2+2] = -t2[2];
-			dCROSS (info->J2a+s2,= -,c2,t2);
-		}
-
-		// set right hand side
-		if (0){//j->contact.surface.mode & dContactMotion2) {
-			//info->c[2] = j->contact.surface.motion2;
-		}
-		// set LCP bounds and friction index. this depends on the approximation
-		// mode
-		if (0){//j->contact.surface.mode & dContactMu2) {
-			//info->lo[2] = -j->contact.surface.mu2;
-			//info->hi[2] = j->contact.surface.mu2;
-		}
-		else {
-			info->lo[2] = -friction;
-			info->hi[2] = friction;
-		}
-		if (0)//j->contact.surface.mode & dContactApprox1_2) 
-			
-		{
-			info->findex[2] = 0;
-		}
-		// set slip (constraint force mixing)
-		if (0) //j->contact.surface.mode & dContactSlip2)
-			
-		{
-			//info->cfm[2] = j->contact.surface.slip2;
-			
-		}
-	}
-	
-#endif //DO_THE_FRICTION_2
-	
-}
-
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h
deleted file mode 100644
index f8727d937a5..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CONTACT_JOINT_H
-#define CONTACT_JOINT_H
-
-#include "BU_Joint.h"
-class RigidBody;
-class PersistentManifold;
-
-class ContactJoint : public BU_Joint
-{
-	PersistentManifold* m_manifold;
-	int		m_index;
-	bool	m_swapBodies;
-	RigidBody* m_body0;
-	RigidBody* m_body1;
-
-
-public:
-
-	ContactJoint() {};
-
-	ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1);
-
-	//BU_Joint interface for solver
-
-	virtual void GetInfo1(Info1 *info);
-
-	virtual void GetInfo2(Info2 *info);
-
-
-	
-
-};
-
-#endif //CONTACT_JOINT_H
-
diff --git a/extern/bullet/BulletDynamics/Dynamics/MassProps.h b/extern/bullet/BulletDynamics/Dynamics/MassProps.h
deleted file mode 100644
index b98010a680d..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/MassProps.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef MASS_PROPS_H
-#define MASS_PROPS_H
-
-#include <SimdVector3.h>
-
-struct MassProps {
-	MassProps(float mass,const SimdVector3& inertiaLocal):
-	m_mass(mass),
-		m_inertiaLocal(inertiaLocal)
-	{
-	}
-	float   m_mass;
-	SimdVector3	m_inertiaLocal;
-};
-
-
-#endif
-
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
deleted file mode 100644
index c268515e327..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ /dev/null
@@ -1,223 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "RigidBody.h"
-#include "MassProps.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "GEN_MinMax.h"
-#include <SimdTransformUtil.h>
-
-float gLinearAirDamping = 1.f;
-
-static int uniqueId = 0;
-
-RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution)
-: 
-	m_gravity(0.0f, 0.0f, 0.0f),
-	m_totalForce(0.0f, 0.0f, 0.0f),
-	m_totalTorque(0.0f, 0.0f, 0.0f),
-	m_linearVelocity(0.0f, 0.0f, 0.0f),
-	m_angularVelocity(0.f,0.f,0.f),
-	m_linearDamping(0.f),
-	m_angularDamping(0.5f),
-	m_kinematicTimeStep(0.f)
-{
-
-	//moved to CollisionObject
-	m_friction = friction;
-	m_restitution = restitution;
-
-	m_debugBodyId = uniqueId++;
-	
-	setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
-    setDamping(linearDamping, angularDamping);
-	m_worldTransform.setIdentity();
-	updateInertiaTensor();
-
-}
-
-
-void RigidBody::setLinearVelocity(const SimdVector3& lin_vel)
-{ 
-
-	m_linearVelocity = lin_vel; 
-}
-
-
-void RigidBody::predictIntegratedTransform(SimdScalar timeStep,SimdTransform& predictedTransform) const
-{
-	SimdTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
-}
-
-void			RigidBody::saveKinematicState(SimdScalar timeStep)
-{
-	
-	if (m_kinematicTimeStep)
-	{
-		SimdVector3 linVel,angVel;
-		SimdTransformUtil::CalculateVelocity(m_interpolationWorldTransform,m_worldTransform,m_kinematicTimeStep,m_linearVelocity,m_angularVelocity);
-		//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
-	}
-	
-
-	m_interpolationWorldTransform = m_worldTransform;
-	
-	m_kinematicTimeStep = timeStep;
-}
-	
-void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
-{
-	GetCollisionShape()->GetAabb(m_worldTransform,aabbMin,aabbMax);
-}
-
-
-
-
-void RigidBody::setGravity(const SimdVector3& acceleration) 
-{
-	if (m_inverseMass != 0.0f)
-	{
-		m_gravity = acceleration * (1.0f / m_inverseMass);
-	}
-}
-
-
-
-
-
-
-void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
-{
-	m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
-	m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
-}
-
-
-
-#include <stdio.h>
-
-
-void RigidBody::applyForces(SimdScalar step)
-{
-	if (IsStatic())
-		return;
-
-	
-	applyCentralForce(m_gravity);	
-	
-	m_linearVelocity *= GEN_clamped((1.f - step * gLinearAirDamping * m_linearDamping), 0.0f, 1.0f);
-	m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
-
-#define FORCE_VELOCITY_DAMPING 1
-#ifdef FORCE_VELOCITY_DAMPING
-	float speed = m_linearVelocity.length();
-	if (speed < m_linearDamping)
-	{
-		float dampVel = 0.005f;
-		if (speed > dampVel)
-		{
-			SimdVector3 dir = m_linearVelocity.normalized();
-			m_linearVelocity -=  dir * dampVel;
-		} else
-		{
-			m_linearVelocity.setValue(0.f,0.f,0.f);
-		}
-	}
-
-	float angSpeed = m_angularVelocity.length();
-	if (angSpeed < m_angularDamping)
-	{
-		float angDampVel = 0.005f;
-		if (angSpeed > angDampVel)
-		{
-			SimdVector3 dir = m_angularVelocity.normalized();
-			m_angularVelocity -=  dir * angDampVel;
-		} else
-		{
-			m_angularVelocity.setValue(0.f,0.f,0.f);
-		}
-	}
-#endif //FORCE_VELOCITY_DAMPING
-	
-}
-
-void RigidBody::proceedToTransform(const SimdTransform& newTrans)
-{
-	setCenterOfMassTransform( newTrans );
-}
-	
-
-void RigidBody::setMassProps(SimdScalar mass, const SimdVector3& inertia)
-{
-	if (mass == 0.f)
-	{
-		m_collisionFlags = CollisionObject::isStatic;
-		m_inverseMass = 0.f;
-	} else
-	{
-		m_collisionFlags = 0;
-		m_inverseMass = 1.0f / mass;
-	}
-	
-
-	m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
-						   inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
-						   inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
-
-}
-
-	
-
-void RigidBody::updateInertiaTensor() 
-{
-	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
-}
-
-
-void RigidBody::integrateVelocities(SimdScalar step) 
-{
-	if (IsStatic())
-		return;
-
-	m_linearVelocity += m_totalForce * (m_inverseMass * step);
-	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
-
-#define MAX_ANGVEL SIMD_HALF_PI
-	/// clamp angular velocity. collision calculations will fail on higher angular velocities	
-	float angvel = m_angularVelocity.length();
-	if (angvel*step > MAX_ANGVEL)
-	{
-		m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
-	}
-
-	clearForces();
-}
-
-SimdQuaternion RigidBody::getOrientation() const
-{
-		SimdQuaternion orn;
-		m_worldTransform.getBasis().getRotation(orn);
-		return orn;
-}
-	
-	
-void RigidBody::setCenterOfMassTransform(const SimdTransform& xform)
-{
-	m_worldTransform = xform;
-	updateInertiaTensor();
-}
-
-
-
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
deleted file mode 100644
index ba2399d2da4..00000000000
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
+++ /dev/null
@@ -1,258 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef RIGIDBODY_H
-#define RIGIDBODY_H
-
-#include <vector>
-#include <SimdPoint3.h>
-#include <SimdTransform.h>
-#include "BroadphaseCollision/BroadphaseProxy.h"
-
-
-#include "CollisionDispatch/CollisionObject.h"
-
-class CollisionShape;
-struct MassProps;
-typedef SimdScalar dMatrix3[4*3];
-
-extern float gLinearAirDamping;
-extern bool gUseEpa;
-
-
-
-/// RigidBody class for RigidBody Dynamics
-/// 
-class RigidBody  : public CollisionObject
-{
-public:
-
-	RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution);
-
-	void			proceedToTransform(const SimdTransform& newTrans); 
-	
-	
-	/// continuous collision detection needs prediction
-	void			predictIntegratedTransform(SimdScalar step, SimdTransform& predictedTransform) const;
-	
-	void			saveKinematicState(SimdScalar step);
-	
-
-	void			applyForces(SimdScalar step);
-	
-	void			setGravity(const SimdVector3& acceleration);  
-	
-	void			setDamping(SimdScalar lin_damping, SimdScalar ang_damping);
-	
-	inline const CollisionShape*	GetCollisionShape() const {
-		return m_collisionShape;
-	}
-
-	inline CollisionShape*	GetCollisionShape() {
-			return m_collisionShape;
-	}
-	
-	void			setMassProps(SimdScalar mass, const SimdVector3& inertia);
-	
-	SimdScalar		getInvMass() const { return m_inverseMass; }
-	const SimdMatrix3x3& getInvInertiaTensorWorld() const { 
-		return m_invInertiaTensorWorld; 
-	}
-		
-	void			integrateVelocities(SimdScalar step);
-
-	void			setCenterOfMassTransform(const SimdTransform& xform);
-
-	void			applyCentralForce(const SimdVector3& force)
-	{
-		m_totalForce += force;
-	}
-    
-	const SimdVector3& getInvInertiaDiagLocal()
-	{
-		return m_invInertiaLocal;
-	};
-
-	void	setInvInertiaDiagLocal(const SimdVector3& diagInvInertia)
-	{
-		m_invInertiaLocal = diagInvInertia;
-	}
-
-	void	applyTorque(const SimdVector3& torque)
-	{
-		m_totalTorque += torque;
-	}
-	
-	void	applyForce(const SimdVector3& force, const SimdVector3& rel_pos) 
-	{
-		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force));
-	}
-	
-	void applyCentralImpulse(const SimdVector3& impulse)
-	{
-		m_linearVelocity += impulse * m_inverseMass;
-	}
-	
-  	void applyTorqueImpulse(const SimdVector3& torque)
-	{
-		if (!IsStatic())
-			m_angularVelocity += m_invInertiaTensorWorld * torque;
-
-	}
-	
-	void applyImpulse(const SimdVector3& impulse, const SimdVector3& rel_pos) 
-	{
-		if (m_inverseMass != 0.f)
-		{
-			applyCentralImpulse(impulse);
-			applyTorqueImpulse(rel_pos.cross(impulse));
-		}
-	}
-	
-	void clearForces() 
-	{
-		m_totalForce.setValue(0.0f, 0.0f, 0.0f);
-		m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
-	}
-	
-	void updateInertiaTensor();    
-	
-	const SimdPoint3&     getCenterOfMassPosition() const { 
-		return m_worldTransform.getOrigin(); 
-	}
-	SimdQuaternion getOrientation() const;
-	
-	const SimdTransform&  getCenterOfMassTransform() const { 
-		return m_worldTransform; 
-	}
-	const SimdVector3&   getLinearVelocity() const { 
-		return m_linearVelocity; 
-	}
-	const SimdVector3&    getAngularVelocity() const { 
-		return m_angularVelocity; 
-	}
-	
-
-	void setLinearVelocity(const SimdVector3& lin_vel);
-	void setAngularVelocity(const SimdVector3& ang_vel) { 
-		if (!IsStatic())
-		{
-			m_angularVelocity = ang_vel; 
-		}
-	}
-
-	SimdVector3 getVelocityInLocalPoint(const SimdVector3& rel_pos) const
-	{
-		//we also calculate lin/ang velocity for kinematic objects
-		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
-
-		//for kinematic objects, we could also use use:
-		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
-	}
-
-	void translate(const SimdVector3& v) 
-	{
-		m_worldTransform.getOrigin() += v; 
-	}
-
-	
-	void	getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const;
-
-
-
-
-	
-	inline float ComputeImpulseDenominator(const SimdPoint3& pos, const SimdVector3& normal) const
-	{
-		SimdVector3 r0 = pos - getCenterOfMassPosition();
-
-		SimdVector3 c0 = (r0).cross(normal);
-
-		SimdVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
-
-		return m_inverseMass + normal.dot(vec);
-
-	}
-
-	inline float ComputeAngularImpulseDenominator(const SimdVector3& axis) const
-	{
-		SimdVector3 vec = axis * getInvInertiaTensorWorld();
-		return axis.dot(vec);
-	}
-
-
-
-private:
-	
-	SimdMatrix3x3	m_invInertiaTensorWorld;
-	SimdVector3		m_gravity;	
-	SimdVector3		m_invInertiaLocal;
-	SimdVector3		m_totalForce;
-	SimdVector3		m_totalTorque;
-//	SimdQuaternion	m_orn1;
-	
-	SimdVector3		m_linearVelocity;
-	
-	SimdVector3		m_angularVelocity;
-	
-	SimdScalar		m_linearDamping;
-	SimdScalar		m_angularDamping;
-	SimdScalar		m_inverseMass;
-
-
-	SimdScalar		m_kinematicTimeStep;
-
-	BroadphaseProxy*	m_broadphaseProxy;
-
-
-	
-
-
-	
-public:
-	const BroadphaseProxy*	GetBroadphaseProxy() const
-	{
-		return m_broadphaseProxy;
-	}
-	BroadphaseProxy*	GetBroadphaseProxy() 
-	{
-		return m_broadphaseProxy;
-	}
-	void	SetBroadphaseProxy(BroadphaseProxy* broadphaseProxy)
-	{
-		m_broadphaseProxy = broadphaseProxy;
-	}
-	
-	
-
-	/// for ode solver-binding
-	dMatrix3		m_R;//temp
-	dMatrix3		m_I;
-	dMatrix3		m_invI;
-
-	int				m_odeTag;
-	
-	SimdVector3		m_tacc;//temp
-	SimdVector3		m_facc;
-
-
-
-	int	m_debugBodyId;
-};
-
-
-
-#endif
diff --git a/extern/bullet/BulletDynamics/Makefile b/extern/bullet/BulletDynamics/Makefile
deleted file mode 100644
index a2cdbe513ec..00000000000
--- a/extern/bullet/BulletDynamics/Makefile
+++ /dev/null
@@ -1,64 +0,0 @@
-#
-# $Id$
-#
-# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version. The Blender
-# Foundation also sells licenses for use in proprietary software under
-# the Blender License.  See http://www.blender.org/BL/ for information
-# about this.
-#
-# This program 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
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
-#
-# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): none yet.
-#
-# ***** END GPL/BL DUAL LICENSE BLOCK *****
-# opennl intern Makefile
-#
-
-LIBNAME = bulletdyn
-SOURCEDIR = extern/bullet/BulletDynamics
-DIR = $(OCGDIR)/$(SOURCEDIR)
-
-CCSRCS =  $(wildcard Vehicle/*.cpp)
-CCSRCS += $(wildcard ConstraintSolver/*.cpp)
-CCSRCS += $(wildcard Dynamics/*.cpp)
-
-CPPFLAGS += -DUSE_DOUBLES -DQHULL -D_LIB
-CPPFLAGS += -I../Bullet -I../BulletDynamics -I../LinearMath
-
-all debug:: objdirs
-
-include nan_compile.mk
-
-.PHONY: objdirs
-objdirs:
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)Vehicle
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)ConstraintSolver
-	@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)Dynamics
-
-optclean::
-	@-[ ! -d $(DIR)/Vehicle ] || (cd $(DIR)/Vehicle && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/ConstraintSolver ] || (cd $(DIR)/ConstraintSolver && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/Dynamics ] || (cd $(DIR)/Dynamics && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-
-debugclean::
-	@-[ ! -d $(DIR)/debug/Vehicle ] || (cd $(DIR)/debug/Vehicle && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/debug/ConstraintSolver ] || (cd $(DIR)/debug/ConstraintSolver && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
-	@-[ ! -d $(DIR)/debug/Dynamics ] || (cd $(DIR)/debug/Dynamics && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
diff --git a/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.cpp b/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.cpp
deleted file mode 100755
index 362720483dd..00000000000
--- a/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.cpp
+++ /dev/null
@@ -1,605 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-
-#include "RaycastVehicle.h"
-#include "ConstraintSolver/Solve2LinearConstraint.h"
-#include "ConstraintSolver/JacobianEntry.h"
-#include "SimdQuaternion.h"
-#include "SimdVector3.h"
-#include "VehicleRaycaster.h"
-#include "WheelInfo.h"
-
-
-#include "Dynamics/MassProps.h"
-#include "ConstraintSolver/ContactConstraint.h"
-
-
-
-static RigidBody s_fixedObject( MassProps ( 0.0f, SimdVector3(0,0,0) ),0.f,0.f,0.f,0.f);
-
-RaycastVehicle::RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis,	VehicleRaycaster* raycaster )
-:m_vehicleRaycaster(raycaster),
-m_pitchControl(0.f)
-{
-	m_chassisBody = chassis;
-	m_indexRightAxis = 0;
-	m_indexUpAxis = 2;
-	m_indexForwardAxis = 1;
-	DefaultInit(tuning);
-}
-
-
-void RaycastVehicle::DefaultInit(const VehicleTuning& tuning)
-{
-	m_currentVehicleSpeedKmHour = 0.f;
-	m_steeringValue = 0.f;
-	
-}
-
-	
-
-RaycastVehicle::~RaycastVehicle()
-{
-}
-
-
-//
-// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
-//
-WheelInfo&	RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS, SimdScalar suspensionRestLength, SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel)
-{
-
-	WheelInfoConstructionInfo ci;
-
-	ci.m_chassisConnectionCS = connectionPointCS;
-	ci.m_wheelDirectionCS = wheelDirectionCS0;
-	ci.m_wheelAxleCS = wheelAxleCS;
-	ci.m_suspensionRestLength = suspensionRestLength;
-	ci.m_wheelRadius = wheelRadius;
-	ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
-	ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
-	ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
-	ci.m_frictionSlip = tuning.m_frictionSlip;
-	ci.m_bIsFrontWheel = isFrontWheel;
-	ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
-
-	m_wheelInfo.push_back( WheelInfo(ci));
-	
-	WheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
-	
-	UpdateWheelTransformsWS( wheel );
-	return wheel;
-}
-
-
-
-
-const SimdTransform&	RaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
-{
-	assert(wheelIndex < GetNumWheels());
-	const WheelInfo& wheel = m_wheelInfo[wheelIndex];
-	return wheel.m_worldTransform;
-
-}
-
-void	RaycastVehicle::UpdateWheelTransform( int wheelIndex )
-{
-	
-	WheelInfo& wheel = m_wheelInfo[ wheelIndex ];
-	UpdateWheelTransformsWS(wheel);
-	SimdVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
-	const SimdVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
-	SimdVector3 fwd = up.cross(right);
-	fwd = fwd.normalize();
-	//rotate around steering over de wheelAxleWS
-	float steering = wheel.m_steering;
-	
-	SimdQuaternion steeringOrn(up,steering);//wheel.m_steering);
-	SimdMatrix3x3 steeringMat(steeringOrn);
-
-	SimdQuaternion rotatingOrn(right,wheel.m_rotation);
-	SimdMatrix3x3 rotatingMat(rotatingOrn);
-
-	SimdMatrix3x3 basis2(
-		right[0],fwd[0],up[0],
-		right[1],fwd[1],up[1],
-		right[2],fwd[2],up[2]
-	);
-	
-	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
-	wheel.m_worldTransform.setOrigin(
-		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
-	);
-}
-
-void RaycastVehicle::ResetSuspension()
-{
-
-	std::vector<WheelInfo>::iterator wheelIt;
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
-	{
-			WheelInfo& wheel = *wheelIt;
-			wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
-			wheel.m_suspensionRelativeVelocity = 0.0f;
-			
-			wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-			//wheel_info.setContactFriction(0.0f);
-			wheel.m_clippedInvContactDotSuspension = 1.0f;
-	}
-}
-
-void	RaycastVehicle::UpdateWheelTransformsWS(WheelInfo& wheel )
-{
-	wheel.m_raycastInfo.m_isInContact = false;
-
-	const SimdTransform& 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;
-}
-
-SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
-{
-	UpdateWheelTransformsWS( wheel );
-
-	
-	SimdScalar depth = -1;
-	
-	SimdScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
-
-	SimdVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
-	const SimdVector3& source = wheel.m_raycastInfo.m_hardPointWS;
-	wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
-	const SimdVector3& target = wheel.m_raycastInfo.m_contactPointWS;
-
-	SimdScalar param = 0.f;
-	
-	VehicleRaycaster::VehicleRaycasterResult	rayResults;
-
-	void* object = m_vehicleRaycaster->CastRay(source,target,rayResults);
-
-	wheel.m_raycastInfo.m_groundObject = 0;
-
-	if (object)
-	{
-		param = rayResults.m_distFraction;
-		depth = raylen * rayResults.m_distFraction;
-		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
-		wheel.m_raycastInfo.m_isInContact = true;
-		
-		wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
-		//wheel.m_raycastInfo.m_groundObject = object;
-
-
-		SimdScalar hitDistance = param*raylen;
-		wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
-		//clamp on max suspension travel
-
-		float  minSuspensionLength = wheel.GetSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
-		float maxSuspensionLength = wheel.GetSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
-		if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
-		}
-		if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
-		}
-
-		wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
-
-		SimdScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
-
-		SimdVector3 chassis_velocity_at_contactPoint;
-		SimdVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
-
-		chassis_velocity_at_contactPoint = GetRigidBody()->getVelocityInLocalPoint(relpos);
-
-		SimdScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-
-		if ( denominator >= -0.1f)
-		{
-			wheel.m_suspensionRelativeVelocity = 0.0f;
-			wheel.m_clippedInvContactDotSuspension = 1.0f / 0.1f;
-		}
-		else
-		{
-			SimdScalar inv = -1.f / denominator;
-			wheel.m_suspensionRelativeVelocity = projVel * inv;
-			wheel.m_clippedInvContactDotSuspension = inv;
-		}
-			
-	} else
-	{
-		//put wheel info as in rest position
-		wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
-		wheel.m_suspensionRelativeVelocity = 0.0f;
-		wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-		wheel.m_clippedInvContactDotSuspension = 1.0f;
-	}
-
-	return depth;
-}
-
-
-void RaycastVehicle::UpdateVehicle( SimdScalar step )
-{
-
-	m_currentVehicleSpeedKmHour = 3.6f * GetRigidBody()->getLinearVelocity().length();
-	
-	const SimdTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
-	SimdVector3 forwardW (
-		chassisTrans.getBasis()[0][m_indexForwardAxis],
-		chassisTrans.getBasis()[1][m_indexForwardAxis],
-		chassisTrans.getBasis()[2][m_indexForwardAxis]);
-
-	if (forwardW.dot(GetRigidBody()->getLinearVelocity()) < 0.f)
-	{
-		m_currentVehicleSpeedKmHour *= -1.f;
-	}
-
-	//
-	// simulate suspension
-	//
-	std::vector<WheelInfo>::iterator wheelIt;
-	int i=0;
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
-	{
-		WheelInfo& wheelInfo = *wheelIt;
-		
-		SimdScalar depth; 
-		depth = Raycast( *wheelIt );
-	}
-
-	UpdateSuspension(step);
-
-	
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
-	{
-		//apply suspension force
-		WheelInfo& wheel = *wheelIt;
-		
-		float suspensionForce = wheel.m_wheelsSuspensionForce;
-		
-		float gMaxSuspensionForce = 6000.f;
-		if (suspensionForce > gMaxSuspensionForce)
-		{
-			suspensionForce = gMaxSuspensionForce;
-		}
-		SimdVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		SimdVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
-		
-		GetRigidBody()->applyImpulse(impulse, relpos);
-	
-	}
-	
-
-	
-	UpdateFriction( step);
-
-	
-	for (wheelIt = m_wheelInfo.begin();
-	!(wheelIt == m_wheelInfo.end());wheelIt++)
-	{
-		WheelInfo& wheel = *wheelIt;
-		SimdVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
-		SimdVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
-
-		if (wheel.m_raycastInfo.m_isInContact)
-		{
-			SimdVector3 fwd (
-				GetRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
-				GetRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
-				GetRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
-
-			SimdScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
-			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
-
-			SimdScalar proj2 = fwd.dot(vel);
-			
-			wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
-			wheel.m_rotation += wheel.m_deltaRotation;
-
-		} else
-		{
-			wheel.m_rotation += wheel.m_deltaRotation;
-		}
-		
-		wheel.m_deltaRotation *= 0.99f;//damping of rotation when not in contact
-
-	}
-
-
-
-}
-
-
-void	RaycastVehicle::SetSteeringValue(SimdScalar steering,int wheel)
-{
-	assert(wheel>=0 && wheel < GetNumWheels());
-
-	WheelInfo& wheelInfo = GetWheelInfo(wheel);
-	wheelInfo.m_steering = steering;
-}
-
-
-
-SimdScalar	RaycastVehicle::GetSteeringValue(int wheel) const
-{
-	return GetWheelInfo(wheel).m_steering;
-}
-
-
-void	RaycastVehicle::ApplyEngineForce(SimdScalar force, int wheel)
-{
-	for (int i=0;i<GetNumWheels();i++)
-	{
-		WheelInfo& wheelInfo = GetWheelInfo(i);
-
-		bool applyOnFrontWheel = !wheel;
-
-		if (applyOnFrontWheel == wheelInfo.m_bIsFrontWheel)
-		{
-			wheelInfo.m_engineForce = force;
-		}
-	}
-}
-
-
-const WheelInfo&	RaycastVehicle::GetWheelInfo(int index) const
-{
-	ASSERT((index >= 0) && (index < 	GetNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-WheelInfo&	RaycastVehicle::GetWheelInfo(int index) 
-{
-	ASSERT((index >= 0) && (index < 	GetNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-void RaycastVehicle::SetBrake(float brake,int wheelIndex)
-{
-	ASSERT((wheelIndex >= 0) && (wheelIndex < 	GetNumWheels()));
-	GetWheelInfo(wheelIndex).m_brake;
-}
-
-
-void	RaycastVehicle::UpdateSuspension(SimdScalar deltaTime)
-{
-
-	SimdScalar chassisMass = 1.f / m_chassisBody->getInvMass();
-	
-	for (int w_it=0; w_it<GetNumWheels(); w_it++)
-	{
-		WheelInfo &wheel_info = m_wheelInfo[w_it];
-		
-		if ( wheel_info.m_raycastInfo.m_isInContact )
-		{
-			SimdScalar force;
-			//	Spring
-			{
-				SimdScalar	susp_length			= wheel_info.GetSuspensionRestLength();
-				SimdScalar	current_length = wheel_info.m_raycastInfo.m_suspensionLength;
-
-				SimdScalar length_diff = (susp_length - current_length);
-
-				force = wheel_info.m_suspensionStiffness
-					* length_diff * wheel_info.m_clippedInvContactDotSuspension;
-			}
-		
-			// Damper
-			{
-				SimdScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
-				{
-					SimdScalar	susp_damping;
-					if ( projected_rel_vel < 0.0f )
-					{
-						susp_damping = wheel_info.m_wheelsDampingCompression;
-					}
-					else
-					{
-						susp_damping = wheel_info.m_wheelsDampingRelaxation;
-					}
-					force -= susp_damping * projected_rel_vel;
-				}
-			}
-
-			// RESULT
-			wheel_info.m_wheelsSuspensionForce = force * chassisMass;
-			if (wheel_info.m_wheelsSuspensionForce < 0.f)
-			{
-				wheel_info.m_wheelsSuspensionForce = 0.f;
-			}
-		}
-		else
-		{
-			wheel_info.m_wheelsSuspensionForce = 0.0f;
-		}
-	}
-
-}
-
-float sideFrictionStiffness2 = 1.0f;
-void	RaycastVehicle::UpdateFriction(SimdScalar	timeStep)
-{
-
-		//calculate the impulse, so that the wheels don't move sidewards
-		int numWheel = GetNumWheels();
-		if (!numWheel)
-			return;
-
-
-		SimdVector3*	forwardWS = new	SimdVector3[numWheel];
-		SimdVector3*	axle = new SimdVector3[numWheel];
-		SimdScalar* forwardImpulse = new SimdScalar[numWheel];
-		SimdScalar* sideImpulse = new SimdScalar[numWheel];
-		
-		int numWheelsOnGround = 0;
-	
-
-		//collapse all those loops into one!
-		for (int i=0;i<GetNumWheels();i++)
-		{
-			WheelInfo& wheelInfo = m_wheelInfo[i];
-			class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-			if (groundObject)
-				numWheelsOnGround++;
-			sideImpulse[i] = 0.f;
-			forwardImpulse[i] = 0.f;
-
-		}
-	
-		{
-	
-			for (int i=0;i<GetNumWheels();i++)
-			{
-
-				WheelInfo& wheelInfo = m_wheelInfo[i];
-					
-				class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-				if (groundObject)
-				{
-
-					const SimdTransform& wheelTrans = GetWheelTransformWS( i );
-
-					SimdMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					axle[i] = SimdVector3(	
-						wheelBasis0[0][m_indexRightAxis],
-						wheelBasis0[1][m_indexRightAxis],
-						wheelBasis0[2][m_indexRightAxis]);
-					
-					const SimdVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-					SimdScalar proj = axle[i].dot(surfNormalWS);
-					axle[i] -= surfNormalWS * proj;
-					axle[i] = axle[i].normalize();
-					
-					forwardWS[i] = surfNormalWS.cross(axle[i]);
-					forwardWS[i].normalize();
-
-				
-					resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  0.f, axle[i],sideImpulse[i],timeStep);
-
-					sideImpulse[i] *= sideFrictionStiffness2;
-						
-				}
-				
-
-			}
-		}
-
-	SimdScalar sideFactor = 1.f;
-	SimdScalar fwdFactor = 0.5;
-
-	bool sliding = false;
-	{
-		for (int wheel =0;wheel <GetNumWheels();wheel++)
-		{
-			WheelInfo& wheelInfo = m_wheelInfo[wheel];
-			class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-
-			forwardImpulse[wheel] = 0.f;
-			m_wheelInfo[wheel].m_skidInfo= 1.f;
-
-			if (groundObject)
-			{
-				m_wheelInfo[wheel].m_skidInfo= 1.f;
-				
-				SimdScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
-				SimdScalar maximpSide = maximp;
-
-				SimdScalar maximpSquared = maximp * maximpSide;
-
-				forwardImpulse[wheel] = wheelInfo.m_engineForce* timeStep;
-
-				float x = (forwardImpulse[wheel] ) * fwdFactor;
-				float y = (sideImpulse[wheel] ) * sideFactor;
-				
-				float impulseSquared = (x*x + y*y);
-
-				if (impulseSquared > maximpSquared)
-				{
-					sliding = true;
-					
-					SimdScalar factor = maximp / SimdSqrt(impulseSquared);
-					
-					m_wheelInfo[wheel].m_skidInfo *= factor;
-				}
-			} 
-
-		}
-	}
-
-	
-
-
-		if (sliding)
-		{
-			for (int wheel = 0;wheel < GetNumWheels(); wheel++)
-			{
-				if (sideImpulse[wheel] != 0.f)
-				{
-					if (m_wheelInfo[wheel].m_skidInfo< 1.f)
-					{
-						forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
-						sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					}
-				}
-			}
-		}
-
-		// apply the impulses
-		{
-			for (int wheel = 0;wheel<GetNumWheels() ; wheel++)
-			{
-				WheelInfo& wheelInfo = m_wheelInfo[wheel];
-
-				SimdVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						m_chassisBody->getCenterOfMassPosition();
-
-				if (forwardImpulse[wheel] != 0.f)
-				{
-					m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
-				}
-				if (sideImpulse[wheel] != 0.f)
-				{
-					class RigidBody* groundObject = (class RigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
-
-					SimdVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						groundObject->getCenterOfMassPosition();
-
-					
-					SimdVector3 sideImp = axle[wheel] * sideImpulse[wheel];
-
-					rel_pos[2] *= wheelInfo.m_rollInfluence;
-					m_chassisBody->applyImpulse(sideImp,rel_pos);
-
-					//apply friction impulse on the ground
-					groundObject->applyImpulse(-sideImp,rel_pos2);
-				}
-			}
-		}
-
-		delete []forwardWS;
-		delete [] axle;
-		delete[]forwardImpulse;
-		delete[] sideImpulse;
-}
diff --git a/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.h b/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.h
deleted file mode 100755
index 09b8354fc70..00000000000
--- a/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.h
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef RAYCASTVEHICLE_H
-#define RAYCASTVEHICLE_H
-
-#include "Dynamics/RigidBody.h"
-#include "ConstraintSolver/TypedConstraint.h"
-
-struct MassProps;
-#include "WheelInfo.h"
-
-struct	VehicleRaycaster;
-class VehicleTuning;
-
-///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class RaycastVehicle : public TypedConstraint
-{
-public:
-	class VehicleTuning
-		{
-			public:
-
-			VehicleTuning()
-				:m_suspensionStiffness(5.88f),
-				m_suspensionCompression(0.83f),
-				m_suspensionDamping(0.88f),
-				m_maxSuspensionTravelCm(500.f),
-				m_frictionSlip(10.5f)
-			{
-			}
-			float	m_suspensionStiffness;
-			float	m_suspensionCompression;
-			float	m_suspensionDamping;
-			float	m_maxSuspensionTravelCm;
-			float	m_frictionSlip;
-
-		};
-private:
-
-	SimdScalar	m_tau;
-	SimdScalar	m_damping;
-	VehicleRaycaster*	m_vehicleRaycaster;
-	float		m_pitchControl;
-	float	m_steeringValue; 
-	float m_currentVehicleSpeedKmHour;
-
-	RigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int	m_indexForwardAxis;
-
-	void DefaultInit(const VehicleTuning& tuning);
-
-public:
-
-	//constructor to create a car from an existing rigidbody
-	RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis,	VehicleRaycaster* raycaster );
-
-	virtual ~RaycastVehicle() ;
-
-		
-
-
-
-	SimdScalar Raycast(WheelInfo& wheel);
-
-	virtual void UpdateVehicle(SimdScalar step);
-
-	void ResetSuspension();
-
-	SimdScalar	GetSteeringValue(int wheel) const;
-
-	void	SetSteeringValue(SimdScalar steering,int wheel);
-
-
-	void	ApplyEngineForce(SimdScalar force, int wheel);
-
-	const SimdTransform&	GetWheelTransformWS( int wheelIndex ) const;
-
-	void	UpdateWheelTransform( int wheelIndex );
-	
-	void	SetRaycastWheelInfo( int wheelIndex , bool isInContact, const SimdVector3& hitPoint, const SimdVector3& hitNormal,SimdScalar depth);
-
-	WheelInfo&	AddWheel( const SimdVector3& connectionPointCS0, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS,SimdScalar suspensionRestLength,SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel);
-
-	inline int		GetNumWheels() const {
-		return m_wheelInfo.size();
-	}
-	
-	std::vector<WheelInfo>	m_wheelInfo;
-
-
-	const WheelInfo&	GetWheelInfo(int index) const;
-
-	WheelInfo&	GetWheelInfo(int index);
-
-	void	UpdateWheelTransformsWS(WheelInfo& wheel );
-
-	
-	void SetBrake(float brake,int wheelIndex);
-
-	void	SetPitchControl(float pitch)
-	{
-		m_pitchControl = pitch;
-	}
-	
-	void	UpdateSuspension(SimdScalar deltaTime);
-
-	void	UpdateFriction(SimdScalar	timeStep);
-
-
-
-	inline RigidBody* GetRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const RigidBody* GetRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int	GetRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int GetUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int GetForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	virtual void	BuildJacobian()
-	{
-		//not yet
-	}
-
-	virtual	void	SolveConstraint(SimdScalar	timeStep)
-	{
-		//not yet
-	}
-
-
-};
-
-#endif //RAYCASTVEHICLE_H
-
diff --git a/extern/bullet/BulletDynamics/Vehicle/VehicleRaycaster.h b/extern/bullet/BulletDynamics/Vehicle/VehicleRaycaster.h
deleted file mode 100755
index ddbb02e31bd..00000000000
--- a/extern/bullet/BulletDynamics/Vehicle/VehicleRaycaster.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef VEHICLE_RAYCASTER_H
-#define VEHICLE_RAYCASTER_H
-
-#include "SimdVector3.h"
-
-/// VehicleRaycaster is provides interface for between vehicle simulation and raycasting
-struct VehicleRaycaster
-{
-	struct VehicleRaycasterResult
-	{
-		VehicleRaycasterResult() :m_distFraction(-1.f){};
-		SimdVector3	m_hitPointInWorld;
-		SimdVector3	m_hitNormalInWorld;
-		SimdScalar	m_distFraction;
-	};
-
-	virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result) = 0;
-
-};
-
-#endif //VEHICLE_RAYCASTER_H
-
diff --git a/extern/bullet/BulletDynamics/Vehicle/WheelInfo.cpp b/extern/bullet/BulletDynamics/Vehicle/WheelInfo.cpp
deleted file mode 100755
index 480fb484671..00000000000
--- a/extern/bullet/BulletDynamics/Vehicle/WheelInfo.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#include "WheelInfo.h"
-#include "Dynamics/RigidBody.h" // for pointvelocity
-
-
-SimdScalar WheelInfo::GetSuspensionRestLength() const
-{
-
-	return m_suspensionRestLength1;
-
-}
-
-void	WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
-{
-
-	
-	if (m_raycastInfo.m_isInContact)
-
-	{
-		SimdScalar	project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
-		SimdVector3	 chassis_velocity_at_contactPoint;
-		SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
-		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
-		SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-		if ( project >= -0.1f)
-		{
-			m_suspensionRelativeVelocity = 0.0f;
-			m_clippedInvContactDotSuspension = 1.0f / 0.1f;
-		}
-		else
-		{
-			SimdScalar inv = -1.f / project;
-			m_suspensionRelativeVelocity = projVel * inv;
-			m_clippedInvContactDotSuspension = inv;
-		}
-		
-	}
-
-	else	// Not in contact : position wheel in a nice (rest length) position
-	{
-		m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
-		m_suspensionRelativeVelocity = 0.0f;
-		m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
-		m_clippedInvContactDotSuspension = 1.0f;
-	}
-}
diff --git a/extern/bullet/BulletDynamics/Vehicle/WheelInfo.h b/extern/bullet/BulletDynamics/Vehicle/WheelInfo.h
deleted file mode 100755
index 5d7c70c1e06..00000000000
--- a/extern/bullet/BulletDynamics/Vehicle/WheelInfo.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef WHEEL_INFO_H
-#define WHEEL_INFO_H
-
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-
-class RigidBody;
-
-struct WheelInfoConstructionInfo
-{
-	SimdVector3	m_chassisConnectionCS;
-	SimdVector3	m_wheelDirectionCS;
-	SimdVector3	m_wheelAxleCS;
-	SimdScalar	m_suspensionRestLength;
-	SimdScalar	m_maxSuspensionTravelCm;
-	SimdScalar	m_wheelRadius;
-	
-	float		m_suspensionStiffness;
-	float		m_wheelsDampingCompression;
-	float		m_wheelsDampingRelaxation;
-	float		m_frictionSlip;
-	bool m_bIsFrontWheel;
-	
-};
-
-/// WheelInfo contains information per wheel about friction and suspension.
-struct WheelInfo
-{
-	struct RaycastInfo
-	{
-		//set by raycaster
-		SimdVector3	m_contactNormalWS;//contactnormal
-		SimdVector3	m_contactPointWS;//raycast hitpoint
-		SimdScalar	m_suspensionLength;
-		SimdVector3	m_hardPointWS;//raycast starting point
-		SimdVector3	m_wheelDirectionWS; //direction in worldspace
-		SimdVector3	m_wheelAxleWS; // axle in worldspace
-		bool		m_isInContact;
-		void*		m_groundObject; //could be general void* ptr
-	};
-
-	RaycastInfo	m_raycastInfo;
-
-	SimdTransform	m_worldTransform;
-	
-	SimdVector3	m_chassisConnectionPointCS; //const
-	SimdVector3	m_wheelDirectionCS;//const
-	SimdVector3	m_wheelAxleCS; // const or modified by steering
-	SimdScalar	m_suspensionRestLength1;//const
-	SimdScalar	m_maxSuspensionTravelCm;
-	SimdScalar GetSuspensionRestLength() const;
-	SimdScalar	m_wheelsRadius;//const
-	SimdScalar	m_suspensionStiffness;//const
-	SimdScalar	m_wheelsDampingCompression;//const
-	SimdScalar	m_wheelsDampingRelaxation;//const
-	SimdScalar	m_frictionSlip;
-	SimdScalar	m_steering;
-	SimdScalar	m_rotation;
-	SimdScalar	m_deltaRotation;
-	SimdScalar	m_rollInfluence;
-
-	SimdScalar	m_engineForce;
-
-	SimdScalar	m_brake;
-	
-	bool m_bIsFrontWheel;
-	
-	void*		m_clientInfo;//can be used to store pointer to sync transforms...
-
-	WheelInfo(WheelInfoConstructionInfo& ci)
-
-	{
-
-		m_suspensionRestLength1 = ci.m_suspensionRestLength;
-		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
-
-		m_wheelsRadius = ci.m_wheelRadius;
-		m_suspensionStiffness = ci.m_suspensionStiffness;
-		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
-		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
-		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
-		m_wheelDirectionCS = ci.m_wheelDirectionCS;
-		m_wheelAxleCS = ci.m_wheelAxleCS;
-		m_frictionSlip = ci.m_frictionSlip;
-		m_steering = 0.f;
-		m_engineForce = 0.f;
-		m_rotation = 0.f;
-		m_deltaRotation = 0.f;
-		m_brake = 0.f;
-		m_rollInfluence = 0.1f;
-		m_bIsFrontWheel = ci.m_bIsFrontWheel;
-
-	}
-
-	void	UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo);
-
-	SimdScalar	m_clippedInvContactDotSuspension;
-	SimdScalar	m_suspensionRelativeVelocity;
-	//calculated by suspension
-	SimdScalar	m_wheelsSuspensionForce;
-	SimdScalar	m_skidInfo;
-
-};
-
-#endif //WHEEL_INFO_H
-
diff --git a/extern/bullet/BulletLicense.txt b/extern/bullet/BulletLicense.txt
deleted file mode 100644
index c3ec68c21fd..00000000000
--- a/extern/bullet/BulletLicense.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-/*
-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.
-*/
-
-
-Free for commercial use, but please mail bullet@erwincoumans.com to report projects, and join the forum at
-www.continuousphysics.com/Bullet/phpBB2
diff --git a/extern/bullet/CMakeLists.txt b/extern/bullet/CMakeLists.txt
deleted file mode 100644
index f8722a6113c..00000000000
--- a/extern/bullet/CMakeLists.txt
+++ /dev/null
@@ -1,45 +0,0 @@
-# $Id$
-# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version. The Blender
-# Foundation also sells licenses for use in proprietary software under
-# the Blender License.  See http://www.blender.org/BL/ for information
-# about this.
-#
-# This program 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
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
-#
-# The Original Code is Copyright (C) 2006, Blender Foundation
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): Jacques Beaurain.
-#
-# ***** END GPL/BL DUAL LICENSE BLOCK *****
-
-SET(INC . Bullet BulletDynamics LinearMath)
-
-FILE(GLOB SRC   
-  Bullet/BroadphaseCollision/*.cpp
-  Bullet/CollisionShapes/*.cpp
-  Bullet/NarrowPhaseCollision/*.cpp
-  Bullet/CollisionDispatch/*.cpp
-  BulletDynamics/ConstraintSolver/*.cpp
-  BulletDynamics/Vehicle/*.cpp
-  BulletDynamics/Dynamics/*.cpp
-)
-
-ADD_DEFINITIONS(-DUSE_DOUBLES -DQHULL -D_LIB)
-
-BLENDERLIB(extern_bullet "${SRC}" "${INC}")
-#, libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics.dsp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics.dsp
deleted file mode 100644
index 48d42617d3d..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics.dsp
+++ /dev/null
@@ -1,112 +0,0 @@
-# Microsoft Developer Studio Project File - Name="CcdPhysics" - Package Owner=<4>
-# Microsoft Developer Studio Generated Build File, Format Version 6.00
-# ** DO NOT EDIT **
-
-# TARGTYPE "Win32 (x86) Static Library" 0x0104
-
-CFG=CcdPhysics - Win32 Debug
-!MESSAGE This is not a valid makefile. To build this project using NMAKE,
-!MESSAGE use the Export Makefile command and run
-!MESSAGE 
-!MESSAGE NMAKE /f "CcdPhysics.mak".
-!MESSAGE 
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-!MESSAGE by defining the macro CFG on the command line. For example:
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-!MESSAGE NMAKE /f "CcdPhysics.mak" CFG="CcdPhysics - Win32 Debug"
-!MESSAGE 
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-!MESSAGE 
-!MESSAGE "CcdPhysics - Win32 Release" (based on "Win32 (x86) Static Library")
-!MESSAGE "CcdPhysics - Win32 Debug" (based on "Win32 (x86) Static Library")
-!MESSAGE 
-
-# Begin Project
-# PROP AllowPerConfigDependencies 0
-# PROP Scc_ProjName ""
-# PROP Scc_LocalPath ""
-CPP=cl.exe
-RSC=rc.exe
-
-!IF  "$(CFG)" == "CcdPhysics - Win32 Release"
-
-# PROP BASE Use_MFC 0
-# PROP BASE Use_Debug_Libraries 0
-# PROP BASE Output_Dir "CcdPhysics___Win32_Release"
-# PROP BASE Intermediate_Dir "CcdPhysics___Win32_Release"
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-# PROP Output_Dir "CcdPhysics___Win32_Release"
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-# PROP Target_Dir ""
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-MTL=midl.exe
-# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
-# ADD CPP /nologo /W3 /GX /O2 /I "..\..\..\Bullet" /I "..\..\..\LinearMath" /I "..\..\..\BulletDynamics" /I "..\..\..\Extras\PhysicsInterface\Common" /I "..\..\..\Extras\PhysicsInterface\CcdPhysics" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
-# ADD BASE RSC /l 0x809 /d "NDEBUG"
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-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LIB32=link.exe -lib
-# ADD BASE LIB32 /nologo
-# ADD LIB32 /nologo
-
-!ELSEIF  "$(CFG)" == "CcdPhysics - Win32 Debug"
-
-# PROP BASE Use_MFC 0
-# PROP BASE Use_Debug_Libraries 1
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-# PROP BASE Intermediate_Dir "CcdPhysics___Win32_Debug"
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-LINK32=link.exe -lib
-MTL=midl.exe
-# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
-# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "..\..\..\Bullet" /I "..\..\..\LinearMath" /I "..\..\..\BulletDynamics" /I "..\..\..\Extras\PhysicsInterface\Common" /I "..\..\..\Extras\PhysicsInterface\CcdPhysics" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
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-BSC32=bscmake.exe
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-LIB32=link.exe -lib
-# ADD BASE LIB32 /nologo
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-
-# Begin Target
-
-# Name "CcdPhysics - Win32 Release"
-# Name "CcdPhysics - Win32 Debug"
-# Begin Group "Source Files"
-
-# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
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-# End Source File
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diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
deleted file mode 100644
index 83bddc8ee1e..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ /dev/null
@@ -1,585 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "CcdPhysicsController.h"
-
-#include "Dynamics/RigidBody.h"
-#include "PHY_IMotionState.h"
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-#include "CollisionShapes/ConvexShape.h"
-#include "CcdPhysicsEnvironment.h"
-#include "SimdTransformUtil.h"
-
-#include "CollisionShapes/SphereShape.h"
-#include "CollisionShapes/ConeShape.h"
-
-class BP_Proxy;
-
-///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
-
-//'temporarily' global variables
-float	gDeactivationTime = 2.f;
-bool	gDisableDeactivation = false;
-
-float gLinearSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.0f;
-
-#include "Dynamics/MassProps.h"
-
-SimdVector3 startVel(0,0,0);//-10000);
-CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
-:m_cci(ci)
-{
-	m_collisionDelay = 0;
-	m_newClientInfo = 0;
-	
-	m_MotionState = ci.m_MotionState;
-
-	
-	
-	CreateRigidbody();
-	
-
-	
-	#ifdef WIN32
-	if (m_body->getInvMass())
-		m_body->setLinearVelocity(startVel);
-	#endif
-
-}
-
-SimdTransform	CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
-{
-	SimdTransform trans;
-	float tmp[3];
-	motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
-	trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
-
-	SimdQuaternion orn;
-	motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	trans.setRotation(orn);
-	return trans;
-
-}
-
-void CcdPhysicsController::CreateRigidbody()
-{
-
-	SimdTransform trans = GetTransformFromMotionState(m_cci.m_MotionState);
-
-	MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor);
-
-	m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution);
-	m_body->m_collisionShape = m_cci.m_collisionShape;
-	
-
-	//
-	// init the rigidbody properly
-	//
-	
-	m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-	//setMassProps this also sets collisionFlags
-	m_body->m_collisionFlags = m_cci.m_collisionFlags;
-	
-	m_body->setGravity( m_cci.m_gravity);
-	m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping);
-	m_body->setCenterOfMassTransform( trans );
-
-
-}
-
-CcdPhysicsController::~CcdPhysicsController()
-{
-	//will be reference counted, due to sharing
-	m_cci.m_physicsEnv->removeCcdPhysicsController(this);
-	delete m_MotionState;
-	delete m_body;
-}
-
-		/**
-			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-bool		CcdPhysicsController::SynchronizeMotionStates(float time)
-{
-	//sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.)
-
-	if (!m_body->IsStatic())
-	{
-		const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
-		m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		
-		const SimdQuaternion& worldquat = m_body->getOrientation();
-		m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-
-		m_MotionState->calculateWorldTransformations();
-
-		float scale[3];
-		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
-		SimdVector3 scaling(scale[0],scale[1],scale[2]);
-		GetCollisionShape()->setLocalScaling(scaling);
-	} else
-	{
-		SimdVector3 worldPos;
-		SimdQuaternion worldquat;
-
-		m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-		m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-		SimdTransform oldTrans = m_body->getCenterOfMassTransform();
-		SimdTransform newTrans(worldquat,worldPos);
-				
-		m_body->setCenterOfMassTransform(newTrans);
-		//need to keep track of previous position for friction effects...
-		
-		m_MotionState->calculateWorldTransformations();
-
-		float scale[3];
-		m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
-		SimdVector3 scaling(scale[0],scale[1],scale[2]);
-		GetCollisionShape()->setLocalScaling(scaling);
-	}
-	return true;
-
-}
-
-		/**
-			WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		
-void		CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
-{
-
-}
-void		CcdPhysicsController::WriteDynamicsToMotionState()
-{
-}
-		// controller replication
-void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
-{
-	m_MotionState = motionstate;
-
-	
-
-	m_body = 0;
-	CreateRigidbody();
-	
-	m_cci.m_physicsEnv->addCcdPhysicsController(this);
-
-
-/*	SM_Object* dynaparent=0;
-	SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
-	
-	if (sumoparentctrl)
-	{
-		dynaparent = sumoparentctrl->GetSumoObject();
-	}
-	
-	SM_Object* orgsumoobject = m_sumoObj;
-	
-	
-	m_sumoObj	=	new SM_Object(
-		orgsumoobject->getShapeHandle(), 
-		orgsumoobject->getMaterialProps(),			
-		orgsumoobject->getShapeProps(),
-		dynaparent);
-	
-	m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
-	
-	m_sumoObj->setMargin(orgsumoobject->getMargin());
-	m_sumoObj->setPosition(orgsumoobject->getPosition());
-	m_sumoObj->setOrientation(orgsumoobject->getOrientation());
-	//if it is a dyna, register for a callback
-	m_sumoObj->registerCallback(*this);
-	
-	m_sumoScene->add(* (m_sumoObj));
-	*/
-
-
-
-}
-
-		// kinematic methods
-void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
-{
-	if (m_body)
-	{
-		m_body->activate();
-
-		SimdVector3 dloc(dlocX,dlocY,dlocZ);
-		SimdTransform xform = m_body->getCenterOfMassTransform();
-
-		if (local)
-		{
-			dloc = xform.getBasis()*dloc;
-		}
-
-		xform.setOrigin(xform.getOrigin() + dloc);
-		m_body->setCenterOfMassTransform(xform);
-	}
-
-}
-
-void		CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
-{
-	if (m_body )
-	{
-		m_body->activate();
-
-		SimdMatrix3x3 drotmat(	rotval[0],rotval[1],rotval[2],
-								rotval[4],rotval[5],rotval[6],
-								rotval[8],rotval[9],rotval[10]);
-
-
-		SimdMatrix3x3 currentOrn;
-		GetWorldOrientation(currentOrn);
-
-		SimdTransform xform = m_body->getCenterOfMassTransform();
-
-		xform.setBasis(xform.getBasis()*(local ? 
-		drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
-
-		m_body->setCenterOfMassTransform(xform);
-	}
-
-}
-
-void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
-{
-	float orn[4];
-	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
-	SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
-	mat.setRotation(quat);
-}
-
-void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
-{
-	SimdQuaternion q = m_body->getCenterOfMassTransform().getRotation();
-	quatImag0 = q[0];
-	quatImag1 = q[1];
-	quatImag2 = q[2];
-	quatReal = q[3];
-}
-void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
-{
-	m_body->activate();
-
-	SimdTransform xform  = m_body->getCenterOfMassTransform();
-	xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
-	m_body->setCenterOfMassTransform(xform);
-
-}
-
-void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
-{
-	m_body->activate();
-
-	SimdTransform xform  = m_body->getCenterOfMassTransform();
-	xform.setOrigin(SimdVector3(posX,posY,posZ));
-	m_body->setCenterOfMassTransform(xform);
-
-}
-void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
-{
-}
-
-void 		CcdPhysicsController::getPosition(PHY__Vector3&	pos) const
-{
-	const SimdTransform& xform = m_body->getCenterOfMassTransform();
-	pos[0] = xform.getOrigin().x();
-	pos[1] = xform.getOrigin().y();
-	pos[2] = xform.getOrigin().z();
-}
-
-void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
-{
-	if (!SimdFuzzyZero(m_cci.m_scaling.x()-scaleX) ||
-		!SimdFuzzyZero(m_cci.m_scaling.y()-scaleY) ||
-		!SimdFuzzyZero(m_cci.m_scaling.z()-scaleZ))
-	{
-		m_cci.m_scaling = SimdVector3(scaleX,scaleY,scaleZ);
-
-		if (m_body && m_body->GetCollisionShape())
-		{
-			m_body->GetCollisionShape()->setLocalScaling(m_cci.m_scaling);
-			m_body->GetCollisionShape()->CalculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor);
-			m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
-		}
-	}
-}
-		
-		// physics methods
-void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
-{
-	SimdVector3 torque(torqueX,torqueY,torqueZ);
-	SimdTransform xform = m_body->getCenterOfMassTransform();
-	if (local)
-	{
-		torque	= xform.getBasis()*torque;
-	}
-	m_body->applyTorque(torque);
-}
-
-void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
-{
-	SimdVector3 force(forceX,forceY,forceZ);
-	SimdTransform xform = m_body->getCenterOfMassTransform();
-	if (local)
-	{
-		force	= xform.getBasis()*force;
-	}
-	m_body->applyCentralForce(force);
-}
-void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
-{
-	SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
-	if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_body->activate();
-	}
-
-	{
-		SimdTransform xform = m_body->getCenterOfMassTransform();
-		if (local)
-		{
-			angvel	= xform.getBasis()*angvel;
-		}
-
-		m_body->setAngularVelocity(angvel);
-	}
-
-}
-void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
-{
-
-	SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
-	if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_body->activate();
-	}
-	
-	{
-		SimdTransform xform = m_body->getCenterOfMassTransform();
-		if (local)
-		{
-			linVel	= xform.getBasis()*linVel;
-		}
-		m_body->setLinearVelocity(linVel);
-	}
-}
-void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
-{
-	SimdVector3 impulse(impulseX,impulseY,impulseZ);
-
-	if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		m_body->activate();
-		
-		SimdVector3 pos(attachX,attachY,attachZ);
-
-		m_body->activate();
-
-		m_body->applyImpulse(impulse,pos);
-	}
-
-}
-void		CcdPhysicsController::SetActive(bool active)
-{
-}
-		// reading out information from physics
-void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
-{
-	const SimdVector3& linvel = this->m_body->getLinearVelocity();
-	linvX = linvel.x();
-	linvY = linvel.y();
-	linvZ = linvel.z();
-
-}
-
-void		CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ)
-{
-	const SimdVector3& angvel= m_body->getAngularVelocity();
-	angVelX = angvel.x();
-	angVelY = angvel.y();
-	angVelZ = angvel.z();
-}
-
-void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
-{
-	SimdVector3 pos(posX,posY,posZ);
-	SimdVector3 rel_pos = pos-m_body->getCenterOfMassPosition();
-	SimdVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos);
-	linvX = linvel.x();
-	linvY = linvel.y();
-	linvZ = linvel.z();
-}
-void		CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
-{
-}
-
-		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-void		CcdPhysicsController::setRigidBody(bool rigid)
-{
-	if (!rigid)
-	{
-		//fake it for now
-		SimdVector3 inertia = m_body->getInvInertiaDiagLocal();
-		inertia[1] = 0.f;
-		m_body->setInvInertiaDiagLocal(inertia);
-		m_body->updateInertiaTensor();
-	}
-}
-
-		// clientinfo for raycasts for example
-void*		CcdPhysicsController::getNewClientInfo()
-{
-	return m_newClientInfo;
-}
-void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
-{
-	m_newClientInfo = clientinfo;
-}
-
-
-void	CcdPhysicsController::UpdateDeactivation(float timeStep)
-{
-	if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == DISABLE_DEACTIVATION))
-		return;
-
-	if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
-		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
-	{
-		m_body->m_deactivationTime += timeStep;
-	} else
-	{
-		m_body->m_deactivationTime=0.f;
-		m_body->SetActivationState(0);
-	}
-
-}
-
-bool CcdPhysicsController::wantsSleeping()
-{
-
-	if (m_body->GetActivationState() == DISABLE_DEACTIVATION)
-		return false;
-
-	//disable deactivation
-	if (gDisableDeactivation || (gDeactivationTime == 0.f))
-		return false;
-
-	if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == WANTS_DEACTIVATION))
-		return true;
-
-	if (m_body->m_deactivationTime> gDeactivationTime)
-	{
-		return true;
-	}
-	return false;
-}
-
-PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
-{
-	//very experimental, shape sharing is not implemented yet.
-	//just support SphereShape/ConeShape for now
-
-	CcdConstructionInfo cinfo = m_cci;
-	if (cinfo.m_collisionShape)
-	{
-		switch (cinfo.m_collisionShape->GetShapeType())
-		{
-		case SPHERE_SHAPE_PROXYTYPE:
-			{
-				SphereShape* orgShape = (SphereShape*)cinfo.m_collisionShape;
-				cinfo.m_collisionShape = new SphereShape(*orgShape);
-				break;
-			}
-
-			case CONE_SHAPE_PROXYTYPE:
-			{
-				ConeShape* orgShape = (ConeShape*)cinfo.m_collisionShape;
-				cinfo.m_collisionShape = new ConeShape(*orgShape);
-				break;
-			}
-
-
-		default:
-			{
-				return 0;
-			}
-		}
-	}
-
-	cinfo.m_MotionState = new DefaultMotionState();
-
-	CcdPhysicsController* replica = new CcdPhysicsController(cinfo);
-	return replica;
-}
-
-///////////////////////////////////////////////////////////
-///A small utility class, DefaultMotionState
-///
-///////////////////////////////////////////////////////////
-
-DefaultMotionState::DefaultMotionState()
-{
-	m_worldTransform.setIdentity();
-	m_localScaling.setValue(1.f,1.f,1.f);
-}
-
-
-DefaultMotionState::~DefaultMotionState()
-{
-
-}
-
-void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
-{
-	posX = m_worldTransform.getOrigin().x();
-	posY = m_worldTransform.getOrigin().y();
-	posZ = m_worldTransform.getOrigin().z();
-}
-
-void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
-{
-	scaleX = m_localScaling.getX();
-	scaleY = m_localScaling.getY();
-	scaleZ = m_localScaling.getZ();
-}
-
-void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
-{
-	quatIma0 = m_worldTransform.getRotation().x();
-	quatIma1 = m_worldTransform.getRotation().y();
-	quatIma2 = m_worldTransform.getRotation().z();
-	quatReal = m_worldTransform.getRotation()[3];
-}
-		
-void	DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
-{
-	SimdPoint3 pos(posX,posY,posZ);
-	m_worldTransform.setOrigin( pos );
-}
-
-void	DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
-{
-	SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
-	m_worldTransform.setRotation( orn );
-}
-		
-void	DefaultMotionState::calculateWorldTransformations()
-{
-
-}
-
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
deleted file mode 100644
index 632d5d776d2..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BULLET2_PHYSICSCONTROLLER_H
-#define BULLET2_PHYSICSCONTROLLER_H
-
-#include "PHY_IPhysicsController.h"
-
-///	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
-///	It contains the IMotionState and IDeformableMesh Interfaces.
-#include "SimdVector3.h"
-#include "SimdScalar.h"	
-#include "SimdMatrix3x3.h"
-#include "SimdTransform.h"
-#include "Dynamics/RigidBody.h"
-
-#include "PHY_IMotionState.h"
-
-#include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
-class CollisionShape;
-
-extern float gDeactivationTime;
-extern float gLinearSleepingTreshold;
-extern float gAngularSleepingTreshold;
-extern bool gDisableDeactivation;
-class CcdPhysicsEnvironment;
-
-
-
-
-struct CcdConstructionInfo
-{
-
-	///CollisionFilterGroups provides some optional usage of basic collision filtering
-	///this is done during broadphase, so very early in the pipeline
-	///more advanced collision filtering should be done in CollisionDispatcher::NeedsCollision
-	enum CollisionFilterGroups
-	{
-	        DefaultFilter = 1,
-	        StaticFilter = 2,
-	        KinematicFilter = 4,
-	        DebrisFilter = 8,
-	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
-	};
-
-
-	CcdConstructionInfo()
-		: m_gravity(0,0,0),
-		m_scaling(1.f,1.f,1.f),
-		m_mass(0.f),
-		m_restitution(0.1f),
-		m_friction(0.5f),
-		m_linearDamping(0.1f),
-		m_angularDamping(0.1f),
-		m_collisionFlags(0),
-		m_collisionFilterGroup(DefaultFilter),
-		m_collisionFilterMask(AllFilter),
-		m_MotionState(0),
-		m_physicsEnv(0),
-		m_inertiaFactor(1.f)
-	{
-	}
-
-	SimdVector3	m_localInertiaTensor;
-	SimdVector3	m_gravity;
-	SimdVector3	m_scaling;
-	SimdScalar	m_mass;
-	SimdScalar	m_restitution;
-	SimdScalar	m_friction;
-	SimdScalar	m_linearDamping;
-	SimdScalar	m_angularDamping;
-	int			m_collisionFlags;
-
-	///optional use of collision group/mask:
-	///only collision with object goups that match the collision mask.
-	///this is very basic early out. advanced collision filtering should be
-	///done in the CollisionDispatcher::NeedsCollision and NeedsResponse
-	///both values default to 1
-	short int	m_collisionFilterGroup;
-	short int	m_collisionFilterMask;
-
-
-	CollisionShape*			m_collisionShape;
-	class	PHY_IMotionState*			m_MotionState;
-
-	CcdPhysicsEnvironment*	m_physicsEnv; //needed for self-replication
-	float	m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
-};
-
-
-class RigidBody;
-
-///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
-class CcdPhysicsController : public PHY_IPhysicsController	
-{
-	RigidBody* m_body;
-	class	PHY_IMotionState*			m_MotionState;
-	
-
-	void*		m_newClientInfo;
-
-	CcdConstructionInfo	m_cci;//needed for replication
-	void GetWorldOrientation(SimdMatrix3x3& mat);
-
-	void CreateRigidbody();
-
-	public:
-	
-		int				m_collisionDelay;
-	
-
-		CcdPhysicsController (const CcdConstructionInfo& ci);
-
-		virtual ~CcdPhysicsController();
-
-
-		RigidBody* GetRigidBody() { return m_body;}
-
-		CollisionShape*	GetCollisionShape() { 
-			return m_body->GetCollisionShape();
-		}
-		////////////////////////////////////
-		// PHY_IPhysicsController interface
-		////////////////////////////////////
-
-
-		/**
-			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		virtual bool		SynchronizeMotionStates(float time);
-		/**
-			WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		
-		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
-		virtual	void		WriteDynamicsToMotionState();
-		// controller replication
-		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
-
-		// kinematic methods
-		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
-		virtual void		RelativeRotate(const float drot[9],bool local);
-		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
-		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
-		virtual	void		setPosition(float posX,float posY,float posZ);
-		virtual	void 		getPosition(PHY__Vector3&	pos) const;
-
-		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
-		
-		// physics methods
-		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
-		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local);
-		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
-		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
-		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
-		virtual void		SetActive(bool active);
-
-		// reading out information from physics
-		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
-		virtual void		GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
-		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); 
-		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ);
-
-		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-		virtual	void		setRigidBody(bool rigid);
-
-		
-		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
-
-		// clientinfo for raycasts for example
-		virtual	void*				getNewClientInfo();
-		virtual	void				setNewClientInfo(void* clientinfo);
-		virtual PHY_IPhysicsController*	GetReplica();
-		
-		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
-		short int	GetCollisionFilterGroup() const
-		{
-			return m_cci.m_collisionFilterGroup;
-		}
-		///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
-		short int	GetCollisionFilterMask() const
-		{
-			return m_cci.m_collisionFilterMask;
-		}
-
-
-		virtual void	calcXform() {} ;
-		virtual void SetMargin(float margin) {};
-		virtual float GetMargin() const {return 0.f;};
-
-
-		bool	wantsSleeping();
-
-		void	UpdateDeactivation(float timeStep);
-
-		static SimdTransform	GetTransformFromMotionState(PHY_IMotionState* motionState);
-
-		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
-
-
-		class	PHY_IMotionState*			GetMotionState()
-		{
-			return m_MotionState;
-		}
-
-		const class	PHY_IMotionState*			GetMotionState() const
-		{
-			return m_MotionState;
-		}
-
-
-};
-
-
-
-
-///DefaultMotionState implements standard motionstate, using SimdTransform
-class	DefaultMotionState : public PHY_IMotionState
-
-{
-	public:
-		DefaultMotionState();
-
-		virtual ~DefaultMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ);
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
-		
-		virtual void	setWorldPosition(float posX,float posY,float posZ);
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
-		
-		virtual	void	calculateWorldTransformations();
-		
-		SimdTransform	m_worldTransform;
-		SimdVector3		m_localScaling;
-
-};
-
-
-#endif //BULLET2_PHYSICSCONTROLLER_H
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
deleted file mode 100644
index 9362595170d..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ /dev/null
@@ -1,1851 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-#include "CcdPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
-
-#include <algorithm>
-#include "SimdTransform.h"
-#include "Dynamics/RigidBody.h"
-#include "BroadphaseCollision/BroadphaseInterface.h"
-#include "BroadphaseCollision/SimpleBroadphase.h"
-#include "BroadphaseCollision/AxisSweep3.h"
-
-#include "CollisionDispatch/CollisionWorld.h"
-
-#include "CollisionShapes/ConvexShape.h"
-#include "CollisionShapes/ConeShape.h"
-#include "CollisionDispatch/SimulationIslandManager.h"
-
-#include "BroadphaseCollision/Dispatcher.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "CollisionShapes/TriangleMeshShape.h"
-#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
-
-
-//profiling/timings
-#include "quickprof.h"
-
-
-#include "IDebugDraw.h"
-
-#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
-#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
-#include "NarrowPhaseCollision/GjkConvexCast.h"
-#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
-
-
-#include "CollisionDispatch/CollisionDispatcher.h"
-#include "PHY_IMotionState.h"
-
-#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
-
-
-
-#include "CollisionShapes/SphereShape.h"
-
-bool useIslands = true;
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-#include "Vehicle/RaycastVehicle.h"
-#include "Vehicle/VehicleRaycaster.h"
-
-#include "Vehicle/WheelInfo.h"
-#include "PHY_IVehicle.h"
-RaycastVehicle::VehicleTuning	gTuning;
-
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-#include "AabbUtil2.h"
-
-#include "ConstraintSolver/ConstraintSolver.h"
-#include "ConstraintSolver/Point2PointConstraint.h"
-#include "ConstraintSolver/HingeConstraint.h"
-#include "ConstraintSolver/Generic6DofConstraint.h"
-
-
-//#include "BroadphaseCollision/QueryDispatcher.h"
-//#include "BroadphaseCollision/QueryBox.h"
-//todo: change this to allow dynamic registration of types!
-
-#ifdef WIN32
-void DrawRasterizerLine(const float* from,const float* to,int color);
-#endif
-
-
-#include "ConstraintSolver/ContactConstraint.h"
-
-
-#include <stdio.h>
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-class WrapperVehicle : public PHY_IVehicle
-{
-
-	RaycastVehicle*	m_vehicle;
-	PHY_IPhysicsController*	m_chassis;
-
-public:
-
-	WrapperVehicle(RaycastVehicle* vehicle,PHY_IPhysicsController* chassis)
-		:m_vehicle(vehicle),
-		m_chassis(chassis)
-	{
-	}
-
-	RaycastVehicle*	GetVehicle()
-	{
-		return m_vehicle;
-	}
-
-	PHY_IPhysicsController*	GetChassis()
-	{
-		return m_chassis;
-	}
-
-	virtual void	AddWheel(
-		PHY_IMotionState*	motionState,
-		PHY__Vector3	connectionPoint,
-		PHY__Vector3	downDirection,
-		PHY__Vector3	axleDirection,
-		float	suspensionRestLength,
-		float wheelRadius,
-		bool hasSteering
-		)
-	{
-		SimdVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
-		SimdVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
-		SimdVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);
-
-
-		WheelInfo& info = m_vehicle->AddWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
-			suspensionRestLength,wheelRadius,gTuning,hasSteering);
-		info.m_clientInfo = motionState;
-
-	}
-
-	void	SyncWheels()
-	{
-		int numWheels = GetNumWheels();
-		int i;
-		for (i=0;i<numWheels;i++)
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(i);
-			PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
-			m_vehicle->UpdateWheelTransform(i);
-			SimdTransform trans = m_vehicle->GetWheelTransformWS(i);
-			SimdQuaternion orn = trans.getRotation();
-			const SimdVector3& pos = trans.getOrigin();
-			motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
-			motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
-
-		}
-	}
-
-	virtual	int		GetNumWheels() const
-	{
-		return m_vehicle->GetNumWheels();
-	}
-
-	virtual void	GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
-	{
-		SimdTransform	trans = m_vehicle->GetWheelTransformWS(wheelIndex);
-		posX = trans.getOrigin().x();
-		posY = trans.getOrigin().y();
-		posZ = trans.getOrigin().z();
-	}
-	virtual void	GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
-	{
-		SimdTransform	trans = m_vehicle->GetWheelTransformWS(wheelIndex);
-		SimdQuaternion quat = trans.getRotation();
-		SimdMatrix3x3 orn2(quat);
-
-		quatX = trans.getRotation().x();
-		quatY = trans.getRotation().y();
-		quatZ = trans.getRotation().z();
-		quatW = trans.getRotation()[3];
-
-
-		//printf("test");
-
-
-	}
-
-	virtual float	GetWheelRotation(int wheelIndex) const
-	{
-		float rotation = 0.f;
-
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			rotation = info.m_rotation;
-		}
-		return rotation;
-
-	}
-
-
-
-	virtual int	GetUserConstraintId() const
-	{
-		return m_vehicle->GetUserConstraintId();
-	}
-
-	virtual int	GetUserConstraintType() const
-	{
-		return m_vehicle->GetUserConstraintType();
-	}
-
-	virtual	void	SetSteeringValue(float steering,int wheelIndex)
-	{
-		m_vehicle->SetSteeringValue(steering,wheelIndex);
-	}
-
-	virtual	void	ApplyEngineForce(float force,int wheelIndex)
-	{
-		m_vehicle->ApplyEngineForce(force,wheelIndex);
-	}
-
-	virtual	void	ApplyBraking(float braking,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_brake = braking;
-		}
-	}
-
-	virtual	void	SetWheelFriction(float friction,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_frictionSlip = friction;
-		}
-
-	}
-
-	virtual	void	SetSuspensionStiffness(float suspensionStiffness,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_suspensionStiffness = suspensionStiffness;
-
-		}
-	}
-
-	virtual	void	SetSuspensionDamping(float suspensionDamping,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_wheelsDampingRelaxation = suspensionDamping;
-		}
-	}
-
-	virtual	void	SetSuspensionCompression(float suspensionCompression,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_wheelsDampingCompression = suspensionCompression;
-		}
-	}
-
-
-
-	virtual	void	SetRollInfluence(float rollInfluence,int wheelIndex)
-	{
-		if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels()))
-		{
-			WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex);
-			info.m_rollInfluence = rollInfluence;
-		}
-	}
-
-
-
-};
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-
-
-static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
-{
-	SimdVector3 halfExtents = (to-from)* 0.5f;
-	SimdVector3 center = (to+from) *0.5f;
-	int i,j;
-
-	SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb;
-	for (i=0;i<4;i++)
-	{
-		for (j=0;j<3;j++)
-		{
-			pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
-				edgecoord[2]*halfExtents[2]);
-			pa+=center;
-
-			int othercoord = j%3;
-			edgecoord[othercoord]*=-1.f;
-			pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
-				edgecoord[2]*halfExtents[2]);
-			pb+=center;
-
-			debugDrawer->DrawLine(pa,pb,color);
-		}
-		edgecoord = SimdVector3(-1.f,-1.f,-1.f);
-		if (i<3)
-			edgecoord[i]*=-1.f;
-	}
-
-
-}
-
-
-
-
-
-
-CcdPhysicsEnvironment::CcdPhysicsEnvironment(Dispatcher* dispatcher,OverlappingPairCache* pairCache)
-:m_scalingPropagated(false),
-m_numIterations(10),
-m_numTimeSubSteps(1),
-m_ccdMode(0),
-m_solverType(-1),
-m_profileTimings(0),
-m_enableSatCollisionDetection(false)
-{
-
-	for (int i=0;i<PHY_NUM_RESPONSE;i++)
-	{
-		m_triggerCallbacks[i] = 0;
-	}
-	if (!dispatcher)
-		dispatcher = new CollisionDispatcher();
-
-
-	if(!pairCache)
-	{
-
-		//todo: calculate/let user specify this world sizes
-		SimdVector3 worldMin(-10000,-10000,-10000);
-		SimdVector3 worldMax(10000,10000,10000);
-
-		pairCache = new AxisSweep3(worldMin,worldMax);
-
-		//broadphase = new SimpleBroadphase();
-	}
-
-
-	setSolverType(1);//issues with quickstep and memory allocations
-
-	m_collisionWorld = new CollisionWorld(dispatcher,pairCache);
-
-	m_debugDrawer = 0;
-	m_gravity = SimdVector3(0.f,-10.f,0.f);
-
-	m_islandManager = new SimulationIslandManager();
-
-
-}
-
-void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-	RigidBody* body = ctrl->GetRigidBody();
-
-	//this m_userPointer is just used for triggers, see CallbackTriggers
-	body->m_userPointer = ctrl;
-
-	body->setGravity( m_gravity );
-	m_controllers.push_back(ctrl);
-
-	m_collisionWorld->AddCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
-
-	assert(body->m_broadphaseHandle);
-
-	BroadphaseInterface* scene =  GetBroadphase();
-
-
-	CollisionShape* shapeinterface = ctrl->GetCollisionShape();
-
-	assert(shapeinterface);
-
-	const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
-	
-	body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
-
-	SimdPoint3 minAabb,maxAabb;
-
-	shapeinterface->GetAabb(t,minAabb,maxAabb);
-
-	float timeStep = 0.02f;
-
-
-	//extent it with the motion
-
-	SimdVector3 linMotion = body->getLinearVelocity()*timeStep;
-
-	float maxAabbx = maxAabb.getX();
-	float maxAabby = maxAabb.getY();
-	float maxAabbz = maxAabb.getZ();
-	float minAabbx = minAabb.getX();
-	float minAabby = minAabb.getY();
-	float minAabbz = minAabb.getZ();
-
-	if (linMotion.x() > 0.f)
-		maxAabbx += linMotion.x(); 
-	else
-		minAabbx += linMotion.x();
-	if (linMotion.y() > 0.f)
-		maxAabby += linMotion.y(); 
-	else
-		minAabby += linMotion.y();
-	if (linMotion.z() > 0.f)
-		maxAabbz += linMotion.z(); 
-	else
-		minAabbz += linMotion.z();
-
-
-	minAabb = SimdVector3(minAabbx,minAabby,minAabbz);
-	maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz);
-
-
-
-
-}
-
-void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
-{
-
-	//also remove constraint
-
-	{
-		std::vector<TypedConstraint*>::iterator i;
-
-		for (i=m_constraints.begin();
-			!(i==m_constraints.end()); i++)
-		{
-			TypedConstraint* constraint = (*i);
-			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
-			{
-				removeConstraint(constraint->GetUserConstraintId());
-				//only 1 constraint per constroller
-				break;
-			}
-		}
-	}
-
-	{
-		std::vector<TypedConstraint*>::iterator i;
-
-		for (i=m_constraints.begin();
-			!(i==m_constraints.end()); i++)
-		{
-			TypedConstraint* constraint = (*i);
-			if  ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() ||
-				(&constraint->GetRigidBodyB() == ctrl->GetRigidBody())))
-			{
-				removeConstraint(constraint->GetUserConstraintId());
-				//only 1 constraint per constroller
-				break;
-			}
-		}
-	}
-
-
-	m_collisionWorld->RemoveCollisionObject(ctrl->GetRigidBody());
-
-
-	{
-		std::vector<CcdPhysicsController*>::iterator i =
-			std::find(m_controllers.begin(), m_controllers.end(), ctrl);
-		if (!(i == m_controllers.end()))
-		{
-			std::swap(*i, m_controllers.back());
-			m_controllers.pop_back();
-		}
-	}
-
-	//remove it from the triggers
-	{
-		std::vector<CcdPhysicsController*>::iterator i =
-			std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
-		if (!(i == m_triggerControllers.end()))
-		{
-			std::swap(*i, m_triggerControllers.back());
-			m_triggerControllers.pop_back();
-		}
-	}
-
-
-}
-
-
-void	CcdPhysicsEnvironment::beginFrame()
-{
-
-}
-
-
-bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
-{
-	//don't simulate without timesubsteps
-	if (m_numTimeSubSteps<1)
-		return true;
-
-	//printf("proceedDeltaTime\n");
-	
-
-#ifdef USE_QUICKPROF
-	//toggle Profiler
-	if ( m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_ProfileTimings)
-	{
-		if (!m_profileTimings)
-		{
-			m_profileTimings = 1;
-			// To disable profiling, simply comment out the following line.
-			static int counter = 0;
-
-			char filename[128];
-			sprintf(filename,"quickprof_bullet_timings%i.csv",counter++);
-			Profiler::init(filename, Profiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS
-
-		}
-	} else
-	{
-		if (m_profileTimings)
-		{
-			m_profileTimings = 0;
-			Profiler::destroy();
-		}
-	}
-#endif //USE_QUICKPROF
-
-
-
-	if (!SimdFuzzyZero(timeStep))
-	{
-		
-		{
-			//do the kinematic calculation here, over the full timestep
-			std::vector<CcdPhysicsController*>::iterator i;
-			for (i=m_controllers.begin();
-						!(i==m_controllers.end()); i++)
-			{
-
-						CcdPhysicsController* ctrl = *i;
-
-						SimdTransform predictedTrans;
-						RigidBody* body = ctrl->GetRigidBody();
-						if (body->GetActivationState() != ISLAND_SLEEPING)
-						{
-
-							if (body->IsStatic())
-							{
-								//to calculate velocities next frame
-								body->saveKinematicState(timeStep);
-							}
-						}
-			}
-		}
-
-
-		int i;
-		float subTimeStep = timeStep / float(m_numTimeSubSteps);
-
-		for (i=0;i<this->m_numTimeSubSteps;i++)
-		{
-			proceedDeltaTimeOneStep(subTimeStep);
-		}
-	} else
-	{
-		//todo: interpolate
-	}
-
-	return true;
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-/// Perform an integration step of duration 'timeStep'.
-bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
-{
-
-
-	//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
-
-	if (SimdFuzzyZero(timeStep))
-		return true;
-
-	if (m_debugDrawer)
-	{
-		gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
-	}
-
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("SyncMotionStates");
-#endif //USE_QUICKPROF
-
-
-	//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
-	if (!m_scalingPropagated)
-	{
-		SyncMotionStates(timeStep);
-		m_scalingPropagated = true;
-	}
-
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("SyncMotionStates");
-
-	Profiler::beginBlock("predictIntegratedTransform");
-#endif //USE_QUICKPROF
-
-	{
-		//		std::vector<CcdPhysicsController*>::iterator i;
-
-
-
-		int k;
-		for (k=0;k<GetNumControllers();k++)
-		{
-			CcdPhysicsController* ctrl = m_controllers[k];
-			//		SimdTransform predictedTrans;
-			RigidBody* body = ctrl->GetRigidBody();
-			
-			body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
-
-			if (body->IsActive())
-			{
-				if (!body->IsStatic())
-				{
-					body->applyForces( timeStep);
-					body->integrateVelocities( timeStep);
-					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
-				}
-			}
-
-		}
-	}
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("predictIntegratedTransform");
-#endif //USE_QUICKPROF
-
-	OverlappingPairCache*	scene = m_collisionWorld->GetPairCache();
-
-
-	//
-	// collision detection (?)
-	//
-
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("DispatchAllCollisionPairs");
-#endif //USE_QUICKPROF
-
-
-	int numsubstep = m_numIterations;
-
-
-	DispatcherInfo dispatchInfo;
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
-	dispatchInfo.m_debugDraw = this->m_debugDrawer;
-
-	scene->RefreshOverlappingPairs();
-	GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo);
-
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("DispatchAllCollisionPairs");
-#endif //USE_QUICKPROF
-
-
-	int numRigidBodies = m_controllers.size();
-
-	
-	m_islandManager->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
-
-	{
-		int i;
-		int numConstraints = m_constraints.size();
-		for (i=0;i< numConstraints ; i++ )
-		{
-			TypedConstraint* constraint = m_constraints[i];
-
-			const RigidBody* colObj0 = &constraint->GetRigidBodyA();
-			const RigidBody* colObj1 = &constraint->GetRigidBodyB();
-			
-			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-						((colObj1) && ((colObj1)->mergesSimulationIslands())))
-			{
-				if (colObj0->IsActive() || colObj1->IsActive())
-				{
-
-					m_islandManager->GetUnionFind().unite((colObj0)->m_islandTag1,
-						(colObj1)->m_islandTag1);
-				}
-			}
-		}
-	}
-
-	m_islandManager->StoreIslandActivationState(GetCollisionWorld());
-
-
-	//contacts
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("SolveConstraint");
-#endif //USE_QUICKPROF
-
-
-	//solve the regular constraints (point 2 point, hinge, etc)
-
-	for (int g=0;g<numsubstep;g++)
-	{
-		//
-		// constraint solving
-		//
-
-
-		int i;
-		int numConstraints = m_constraints.size();
-
-		//point to point constraints
-		for (i=0;i< numConstraints ; i++ )
-		{
-			TypedConstraint* constraint = m_constraints[i];
-
-			constraint->BuildJacobian();
-			constraint->SolveConstraint( timeStep );
-
-		}
-
-
-	}
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("SolveConstraint");
-#endif //USE_QUICKPROF
-
-	//solve the vehicles
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-	//vehicles
-	int numVehicles = m_wrapperVehicles.size();
-	for (int i=0;i<numVehicles;i++)
-	{
-		WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-		RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
-		vehicle->UpdateVehicle( timeStep);
-	}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-
-	struct InplaceSolverIslandCallback : public SimulationIslandManager::IslandCallback
-	{
-
-		ContactSolverInfo& m_solverInfo;
-		ConstraintSolver*	m_solver;
-		IDebugDraw*	m_debugDrawer;
-
-		InplaceSolverIslandCallback(
-			ContactSolverInfo& solverInfo,
-			ConstraintSolver*	solver,
-			IDebugDraw*	debugDrawer)
-			:m_solverInfo(solverInfo),
-			m_solver(solver),
-			m_debugDrawer(debugDrawer)
-		{
-
-		}
-
-		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds)
-		{
-			m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
-		}
-
-	};
-
-
-	m_solverInfo.m_friction = 0.9f;
-	m_solverInfo.m_numIterations = m_numIterations;
-	m_solverInfo.m_timeStep = timeStep;
-	m_solverInfo.m_restitution = 0.f;//m_restitution;
-
-	InplaceSolverIslandCallback	solverCallback(
-		m_solverInfo,
-		m_solver,
-		m_debugDrawer);
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("BuildAndProcessIslands");
-#endif //USE_QUICKPROF
-
-	/// solve all the contact points and contact friction
-	m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("BuildAndProcessIslands");
-
-	Profiler::beginBlock("CallbackTriggers");
-#endif //USE_QUICKPROF
-
-	CallbackTriggers();
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("CallbackTriggers");
-
-
-	Profiler::beginBlock("proceedToTransform");
-
-#endif //USE_QUICKPROF
-	{
-
-
-
-		{
-
-			
-			
-			UpdateAabbs(timeStep);
-
-
-			float toi = 1.f;
-
-
-
-			if (m_ccdMode == 3)
-			{
-				DispatcherInfo dispatchInfo;
-				dispatchInfo.m_timeStep = timeStep;
-				dispatchInfo.m_stepCount = 0;
-				dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
-
-				//pairCache->RefreshOverlappingPairs();//??
-				GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo);
-				
-				toi = dispatchInfo.m_timeOfImpact;
-
-			}
-
-			
-
-			//
-			// integrating solution
-			//
-
-			{
-				
-				std::vector<CcdPhysicsController*>::iterator i;
-
-				for (i=m_controllers.begin();
-					!(i==m_controllers.end()); i++)
-				{
-
-					CcdPhysicsController* ctrl = *i;
-
-					SimdTransform predictedTrans;
-					RigidBody* body = ctrl->GetRigidBody();
-					
-					if (body->IsActive())
-					{
-
-						if (!body->IsStatic())
-						{
-							if (body->m_hitFraction < 1.f)
-							{
-								//set velocity to zero... until we have proper CCD integrated
-								body->setLinearVelocity(body->getLinearVelocity()*0.5f);
-							}
-							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
-							body->proceedToTransform( predictedTrans);
-						}
-
-					}
-				}
-
-			}
-
-
-
-
-
-			//
-			// disable sleeping physics objects
-			//
-
-			std::vector<CcdPhysicsController*> m_sleepingControllers;
-
-			std::vector<CcdPhysicsController*>::iterator i;
-
-			for (i=m_controllers.begin();
-				!(i==m_controllers.end()); i++)
-			{
-				CcdPhysicsController* ctrl = (*i);
-				RigidBody* body = ctrl->GetRigidBody();
-
-				ctrl->UpdateDeactivation(timeStep);
-
-
-				if (ctrl->wantsSleeping())
-				{
-					if (body->GetActivationState() == ACTIVE_TAG)
-						body->SetActivationState( WANTS_DEACTIVATION );
-				} else
-				{
-					if (body->GetActivationState() != DISABLE_DEACTIVATION)
-						body->SetActivationState( ACTIVE_TAG );
-				}
-
-				if (useIslands)
-				{
-					if (body->GetActivationState() == ISLAND_SLEEPING)
-					{
-						m_sleepingControllers.push_back(ctrl);
-					}
-				} else
-				{
-					if (ctrl->wantsSleeping())
-					{
-						m_sleepingControllers.push_back(ctrl);
-					}
-				}
-			}
-
-
-
-
-		}
-
-
-#ifdef USE_QUICKPROF
-		Profiler::endBlock("proceedToTransform");
-
-		Profiler::beginBlock("SyncMotionStates");
-#endif //USE_QUICKPROF
-
-		SyncMotionStates(timeStep);
-
-#ifdef USE_QUICKPROF
-		Profiler::endBlock("SyncMotionStates");
-
-		Profiler::endProfilingCycle();
-#endif //USE_QUICKPROF
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-		//sync wheels for vehicles
-		int numVehicles = m_wrapperVehicles.size();
-		for (int i=0;i<numVehicles;i++)
-		{
-			WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-
-			wrapperVehicle->SyncWheels();
-		}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-	}
-
-	return true;
-}
-
-void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
-{
-	if (m_debugDrawer){
-		m_debugDrawer->SetDebugMode(debugMode);
-	}
-}
-
-void		CcdPhysicsEnvironment::setNumIterations(int numIter)
-{
-	m_numIterations = numIter;
-}
-void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
-{
-	gDeactivationTime = dTime;
-}
-void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
-{
-	gLinearSleepingTreshold = linTresh;
-}
-void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
-{
-	gAngularSleepingTreshold = angTresh;
-}
-void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
-{
-	gContactBreakingTreshold = contactBreakingTreshold;
-
-}
-
-
-void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
-{
-	m_ccdMode = ccdMode;
-}
-
-
-void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
-{
-	m_solverInfo.m_sor = sor;
-}
-
-void		CcdPhysicsEnvironment::setSolverTau(float tau)
-{
-	m_solverInfo.m_tau = tau;
-}
-void		CcdPhysicsEnvironment::setSolverDamping(float damping)
-{
-	m_solverInfo.m_damping = damping;
-}
-
-
-void		CcdPhysicsEnvironment::setLinearAirDamping(float damping)
-{
-	gLinearAirDamping = damping;
-}
-
-void		CcdPhysicsEnvironment::setUseEpa(bool epa)
-{
-	gUseEpa = epa;
-}
-
-void		CcdPhysicsEnvironment::setSolverType(int solverType)
-{
-
-	switch (solverType)
-	{
-	case 1:
-		{
-			if (m_solverType != solverType)
-			{
-
-				m_solver = new SequentialImpulseConstraintSolver();
-
-				break;
-			}
-		}
-
-	case 0:
-	default:
-		if (m_solverType != solverType)
-		{
-//			m_solver = new OdeConstraintSolver();
-
-			break;
-		}
-
-	};
-
-	m_solverType = solverType ;
-}
-
-
-
-
-
-void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
-{
-	std::vector<CcdPhysicsController*>::iterator i;
-
-	//
-	// synchronize the physics and graphics transformations
-	//
-
-	for (i=m_controllers.begin();
-		!(i==m_controllers.end()); i++)
-	{
-		CcdPhysicsController* ctrl = (*i);
-		ctrl->SynchronizeMotionStates(timeStep);
-
-	}
-
-}
-void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
-{
-	m_gravity = SimdVector3(x,y,z);
-
-	std::vector<CcdPhysicsController*>::iterator i;
-
-	//todo: review this gravity stuff
-	for (i=m_controllers.begin();
-		!(i==m_controllers.end()); i++)
-	{
-
-		CcdPhysicsController* ctrl = (*i);
-		ctrl->GetRigidBody()->setGravity(m_gravity);
-
-	}
-}
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-
-class DefaultVehicleRaycaster : public VehicleRaycaster
-{
-	CcdPhysicsEnvironment* m_physEnv;
-	PHY_IPhysicsController*	m_chassis;
-
-public:
-	DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
-	  m_physEnv(physEnv),
-		  m_chassis(chassis)
-	  {
-	  }
-
-	  /*	struct VehicleRaycasterResult
-	  {
-	  VehicleRaycasterResult() :m_distFraction(-1.f){};
-	  SimdVector3	m_hitPointInWorld;
-	  SimdVector3	m_hitNormalInWorld;
-	  SimdScalar	m_distFraction;
-	  };
-	  */
-	  virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result)
-	  {
-
-
-		  float hit[3];
-		  float normal[3];
-
-		  PHY_IPhysicsController*	ignore = m_chassis;
-		  void* hitObject = m_physEnv->rayTest(ignore,from.x(),from.y(),from.z(),to.x(),to.y(),to.z(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
-		  if (hitObject)
-		  {
-			  result.m_hitPointInWorld[0] = hit[0];
-			  result.m_hitPointInWorld[1] = hit[1];
-			  result.m_hitPointInWorld[2] = hit[2];
-			  result.m_hitNormalInWorld[0] = normal[0];
-			  result.m_hitNormalInWorld[1] = normal[1];
-			  result.m_hitNormalInWorld[2] = normal[2];
-			  result.m_hitNormalInWorld.normalize();
-			  //calc fraction? or put it in the interface?
-			  //calc for now
-
-			  result.m_distFraction = (result.m_hitPointInWorld-from).length() / (to-from).length();
-			  //some safety for 'explosion' due to sudden penetration of the full 'ray'
-			  /*			if (result.m_distFraction<0.1)
-			  {
-			  printf("Vehicle Raycast: avoided instability due to penetration. Consider moving the connection points deeper inside vehicle chassis");
-			  result.m_distFraction = 1.f;
-			  hitObject = 0;
-			  }
-			  */
-
-			  /*			if (result.m_distFraction>1.)
-			  {
-			  printf("Vehicle Raycast: avoided instability 1Consider moving the connection points deeper inside vehicle chassis");				
-			  result.m_distFraction = 1.f;
-			  hitObject = 0;
-			  }
-			  */
-
-
-
-		  }
-		  //?
-		  return hitObject;
-	  }
-};
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-static int gConstraintUid = 1;
-
-int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
-													float pivotX,float pivotY,float pivotZ,
-													float axisX,float axisY,float axisZ)
-{
-
-
-	CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
-	CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;
-
-	RigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
-	RigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;
-
-	ASSERT(rb0);
-
-	SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
-	SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
-	SimdVector3 axisInA(axisX,axisY,axisZ);
-	SimdVector3 axisInB = rb1 ? 
-		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
-	rb0->getCenterOfMassTransform().getBasis() * axisInA;
-
-	bool angularOnly = false;
-
-	switch (type)
-	{
-	case PHY_POINT2POINT_CONSTRAINT:
-		{
-
-			Point2PointConstraint* p2p = 0;
-
-			if (rb1)
-			{
-				p2p = new Point2PointConstraint(*rb0,
-					*rb1,pivotInA,pivotInB);
-			} else
-			{
-				p2p = new Point2PointConstraint(*rb0,
-					pivotInA);
-			}
-
-			m_constraints.push_back(p2p);
-			p2p->SetUserConstraintId(gConstraintUid++);
-			p2p->SetUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return p2p->GetUserConstraintId();
-
-			break;
-		}
-
-	case PHY_GENERIC_6DOF_CONSTRAINT:
-		{
-			Generic6DofConstraint* genericConstraint = 0;
-
-			if (rb1)
-			{
-				SimdTransform frameInA;
-				SimdTransform frameInB;
-				
-				SimdVector3 axis1, axis2;
-				SimdPlaneSpace1( axisInA, axis1, axis2 );
-
-				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
-					                          axisInA.y(), axis1.y(), axis2.y(),
-											  axisInA.z(), axis1.z(), axis2.z() );
-
-	
-				SimdPlaneSpace1( axisInB, axis1, axis2 );
-				frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
-					                          axisInB.y(), axis1.y(), axis2.y(),
-											  axisInB.z(), axis1.z(), axis2.z() );
-
-				frameInA.setOrigin( pivotInA );
-				frameInB.setOrigin( pivotInB );
-
-				genericConstraint = new Generic6DofConstraint(
-					*rb0,*rb1,
-					frameInA,frameInB);
-
-
-			} else
-			{
-				// TODO: Implement single body case...
-
-			}
-			
-
-			m_constraints.push_back(genericConstraint);
-			genericConstraint->SetUserConstraintId(gConstraintUid++);
-			genericConstraint->SetUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return genericConstraint->GetUserConstraintId();
-
-			break;
-		}
-	case PHY_ANGULAR_CONSTRAINT:
-		angularOnly = true;
-
-
-	case PHY_LINEHINGE_CONSTRAINT:
-		{
-			HingeConstraint* hinge = 0;
-
-			if (rb1)
-			{
-				hinge = new HingeConstraint(
-					*rb0,
-					*rb1,pivotInA,pivotInB,axisInA,axisInB);
-
-
-			} else
-			{
-				hinge = new HingeConstraint(*rb0,
-					pivotInA,axisInA);
-
-			}
-			hinge->setAngularOnly(angularOnly);
-
-			m_constraints.push_back(hinge);
-			hinge->SetUserConstraintId(gConstraintUid++);
-			hinge->SetUserConstraintType(type);
-			//64 bit systems can't cast pointer to int. could use size_t instead.
-			return hinge->GetUserConstraintId();
-			break;
-		}
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-
-	case PHY_VEHICLE_CONSTRAINT:
-		{
-			RaycastVehicle::VehicleTuning* tuning = new RaycastVehicle::VehicleTuning();
-			RigidBody* chassis = rb0;
-			DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0);
-			RaycastVehicle* vehicle = new RaycastVehicle(*tuning,chassis,raycaster);
-			WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
-			m_wrapperVehicles.push_back(wrapperVehicle);
-			vehicle->SetUserConstraintId(gConstraintUid++);
-			vehicle->SetUserConstraintType(type);
-			return vehicle->GetUserConstraintId();
-
-			break;
-		};
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-	default:
-		{
-		}
-	};
-
-	//RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB
-
-	return 0;
-
-}
-
-
-
-
-//Following the COLLADA physics specification for constraints
-int			CcdPhysicsEnvironment::createUniversalD6Constraint(
-						class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
-						SimdTransform& frameInA,
-						SimdTransform& frameInB,
-						const SimdVector3& linearMinLimits,
-						const SimdVector3& linearMaxLimits,
-						const SimdVector3& angularMinLimits,
-						const SimdVector3& angularMaxLimits
-)
-{
-
-	//we could either add some logic to recognize ball-socket and hinge, or let that up to the user
-	//perhaps some warning or hint that hinge/ball-socket is more efficient?
-	
-	Generic6DofConstraint* genericConstraint = 0;
-	CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef;
-	CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther;
-	
-	RigidBody* rb0 = ctrl0->GetRigidBody();
-	RigidBody* rb1 = ctrl1->GetRigidBody();
-
-	if (rb1)
-	{
-		
-
-		genericConstraint = new Generic6DofConstraint(
-			*rb0,*rb1,
-			frameInA,frameInB);
-		genericConstraint->setLinearLowerLimit(linearMinLimits);
-		genericConstraint->setLinearUpperLimit(linearMaxLimits);
-		genericConstraint->setAngularLowerLimit(angularMinLimits);
-		genericConstraint->setAngularUpperLimit(angularMaxLimits);
-	} else
-	{
-		// TODO: Implement single body case...
-		//No, we can use a fixed rigidbody in above code, rather then unnecessary duplation of code
-
-	}
-	
-	if (genericConstraint)
-	{
-		m_constraints.push_back(genericConstraint);
-		genericConstraint->SetUserConstraintId(gConstraintUid++);
-		genericConstraint->SetUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT);
-		//64 bit systems can't cast pointer to int. could use size_t instead.
-		return genericConstraint->GetUserConstraintId();
-	}
-	return 0;
-}
-
-
-
-void		CcdPhysicsEnvironment::removeConstraint(int	constraintId)
-{
-	std::vector<TypedConstraint*>::iterator i;
-
-	for (i=m_constraints.begin();
-		!(i==m_constraints.end()); i++)
-	{
-		TypedConstraint* constraint = (*i);
-		if (constraint->GetUserConstraintId() == constraintId)
-		{
-			std::swap(*i, m_constraints.back());
-			m_constraints.pop_back();
-			break;
-		}
-	}
-
-}
-
-
-	struct	FilterClosestRayResultCallback : public CollisionWorld::ClosestRayResultCallback
-	{
-		PHY_IPhysicsController*	m_ignoreClient;
-
-		FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const SimdVector3& rayFrom,const SimdVector3& rayTo)
-			: CollisionWorld::ClosestRayResultCallback(rayFrom,rayTo),
-			m_ignoreClient(ignoreClient)
-		{
-
-		}
-
-		virtual ~FilterClosestRayResultCallback()
-		{
-		}
-
-		virtual	float	AddSingleResult(const CollisionWorld::LocalRayResult& rayResult)
-		{
-			CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->m_userPointer);
-			//ignore client...
-			if (curHit != m_ignoreClient)
-			{		
-				//if valid
-				return ClosestRayResultCallback::AddSingleResult(rayResult);
-			}
-			return m_closestHitFraction;
-		}
-
-	};
-
-PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
-													   float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
-{
-
-
-	float minFraction = 1.f;
-
-	SimdVector3 rayFrom(fromX,fromY,fromZ);
-	SimdVector3 rayTo(toX,toY,toZ);
-
-	SimdVector3	hitPointWorld,normalWorld;
-
-	//Either Ray Cast with or without filtering
-
-	//CollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
-	FilterClosestRayResultCallback	 rayCallback(ignoreClient,rayFrom,rayTo);
-
-
-	PHY_IPhysicsController* nearestHit = 0;
-
-	m_collisionWorld->RayTest(rayFrom,rayTo,rayCallback);
-	if (rayCallback.HasHit())
-	{
-		nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->m_userPointer);
-		hitX = 	rayCallback.m_hitPointWorld.getX();
-		hitY = 	rayCallback.m_hitPointWorld.getY();
-		hitZ = 	rayCallback.m_hitPointWorld.getZ();
-
-		normalX = rayCallback.m_hitNormalWorld.getX();
-		normalY = rayCallback.m_hitNormalWorld.getY();
-		normalZ = rayCallback.m_hitNormalWorld.getZ();
-
-	}	
-
-
-	return nearestHit;
-}
-
-
-
-int	CcdPhysicsEnvironment::getNumContactPoints()
-{
-	return 0;
-}
-
-void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
-{
-
-}
-
-
-
-
-BroadphaseInterface*	CcdPhysicsEnvironment::GetBroadphase()
-{ 
-	return m_collisionWorld->GetBroadphase(); 
-}
-
-
-
-
-CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
-{
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-	m_wrapperVehicles.clear();
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-	//m_broadphase->DestroyScene();
-	//delete broadphase ? release reference on broadphase ?
-
-	//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
-	//delete m_dispatcher;
-	delete m_collisionWorld;
-	
-	delete m_islandManager;
-
-}
-
-
-int	CcdPhysicsEnvironment::GetNumControllers()
-{
-	return m_controllers.size();
-}
-
-
-CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
-{
-	return m_controllers[index];
-}
-
-
-
-
-
-
-TypedConstraint*	CcdPhysicsEnvironment::getConstraintById(int constraintId)
-{
-	int numConstraint = m_constraints.size();
-	int i;
-	for (i=0;i<numConstraint;i++)
-	{
-		TypedConstraint* constraint = m_constraints[i];
-		if (constraint->GetUserConstraintId()==constraintId)
-		{
-			return constraint;
-		}
-	}
-	return 0;
-}
-
-
-void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
-{
-
-	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
-	std::vector<CcdPhysicsController*>::iterator i =
-		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
-	if ((i == m_controllers.end()))
-	{
-		addCcdPhysicsController(ctrl1);
-	}
-
-	requestCollisionCallback(ctrl);
-	//printf("addSensor\n");
-}
-
-void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
-{
-	std::vector<CcdPhysicsController*>::iterator i =
-		std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
-	if (!(i == m_triggerControllers.end()))
-	{
-		std::swap(*i, m_triggerControllers.back());
-		m_triggerControllers.pop_back();
-	}
-}
-
-
-void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
-{
-	removeCollisionCallback(ctrl);
-	//printf("removeSensor\n");
-}
-void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
-{
-	/*	printf("addTouchCallback\n(response class = %i)\n",response_class);
-
-	//map PHY_ convention into SM_ convention
-	switch (response_class)
-	{
-	case	PHY_FH_RESPONSE:
-	printf("PHY_FH_RESPONSE\n");
-	break;
-	case PHY_SENSOR_RESPONSE:
-	printf("PHY_SENSOR_RESPONSE\n");
-	break;
-	case PHY_CAMERA_RESPONSE:
-	printf("PHY_CAMERA_RESPONSE\n");
-	break;
-	case PHY_OBJECT_RESPONSE:
-	printf("PHY_OBJECT_RESPONSE\n");
-	break;
-	case PHY_STATIC_RESPONSE:
-	printf("PHY_STATIC_RESPONSE\n");
-	break;
-	default:
-	assert(0);
-	return;
-	}
-	*/
-
-	m_triggerCallbacks[response_class] = callback;
-	m_triggerCallbacksUserPtrs[response_class] = user;
-
-}
-void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
-{
-	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
-
-	//printf("requestCollisionCallback\n");
-	m_triggerControllers.push_back(ccdCtrl);
-}
-
-
-void	CcdPhysicsEnvironment::CallbackTriggers()
-{
-	
-	CcdPhysicsController* ctrl0=0,*ctrl1=0;
-
-	if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints)))
-	{
-		//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
-		int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
-		for (int i=0;i<numManifolds;i++)
-		{
-			PersistentManifold* manifold = m_collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
-			int numContacts = manifold->GetNumContacts();
-			if (numContacts)
-			{
-				if (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints))
-				{
-					for (int j=0;j<numContacts;j++)
-					{
-						SimdVector3 color(1,0,0);
-						const ManifoldPoint& cp = manifold->GetContactPoint(j);
-						if (m_debugDrawer)
-							m_debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
-					}
-				}
-				RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0());
-				RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1());
-
-				//m_userPointer is set in 'addPhysicsController
-				CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_userPointer);
-				CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_userPointer);
-
-				std::vector<CcdPhysicsController*>::iterator i =
-					std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
-				if (i == m_triggerControllers.end())
-				{
-					i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
-				}
-
-				if (!(i == m_triggerControllers.end()))
-				{
-					m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
-						ctrl0,ctrl1,0);
-				}
-			}
-		}
-
-
-
-	}
-
-
-}
-
-
-
-
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-
-//complex constraint for vehicles
-PHY_IVehicle*	CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
-{
-	int i;
-
-	int numVehicles = m_wrapperVehicles.size();
-	for (i=0;i<numVehicles;i++)
-	{
-		WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-		if (wrapperVehicle->GetVehicle()->GetUserConstraintId() == constraintId)
-			return wrapperVehicle;
-	}
-
-	return 0;
-}
-
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-
-
-void	CcdPhysicsEnvironment::UpdateAabbs(float	timeStep)
-{
-	std::vector<CcdPhysicsController*>::iterator i;
-	BroadphaseInterface* scene =  GetBroadphase();
-
-	//
-			// update aabbs, only for moving objects (!)
-			//
-			for (i=m_controllers.begin();
-				!(i==m_controllers.end()); i++)
-			{
-				CcdPhysicsController* ctrl = (*i);
-				RigidBody* body = ctrl->GetRigidBody();
-
-
-				SimdPoint3 minAabb,maxAabb;
-				CollisionShape* shapeinterface = ctrl->GetCollisionShape();
-
-
-
-				shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
-					body->getLinearVelocity(),
-					//body->getAngularVelocity(),
-					SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
-					timeStep,minAabb,maxAabb);
-
-
-				SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
-				minAabb -= manifoldExtraExtents;
-				maxAabb += manifoldExtraExtents;
-
-				BroadphaseProxy* bp = body->m_broadphaseHandle;
-				if (bp)
-				{
-
-					SimdVector3 color (1,1,0);
-
-					if (m_debugDrawer)
-					{	
-						//draw aabb
-						switch (body->GetActivationState())
-						{
-						case ISLAND_SLEEPING:
-							{
-								color.setValue(1,1,1);
-								break;
-							}
-						case WANTS_DEACTIVATION:
-							{
-								color.setValue(0,0,1);
-								break;
-							}
-						case ACTIVE_TAG:
-							{
-								break;
-							}
-						case DISABLE_DEACTIVATION:
-							{
-								color.setValue(1,0,1);
-							};
-
-						};
-
-						if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
-						{
-							DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
-						}
-					}
-
-			
-					if ( (maxAabb-minAabb).length2() < 1e12f)
-					{
-						scene->SetAabb(bp,minAabb,maxAabb);
-					} else
-					{
-						//something went wrong, investigate
-						//removeCcdPhysicsController(ctrl);
-						body->SetActivationState(DISABLE_SIMULATION);
-
-						static bool reportMe = true;
-						if (reportMe)
-						{
-							reportMe = false;
-							printf("Overflow in AABB, object removed from simulation \n");
-							printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
-							printf("Please include above information, your Platform, version of OS.\n");
-							printf("Thanks.\n");
-						}
-						
-					}
-
-				}
-			}
-}
-
-PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
-{
-	
-	CcdConstructionInfo	cinfo;
-	cinfo.m_collisionShape = new SphereShape(radius);
-	cinfo.m_MotionState = 0;
-	cinfo.m_physicsEnv = this;
-	cinfo.m_collisionFlags |= CollisionObject::noContactResponse;
-	DefaultMotionState* motionState = new DefaultMotionState();
-	cinfo.m_MotionState = motionState;
-	motionState->m_worldTransform.setIdentity();
-	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
-
-	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
-	
-
-	return sphereController;
-}
-
-
-PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
-{
-	CcdConstructionInfo	cinfo;
-	cinfo.m_collisionShape = new ConeShape(coneradius,coneheight);
-	cinfo.m_MotionState = 0;
-	cinfo.m_physicsEnv = this;
-	DefaultMotionState* motionState = new DefaultMotionState();
-	cinfo.m_MotionState = motionState;
-	motionState->m_worldTransform.setIdentity();
-//	motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2]));
-
-	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
-
-
-	return sphereController;
-}
-	
-float		CcdPhysicsEnvironment::getAppliedImpulse(int	constraintid)
-{
-	std::vector<TypedConstraint*>::iterator i;
-
-	for (i=m_constraints.begin();
-		!(i==m_constraints.end()); i++)
-	{
-		TypedConstraint* constraint = (*i);
-		if (constraint->GetUserConstraintId() == constraintid)
-		{
-			return constraint->GetAppliedImpulse();
-		}
-	}
-	return 0.f;
-}
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
deleted file mode 100644
index 053abcbd3e7..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ /dev/null
@@ -1,261 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef CCDPHYSICSENVIRONMENT
-#define CCDPHYSICSENVIRONMENT
-
-#include "PHY_IPhysicsEnvironment.h"
-#include <vector>
-class CcdPhysicsController;
-#include "SimdVector3.h"
-#include "SimdTransform.h"
-
-
-
-
-class TypedConstraint;
-class SimulationIslandManager;
-class CollisionDispatcher;
-class Dispatcher;
-//#include "BroadphaseInterface.h"
-
-//switch on/off new vehicle support
-#define NEW_BULLET_VEHICLE_SUPPORT 1
-
-#include "ConstraintSolver/ContactSolverInfo.h"
-
-class WrapperVehicle;
-class PersistentManifold;
-class BroadphaseInterface;
-class OverlappingPairCache;
-class IDebugDraw;
-class PHY_IVehicle;
-
-/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
-/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
-/// It stores rigidbodies,constraints, materials etc.
-/// A derived class may be able to 'construct' entities by loading and/or converting
-class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
-{
-	SimdVector3 m_gravity;
-	
-	
-
-protected:
-	IDebugDraw*	m_debugDrawer;
-	//solver iterations
-	int	m_numIterations;
-	
-	//timestep subdivisions
-	int	m_numTimeSubSteps;
-
-
-	int	m_ccdMode;
-	int	m_solverType;
-	int	m_profileTimings;
-	bool m_enableSatCollisionDetection;
-
-	ContactSolverInfo	m_solverInfo;
-	
-	SimulationIslandManager*	m_islandManager;
-
-	public:
-		CcdPhysicsEnvironment(Dispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
-
-		virtual		~CcdPhysicsEnvironment();
-
-		/////////////////////////////////////
-		//PHY_IPhysicsEnvironment interface
-		/////////////////////////////////////
-
-		/// Perform an integration step of duration 'timeStep'.
-
-		virtual void setDebugDrawer(IDebugDraw* debugDrawer)
-		{
-			m_debugDrawer = debugDrawer;
-		}
-
-		virtual void		setNumIterations(int numIter);
-		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
-		{
-			m_numTimeSubSteps = numTimeSubSteps;
-		}
-		virtual void		setDeactivationTime(float dTime);
-		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
-		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
-		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
-		virtual void		setCcdMode(int ccdMode);
-		virtual void		setSolverType(int solverType);
-		virtual void		setSolverSorConstant(float sor);
-		virtual void		setSolverTau(float tau);
-		virtual void		setSolverDamping(float damping);
-		virtual void		setLinearAirDamping(float damping);
-		virtual void		setUseEpa(bool epa) ;
-
-		virtual	void		beginFrame();
-		virtual void		endFrame() {};
-		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
-		virtual bool		proceedDeltaTimeOneStep(float timeStep);
-
-		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
-		//returns 0.f if no fixed timestep is used
-
-		virtual	float		getFixedTimeStep(){ return 0.f;};
-
-		virtual void		setDebugMode(int debugMode);
-
-		virtual	void		setGravity(float x,float y,float z);
-
-		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
-			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ);
-
-
-		//Following the COLLADA physics specification for constraints
-		virtual int			createUniversalD6Constraint(
-		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
-			SimdTransform& localAttachmentFrameRef,
-			SimdTransform& localAttachmentOther,
-			const SimdVector3& linearMinLimits,
-			const SimdVector3& linearMaxLimits,
-			const SimdVector3& angularMinLimits,
-			const SimdVector3& angularMaxLimits
-			);
-
-
-	    virtual void		removeConstraint(int	constraintid);
-
-		virtual float		getAppliedImpulse(int	constraintid);
-
-
-		virtual void	CallbackTriggers();
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-		//complex constraint for vehicles
-		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
-#else
-		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
-		{
-			return 0;
-		}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-		TypedConstraint*	getConstraintById(int constraintId);
-
-		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
-										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
-
-
-		//Methods for gamelogic collision/physics callbacks
-		virtual void addSensor(PHY_IPhysicsController* ctrl);
-		virtual void removeSensor(PHY_IPhysicsController* ctrl);
-		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
-		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
-
-		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
-		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
-	
-
-		virtual int	getNumContactPoints();
-
-		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
-
-		//////////////////////
-		//CcdPhysicsEnvironment interface
-		////////////////////////
-	
-		void	addCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		void	removeCcdPhysicsController(CcdPhysicsController* ctrl);
-
-		BroadphaseInterface*	GetBroadphase();
-
-		
-		
-		
-
-		bool	IsSatCollisionDetectionEnabled() const
-		{
-			return m_enableSatCollisionDetection;
-		}
-
-		void	EnableSatCollisionDetection(bool enableSat)
-		{
-			m_enableSatCollisionDetection = enableSat;
-		}
-
-		void	UpdateAabbs(float	timeStep);
-
-		int	GetNumControllers();
-
-		CcdPhysicsController* GetPhysicsController( int index);
-
-		
-
-		const PersistentManifold*	GetManifold(int index) const;
-
-		std::vector<TypedConstraint*> m_constraints;
-
-		void	SyncMotionStates(float timeStep);
-
-		
-		class CollisionWorld*	GetCollisionWorld()
-		{
-			return m_collisionWorld;
-		}
-
-		const class CollisionWorld*	GetCollisionWorld() const
-		{
-			return m_collisionWorld;
-		}
-
-		SimulationIslandManager*	GetSimulationIslandManager()
-		{
-			return m_islandManager;
-		}
-
-		const SimulationIslandManager*	GetSimulationIslandManager() const 
-		{
-			return m_islandManager;
-		}
-
-	protected:
-		
-		
-
-		
-		std::vector<CcdPhysicsController*> m_controllers;
-		
-		std::vector<CcdPhysicsController*> m_triggerControllers;
-
-		PHY_ResponseCallback	m_triggerCallbacks[PHY_NUM_RESPONSE];
-		void*			m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
-		
-		std::vector<WrapperVehicle*>	m_wrapperVehicles;
-
-		class CollisionWorld*	m_collisionWorld;
-		
-		class ConstraintSolver*	m_solver;
-
-		bool	m_scalingPropagated;
-
-		
-
-};
-
-#endif //CCDPHYSICSENVIRONMENT
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc7.vcproj b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc7.vcproj
deleted file mode 100644
index ad85f1cd523..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc7.vcproj
+++ /dev/null
@@ -1,131 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="7.10"
-	Name="CcdPhysics"
-	ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
-	Keyword="Win32Proj">
-	<Platforms>
-		<Platform
-			Name="Win32"/>
-	</Platforms>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2">
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="TRUE"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
-				DebugInformationFormat="4"/>
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/CcdPhysics.lib"/>
-			<Tool
-				Name="VCMIDLTool"/>
-			<Tool
-				Name="VCPostBuildEventTool"/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
-			<Tool
-				Name="VCResourceCompilerTool"/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"/>
-			<Tool
-				Name="VCManagedWrapperGeneratorTool"/>
-			<Tool
-				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
-			ConfigurationType="4"
-			CharacterSet="2">
-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
-				RuntimeLibrary="4"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
-				DebugInformationFormat="3"/>
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/CcdPhysics.lib"/>
-			<Tool
-				Name="VCMIDLTool"/>
-			<Tool
-				Name="VCPostBuildEventTool"/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
-			<Tool
-				Name="VCResourceCompilerTool"/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"/>
-			<Tool
-				Name="VCManagedWrapperGeneratorTool"/>
-			<Tool
-				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
-		</Configuration>
-	</Configurations>
-	<References>
-	</References>
-	<Files>
-		<Filter
-			Name="Source Files"
-			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
-			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
-			<File
-				RelativePath=".\CcdPhysicsController.cpp">
-			</File>
-			<File
-				RelativePath=".\CcdPhysicsEnvironment.cpp">
-			</File>
-		</Filter>
-		<Filter
-			Name="Header Files"
-			Filter="h;hpp;hxx;hm;inl;inc;xsd"
-			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
-			<File
-				RelativePath=".\CcdPhysicsController.h">
-			</File>
-			<File
-				RelativePath=".\CcdPhysicsEnvironment.h">
-			</File>
-		</Filter>
-		<Filter
-			Name="Resource Files"
-			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
-			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
-		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt">
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj
deleted file mode 100644
index 8f85c50cf9f..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj
+++ /dev/null
@@ -1,191 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="8.00"
-	Name="CcdPhysics"
-	ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
-	Keyword="Win32Proj"
-	>
-	<Platforms>
-		<Platform
-			Name="Win32"
-		/>
-	</Platforms>
-	<ToolFiles>
-	</ToolFiles>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="true"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="1"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="4"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/CcdPhysics.lib"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
-			ConfigurationType="4"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
-				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
-				RuntimeLibrary="0"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="3"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/CcdPhysics.lib"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-	</Configurations>
-	<References>
-	</References>
-	<Files>
-		<Filter
-			Name="Source Files"
-			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
-			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
-			>
-			<File
-				RelativePath=".\CcdPhysicsController.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\CcdPhysicsEnvironment.cpp"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Header Files"
-			Filter="h;hpp;hxx;hm;inl;inc;xsd"
-			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
-			>
-			<File
-				RelativePath=".\CcdPhysicsController.h"
-				>
-			</File>
-			<File
-				RelativePath=".\CcdPhysicsEnvironment.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Resource Files"
-			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
-			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
-			>
-		</Filter>
-		<File
-			RelativePath=".\VTune\CcdPhysics.vpj"
-			>
-		</File>
-		<File
-			RelativePath=".\ReadMe.txt"
-			>
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
deleted file mode 100644
index 1e3e44a8785..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp
+++ /dev/null
@@ -1,349 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ParallelIslandDispatcher.h"
-
-
-#include "BroadphaseCollision/CollisionAlgorithm.h"
-#include "CollisionDispatch/ConvexConvexAlgorithm.h"
-#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
-#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
-#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
-
-#include "CollisionShapes/CollisionShape.h"
-#include "CollisionDispatch/CollisionObject.h"
-#include <algorithm>
-
-static int gNumManifold2 = 0;
-
-
-	
-
-	
-ParallelIslandDispatcher::ParallelIslandDispatcher (): 
-	m_useIslands(true),
-		m_defaultManifoldResult(0,0,0),
-		m_count(0)
-{
-	int i;
-	
-	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
-	{
-		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
-		{
-			m_doubleDispatch[i][j] = 0;
-		}
-	}
-	
-	
-};
-	
-PersistentManifold*	ParallelIslandDispatcher::GetNewManifold(void* b0,void* b1) 
-{ 
-	gNumManifold2++;
-	
-	//ASSERT(gNumManifold < 65535);
-	
-
-	CollisionObject* body0 = (CollisionObject*)b0;
-	CollisionObject* body1 = (CollisionObject*)b1;
-	
-	PersistentManifold* manifold = new PersistentManifold (body0,body1);
-	m_manifoldsPtr.push_back(manifold);
-
-	return manifold;
-}
-
-void ParallelIslandDispatcher::ClearManifold(PersistentManifold* manifold)
-{
-	manifold->ClearManifold();
-}
-
-	
-void ParallelIslandDispatcher::ReleaseManifold(PersistentManifold* manifold)
-{
-	
-	gNumManifold2--;
-
-	//printf("ReleaseManifold: gNumManifold2 %d\n",gNumManifold2);
-
-	ClearManifold(manifold);
-
-	std::vector<PersistentManifold*>::iterator i =
-		std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
-	if (!(i == m_manifoldsPtr.end()))
-	{
-		std::swap(*i, m_manifoldsPtr.back());
-		m_manifoldsPtr.pop_back();
-		delete manifold;
-
-	}
-	
-	
-}
-
-	
-//
-// todo: this is random access, it can be walked 'cache friendly'!
-//
-void ParallelIslandDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
-{
-	int numBodies  = collisionObjects.size();
-
-	for (int islandId=0;islandId<numBodies;islandId++)
-	{
-
-		std::vector<PersistentManifold*>  islandmanifold;
-		
-		//int numSleeping = 0;
-
-		bool allSleeping = true;
-
-		int i;
-		for (i=0;i<numBodies;i++)
-		{
-			CollisionObject* colObj0 = collisionObjects[i];
-			if (colObj0->m_islandTag1 == islandId)
-			{
-				if (colObj0->GetActivationState()== ACTIVE_TAG)
-				{
-					allSleeping = false;
-				}
-				if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
-				{
-					allSleeping = false;
-				}
-			}
-		}
-
-		
-		for (i=0;i<GetNumManifolds();i++)
-		{
-			 PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
-			 
-			 //filtering for response
-
-			 CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
-			 CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
-			 {
-				if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
-					((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
-				{
-
-					if (NeedsResponse(*colObj0,*colObj1))
-						islandmanifold.push_back(manifold);
-				}
-			 }
-		}
-		if (allSleeping)
-		{
-			int i;
-			for (i=0;i<numBodies;i++)
-			{
-				CollisionObject* colObj0 = collisionObjects[i];
-				if (colObj0->m_islandTag1 == islandId)
-				{
-					colObj0->SetActivationState( ISLAND_SLEEPING );
-				}
-			}
-
-			
-		} else
-		{
-
-			int i;
-			for (i=0;i<numBodies;i++)
-			{
-				CollisionObject* colObj0 = collisionObjects[i];
-				if (colObj0->m_islandTag1 == islandId)
-				{
-					if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
-					{
-						colObj0->SetActivationState( WANTS_DEACTIVATION);
-					}
-				}
-			}
-
-			/// Process the actual simulation, only if not sleeping/deactivated
-			if (islandmanifold.size())
-			{
-				callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
-			}
-
-		}
-	}
-}
-
-
-
-CollisionAlgorithm* ParallelIslandDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-{
-	m_count++;
-	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
-	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
-
-	CollisionAlgorithmConstructionInfo ci;
-	ci.m_dispatcher = this;
-	
-	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConvex() )
-	{
-		return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);			
-	}
-
-	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConcave())
-	{
-		return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
-	}
-
-	if (body1->m_collisionShape->IsConvex() && body0->m_collisionShape->IsConcave())
-	{
-		return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
-	}
-
-	if (body0->m_collisionShape->IsCompound())
-	{
-		return new CompoundCollisionAlgorithm(ci,&proxy0,&proxy1);
-	} else
-	{
-		if (body1->m_collisionShape->IsCompound())
-		{
-			return new CompoundCollisionAlgorithm(ci,&proxy1,&proxy0);
-		}
-	}
-
-
-	//failed to find an algorithm
-	return new EmptyAlgorithm(ci);
-	
-}
-
-bool	ParallelIslandDispatcher::NeedsResponse(const  CollisionObject& colObj0,const CollisionObject& colObj1)
-{
-
-	
-	//here you can do filtering
-	bool hasResponse = 
-		(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
-		(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
-	hasResponse = hasResponse &&
-		(colObj0.IsActive() || colObj1.IsActive());
-	return hasResponse;
-}
-
-bool	ParallelIslandDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-{
-
-	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
-	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
-
-	assert(body0);
-	assert(body1);
-
-	bool needsCollision = true;
-
-	if ((body0->m_collisionFlags & CollisionObject::isStatic) && 
-		(body1->m_collisionFlags & CollisionObject::isStatic))
-		needsCollision = false;
-		
-	if ((!body0->IsActive()) && (!body1->IsActive()))
-		needsCollision = false;
-	
-	return needsCollision ;
-
-}
-
-///allows the user to get contact point callbacks 
-ManifoldResult*	ParallelIslandDispatcher::GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold)
-{
-
-
-	//in-place, this prevents parallel dispatching, but just adding a list would fix that.
-	ManifoldResult* manifoldResult = new (&m_defaultManifoldResult)	ManifoldResult(obj0,obj1,manifold);
-	return manifoldResult;
-}
-	
-///allows the user to get contact point callbacks 
-void	ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
-{
-
-}
-
-
-void	ParallelIslandDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)
-{
-	//m_blockedForChanges = true;
-
-	int i;
-
-	int dispatcherId = GetUniqueId();
-
-	
-
-	for (i=0;i<numPairs;i++)
-	{
-
-		BroadphasePair& pair = pairs[i];
-
-		if (dispatcherId>= 0)
-		{
-			//dispatcher will keep algorithms persistent in the collision pair
-			if (!pair.m_algorithms[dispatcherId])
-			{
-				pair.m_algorithms[dispatcherId] = FindAlgorithm(
-					*pair.m_pProxy0,
-					*pair.m_pProxy1);
-			}
-
-			if (pair.m_algorithms[dispatcherId])
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-
-				}
-			}
-		} else
-		{
-			//non-persistent algorithm dispatcher
-			CollisionAlgorithm* algo = FindAlgorithm(
-				*pair.m_pProxy0,
-				*pair.m_pProxy1);
-
-			if (algo)
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-				}
-			}
-		}
-
-	}
-
-	//m_blockedForChanges = false;
-
-}
-
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
deleted file mode 100644
index e1e055f65b3..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PARALLEL_ISLAND_DISPATCHER_H
-#define PARALLEL_ISLAND_DISPATCHER_H
-
-#include "BroadphaseCollision/Dispatcher.h"
-#include "NarrowPhaseCollision/PersistentManifold.h"
-#include "CollisionDispatch/UnionFind.h"
-#include "CollisionDispatch/ManifoldResult.h"
-
-#include "BroadphaseCollision/BroadphaseProxy.h"
-#include <vector>
-
-class IDebugDraw;
-
-
-#include "CollisionDispatch/CollisionCreateFunc.h"
-
-
-
-
-///ParallelIslandDispatcher dispatches entire simulation islands in parallel.
-///For both collision detection and constraint solving.
-///This development heads toward multi-core, CELL SPU and GPU approach
-class ParallelIslandDispatcher : public Dispatcher
-{
-	
-	std::vector<PersistentManifold*>	m_manifoldsPtr;
-
-	UnionFind m_unionFind;
-
-	bool m_useIslands;
-	
-	ManifoldResult	m_defaultManifoldResult;
-	
-	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-	
-public:
-	
-	UnionFind& GetUnionFind() { return m_unionFind;}
-
-	struct	IslandCallback
-	{
-		virtual ~IslandCallback() {};
-
-		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds) = 0;
-	};
-
-
-	int	GetNumManifolds() const
-	{ 
-		return m_manifoldsPtr.size();
-	}
-
-	 PersistentManifold* GetManifoldByIndexInternal(int index)
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	 const PersistentManifold* GetManifoldByIndexInternal(int index) const
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	void InitUnionFind(int n)
-	{
-		if (m_useIslands)
-			m_unionFind.reset(n);
-	}
-	
-	void FindUnions();
-	
-	int m_count;
-	
-	ParallelIslandDispatcher ();
-	virtual ~ParallelIslandDispatcher() {};
-
-	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
-	
-	virtual void ReleaseManifold(PersistentManifold* manifold);
-
-	
-	virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);
-
-	///allows the user to get contact point callbacks 
-	virtual	ManifoldResult*	GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
-
-	///allows the user to get contact point callbacks 
-	virtual	void	ReleaseManifoldResult(ManifoldResult*);
-
-	virtual void ClearManifold(PersistentManifold* manifold);
-
-			
-	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-	{
-		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
-		return algo;
-	}
-	
-	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
-	
-	virtual bool	NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
-	
-	virtual bool	NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
-
-	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
-
-	virtual void	DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo);
-	
-	
-
-};
-
-#endif //PARALLEL_ISLAND_DISPATCHER_H
-
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
deleted file mode 100644
index 452fa10a3f0..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp
+++ /dev/null
@@ -1,194 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "ParallelPhysicsEnvironment.h"
-#include "CcdPhysicsController.h"
-#include "ParallelIslandDispatcher.h"
-#include "CollisionDispatch/CollisionWorld.h"
-#include "ConstraintSolver/TypedConstraint.h"
-#include "CollisionDispatch/SimulationIslandManager.h"
-#include "SimulationIsland.h"
-
-
-ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
-CcdPhysicsEnvironment(dispatcher,pairCache)
-{
-	
-}
-
-ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
-{
-
-}
-
-
-
-/// Perform an integration step of duration 'timeStep'.
-bool	ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
-{
-	// Make sure the broadphase / overlapping AABB paircache is up-to-date
-	OverlappingPairCache*	scene = m_collisionWorld->GetPairCache();
-	scene->RefreshOverlappingPairs();
-
-	// Find the connected sets that can be simulated in parallel
-	// Using union find
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("IslandUnionFind");
-#endif //USE_QUICKPROF
-
-	GetSimulationIslandManager()->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher());
-
-	{
-		int i;
-		int numConstraints = m_constraints.size();
-		for (i=0;i< numConstraints ; i++ )
-		{
-			TypedConstraint* constraint = m_constraints[i];
-
-			const RigidBody* colObj0 = &constraint->GetRigidBodyA();
-			const RigidBody* colObj1 = &constraint->GetRigidBodyB();
-
-			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-				((colObj1) && ((colObj1)->mergesSimulationIslands())))
-			{
-				if (colObj0->IsActive() || colObj1->IsActive())
-				{
-
-					GetSimulationIslandManager()->GetUnionFind().unite((colObj0)->m_islandTag1,
-						(colObj1)->m_islandTag1);
-				}
-			}
-		}
-	}
-
-	//Store the island id in each body
-	GetSimulationIslandManager()->StoreIslandActivationState(GetCollisionWorld());
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("IslandUnionFind");
-#endif //USE_QUICKPROF
-
-	
-
-	///build simulation islands
-	
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("BuildIslands");
-#endif //USE_QUICKPROF
-
-	std::vector<SimulationIsland> simulationIslands;
-	simulationIslands.resize(GetNumControllers());
-
-	int k;
-	for (k=0;k<GetNumControllers();k++)
-	{
-			CcdPhysicsController* ctrl = m_controllers[k];
-			int tag = ctrl->GetRigidBody()->m_islandTag1;
-			if (tag>=0)
-			{
-				simulationIslands[tag].m_controllers.push_back(ctrl);
-			}
-	}
-
-	Dispatcher* dispatcher = GetCollisionWorld()->GetDispatcher();
-
-	
-	//this is a brute force approach, will rethink later about more subtle ways
-	int i;
-	for (i=0;i<	scene->GetNumOverlappingPairs();i++)
-	{
-		BroadphasePair* pair = &scene->GetOverlappingPair(i);
-
-		CollisionObject*	col0 = static_cast<CollisionObject*>(pair->m_pProxy0->m_clientObject);
-		CollisionObject*	col1 = static_cast<CollisionObject*>(pair->m_pProxy1->m_clientObject);
-		
-		if (col0->m_islandTag1 > col1->m_islandTag1)
-		{
-			simulationIslands[col0->m_islandTag1].m_overlappingPairIndices.push_back(i);
-		} else
-		{
-			simulationIslands[col1->m_islandTag1].m_overlappingPairIndices.push_back(i);
-		}
-	}
-	
-	//store constraint indices for each island
-	for (i=0;i<m_constraints.size();i++)
-	{
-		TypedConstraint& constraint = *m_constraints[i];
-		if (constraint.GetRigidBodyA().m_islandTag1 > constraint.GetRigidBodyB().m_islandTag1)
-		{
-			simulationIslands[constraint.GetRigidBodyA().m_islandTag1].m_constraintIndices.push_back(i);
-		} else
-		{
-			simulationIslands[constraint.GetRigidBodyB().m_islandTag1].m_constraintIndices.push_back(i);
-		}
-
-	}
-
-	//add all overlapping pairs for each island
-
-	for (i=0;i<dispatcher->GetNumManifolds();i++)
-	{
-		 PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
-		 
-		 //filtering for response
-
-		 CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
-		 CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
-		 {
-			 int islandTag = colObj0->m_islandTag1;
-			 if (colObj1->m_islandTag1 > islandTag)
-				 islandTag = colObj1->m_islandTag1;
-
-				if (dispatcher->NeedsResponse(*colObj0,*colObj1))
-					simulationIslands[islandTag].m_manifolds.push_back(manifold);
-			
-		 }
-	}
-		
-	#ifdef USE_QUICKPROF
-		Profiler::endBlock("BuildIslands");
-	#endif //USE_QUICKPROF
-
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("SimulateIsland");
-#endif //USE_QUICKPROF
-	
-	TypedConstraint** constraintBase = 0;
-	if (m_constraints.size())
-		constraintBase = &m_constraints[0];
-
-
-
-	//Each simulation island can be processed in parallel (will be put on a job queue)
-	for (k=0;k<simulationIslands.size();k++)
-	{
-		if (simulationIslands[k].m_controllers.size())
-		{
-			simulationIslands[k].Simulate(m_debugDrawer,m_numIterations, constraintBase ,&scene->GetOverlappingPair(0),dispatcher,GetBroadphase(),m_solver,timeStep);
-		}
-	}
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("SimulateIsland");
-#endif //USE_QUICKPROF
-
-	return true;
-
-}
\ No newline at end of file
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h
deleted file mode 100644
index 530ba5845e5..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PARALLELPHYSICSENVIRONMENT
-#define PARALLELPHYSICSENVIRONMENT
-
-#include "CcdPhysicsEnvironment.h"
-class ParallelIslandDispatcher;
-
-
-/// ParallelPhysicsEnvironment is experimental parallel mainloop for physics simulation
-/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
-/// It stores rigidbodies,constraints, materials etc.
-/// A derived class may be able to 'construct' entities by loading and/or converting
-class ParallelPhysicsEnvironment : public CcdPhysicsEnvironment
-{
-	
-
-	public:
-		ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
-
-		virtual		~ParallelPhysicsEnvironment();
-
-		
-		/// Perform an integration step of duration 'timeStep'.
-		virtual bool						proceedDeltaTimeOneStep(float timeStep);
-		
-		//void	BuildSimulationIslands();
-
-};
-
-#endif //PARALLELPHYSICSENVIRONMENT
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
deleted file mode 100644
index 47c3094ca05..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
+++ /dev/null
@@ -1,468 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "SimulationIsland.h"
-#include "SimdTransform.h"
-#include "CcdPhysicsController.h"
-#include "BroadphaseCollision/OverlappingPairCache.h"
-#include "CollisionShapes/CollisionShape.h"
-#include "BroadphaseCollision/Dispatcher.h"
-#include "ConstraintSolver/ContactSolverInfo.h"
-#include "ConstraintSolver/ConstraintSolver.h"
-#include "ConstraintSolver/TypedConstraint.h"
-#include "IDebugDraw.h"
-
-extern float gContactBreakingTreshold;
-
-bool	SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,TypedConstraint** constraintsBaseAddress,BroadphasePair*	overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,class ConstraintSolver*	solver,float timeStep)
-{
-
-
-#ifdef USE_QUICKPROF
-
-	Profiler::beginBlock("predictIntegratedTransform");
-#endif //USE_QUICKPROF
-
-	{
-		//		std::vector<CcdPhysicsController*>::iterator i;
-
-
-
-		int k;
-		for (k=0;k<GetNumControllers();k++)
-		{
-			CcdPhysicsController* ctrl = m_controllers[k];
-			//		SimdTransform predictedTrans;
-			RigidBody* body = ctrl->GetRigidBody();
-			//todo: only do this when necessary, it's used for contact points
-			body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
-
-			if (body->IsActive())
-			{
-				if (!body->IsStatic())
-				{
-					body->applyForces( timeStep);
-					body->integrateVelocities( timeStep);
-					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
-				}
-			}
-
-		}
-	}
-
-#ifdef USE_QUICKPROF
-	Profiler::endBlock("predictIntegratedTransform");
-#endif //USE_QUICKPROF
-	
-	//BroadphaseInterface*	scene = GetBroadphase();
-
-
-	//
-	// collision detection (?)
-	//
-
-
-	#ifdef USE_QUICKPROF
-	Profiler::beginBlock("DispatchAllCollisionPairs");
-	#endif //USE_QUICKPROF
-
-
-//	int numsubstep = m_numIterations;
-
-
-	DispatcherInfo dispatchInfo;
-	dispatchInfo.m_timeStep = timeStep;
-	dispatchInfo.m_stepCount = 0;
-	dispatchInfo.m_enableSatConvex = false;//m_enableSatCollisionDetection;
-	dispatchInfo.m_debugDraw = debugDrawer;
-	
-	std::vector<BroadphasePair>	overlappingPairs;
-	overlappingPairs.resize(this->m_overlappingPairIndices.size());
-
-	//gather overlapping pair info
-	int i;
-	for (i=0;i<m_overlappingPairIndices.size();i++)
-	{
-		overlappingPairs[i] = overlappingPairBaseAddress[m_overlappingPairIndices[i]];
-	}
-
-	
-	//pairCache->RefreshOverlappingPairs();
-	if (overlappingPairs.size())
-	{
-		dispatcher->DispatchAllCollisionPairs(&overlappingPairs[0],overlappingPairs.size(),dispatchInfo);///numsubstep,g);
-	}
-
-	//scatter overlapping pair info, mainly the created algorithms/contact caches
-	
-	for (i=0;i<m_overlappingPairIndices.size();i++)
-	{
-		overlappingPairBaseAddress[m_overlappingPairIndices[i]] = overlappingPairs[i];
-	}
-
-
-	#ifdef USE_QUICKPROF
-	Profiler::endBlock("DispatchAllCollisionPairs");
-	#endif //USE_QUICKPROF
-
-
-
-
-	int numRigidBodies = m_controllers.size();
-
-
-
-
-	//contacts
-	#ifdef USE_QUICKPROF
-	Profiler::beginBlock("SolveConstraint");
-	#endif //USE_QUICKPROF
-
-
-	//solve the regular constraints (point 2 point, hinge, etc)
-
-	for (int g=0;g<numSolverIterations;g++)
-	{
-		//
-		// constraint solving
-		//
-
-		int i;
-		int numConstraints = m_constraintIndices.size();
-
-		//point to point constraints
-		for (i=0;i< numConstraints ; i++ )
-		{
-			TypedConstraint* constraint = constraintsBaseAddress[m_constraintIndices[i]];
-			constraint->BuildJacobian();
-			constraint->SolveConstraint( timeStep );
-
-		}
-
-
-	}
-
-	#ifdef USE_QUICKPROF
-	Profiler::endBlock("SolveConstraint");
-	#endif //USE_QUICKPROF
-
-	/*
-
-	//solve the vehicles
-
-	#ifdef NEW_BULLET_VEHICLE_SUPPORT
-	//vehicles
-	int numVehicles = m_wrapperVehicles.size();
-	for (int i=0;i<numVehicles;i++)
-	{
-	WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-	RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
-	vehicle->UpdateVehicle( timeStep);
-	}
-	#endif //NEW_BULLET_VEHICLE_SUPPORT
-*/
-
-	/*
-	
-	Profiler::beginBlock("CallbackTriggers");
-	#endif //USE_QUICKPROF
-
-	CallbackTriggers();
-
-	#ifdef USE_QUICKPROF
-	Profiler::endBlock("CallbackTriggers");
-
-	}
-	*/
-
-	//OverlappingPairCache*	scene = GetCollisionWorld()->GetPairCache();
-	
-	ContactSolverInfo	solverInfo;
-
-	solverInfo.m_friction = 0.9f;
-	solverInfo.m_numIterations = numSolverIterations;
-	solverInfo.m_timeStep = timeStep;
-	solverInfo.m_restitution = 0.f;//m_restitution;
-
-
-	if (m_manifolds.size())
-	{
-		solver->SolveGroup( &m_manifolds[0],m_manifolds.size(),solverInfo,0);
-	}
-
-
-#ifdef USE_QUICKPROF
-	Profiler::beginBlock("proceedToTransform");
-#endif //USE_QUICKPROF
-	{
-
-
-
-		{
-
-
-			UpdateAabbs(debugDrawer,broadphase,timeStep);
-
-
-			float toi = 1.f;
-
-			//experimental continuous collision detection
-
-			/*		if (m_ccdMode == 3)
-			{
-				DispatcherInfo dispatchInfo;
-				dispatchInfo.m_timeStep = timeStep;
-				dispatchInfo.m_stepCount = 0;
-				dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
-
-				//			GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
-				toi = dispatchInfo.m_timeOfImpact;
-
-			}
-			*/
-
-
-
-			//
-			// integrating solution
-			//
-
-			{
-
-				std::vector<CcdPhysicsController*>::iterator i;
-
-				for (i=m_controllers.begin();
-					!(i==m_controllers.end()); i++)
-				{
-
-					CcdPhysicsController* ctrl = *i;
-
-					SimdTransform predictedTrans;
-					RigidBody* body = ctrl->GetRigidBody();
-
-					if (body->IsActive())
-					{
-
-						if (!body->IsStatic())
-						{
-							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
-							body->proceedToTransform( predictedTrans);
-						}
-
-					}
-				}
-
-			}
-
-
-
-
-
-			//
-			// disable sleeping physics objects
-			//
-
-			std::vector<CcdPhysicsController*> m_sleepingControllers;
-
-			std::vector<CcdPhysicsController*>::iterator i;
-
-			for (i=m_controllers.begin();
-				!(i==m_controllers.end()); i++)
-			{
-				CcdPhysicsController* ctrl = (*i);
-				RigidBody* body = ctrl->GetRigidBody();
-
-				ctrl->UpdateDeactivation(timeStep);
-
-
-				if (ctrl->wantsSleeping())
-				{
-					if (body->GetActivationState() == ACTIVE_TAG)
-						body->SetActivationState( WANTS_DEACTIVATION );
-				} else
-				{
-					if (body->GetActivationState() != DISABLE_DEACTIVATION)
-						body->SetActivationState( ACTIVE_TAG );
-				}
-
-				if (true)
-				{
-					if (body->GetActivationState() == ISLAND_SLEEPING)
-					{
-						m_sleepingControllers.push_back(ctrl);
-					}
-				} else
-				{
-					if (ctrl->wantsSleeping())
-					{
-						m_sleepingControllers.push_back(ctrl);
-					}
-				}
-			}
-
-
-
-
-		}
-
-
-#ifdef USE_QUICKPROF
-		Profiler::endBlock("proceedToTransform");
-
-		Profiler::beginBlock("SyncMotionStates");
-#endif //USE_QUICKPROF
-
-		SyncMotionStates(timeStep);
-
-#ifdef USE_QUICKPROF
-		Profiler::endBlock("SyncMotionStates");
-
-#endif //USE_QUICKPROF
-
-
-#ifdef NEW_BULLET_VEHICLE_SUPPORT
-		//sync wheels for vehicles
-		int numVehicles = m_wrapperVehicles.size();
-		for (int i=0;i<numVehicles;i++)
-		{
-			WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
-
-			wrapperVehicle->SyncWheels();
-		}
-#endif //NEW_BULLET_VEHICLE_SUPPORT
-
-		return true;
-	}
-}
-
-
-
-void	SimulationIsland::SyncMotionStates(float timeStep)
-{
-	std::vector<CcdPhysicsController*>::iterator i;
-
-	//
-	// synchronize the physics and graphics transformations
-	//
-
-	for (i=m_controllers.begin();
-		!(i==m_controllers.end()); i++)
-	{
-		CcdPhysicsController* ctrl = (*i);
-		ctrl->SynchronizeMotionStates(timeStep);
-
-	}
-
-}
-
-
-
-void	SimulationIsland::UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface* scene,float	timeStep)
-{
-	std::vector<CcdPhysicsController*>::iterator i;
-
-
-	//
-			// update aabbs, only for moving objects (!)
-			//
-			for (i=m_controllers.begin();
-				!(i==m_controllers.end()); i++)
-			{
-				CcdPhysicsController* ctrl = (*i);
-				RigidBody* body = ctrl->GetRigidBody();
-
-
-				SimdPoint3 minAabb,maxAabb;
-				CollisionShape* shapeinterface = ctrl->GetCollisionShape();
-
-
-
-				shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
-					body->getLinearVelocity(),
-					//body->getAngularVelocity(),
-					SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
-					timeStep,minAabb,maxAabb);
-
-
-				SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
-				minAabb -= manifoldExtraExtents;
-				maxAabb += manifoldExtraExtents;
-
-				BroadphaseProxy* bp = body->m_broadphaseHandle;
-				if (bp)
-				{
-
-					SimdVector3 color (1,1,0);
-
-					class IDebugDraw*	m_debugDrawer = 0;
-/*
-					if (m_debugDrawer)
-					{	
-						//draw aabb
-						switch (body->GetActivationState())
-						{
-						case ISLAND_SLEEPING:
-							{
-								color.setValue(1,1,1);
-								break;
-							}
-						case WANTS_DEACTIVATION:
-							{
-								color.setValue(0,0,1);
-								break;
-							}
-						case ACTIVE_TAG:
-							{
-								break;
-							}
-						case DISABLE_DEACTIVATION:
-							{
-								color.setValue(1,0,1);
-							};
-
-						};
-
-						if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
-						{
-							DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
-						}
-					}
-*/
-
-			
-					if ( (maxAabb-minAabb).length2() < 1e12f)
-					{
-						scene->SetAabb(bp,minAabb,maxAabb);
-					} else
-					{
-						//something went wrong, investigate
-						//removeCcdPhysicsController(ctrl);
-						body->SetActivationState(DISABLE_SIMULATION);
-
-						static bool reportMe = true;
-						if (reportMe)
-						{
-							reportMe = false;
-							printf("Overflow in AABB, object removed from simulation \n");
-							printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
-							printf("Please include above information, your Platform, version of OS.\n");
-							printf("Thanks.\n");
-						}
-						
-					}
-
-				}
-			}
-}
\ No newline at end of file
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h
deleted file mode 100644
index c4c41bf03c4..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SIMULATION_ISLAND_H
-#define SIMULATION_ISLAND_H
-
-#include <vector>
-class BroadphaseInterface;
-class Dispatcher;
-class IDebugDraw;
-
-///SimulationIsland groups all computations and data (for collision detection and dynamics) that can execute in parallel with other SimulationIsland's
-///The ParallelPhysicsEnvironment and ParallelIslandDispatcher will dispatch SimulationIsland's
-///At the start of the simulation timestep the simulation islands are re-calculated
-///During one timestep there is no merging or splitting of Simulation Islands
-class SimulationIsland
-{
-	
-	public:
-	std::vector<class CcdPhysicsController*> m_controllers;
-	std::vector<class PersistentManifold*> m_manifolds;
-	
-	std::vector<int> m_overlappingPairIndices;
-	std::vector<int> m_constraintIndices;
-
-	bool	Simulate(IDebugDraw* debugDrawer,int numSolverIterations,class TypedConstraint** constraintsBaseAddress,struct BroadphasePair*	overlappingPairBaseAddress, Dispatcher* dispatcher,BroadphaseInterface* broadphase,	class ConstraintSolver*	solver, float timeStep);
-	
-	
-	int	GetNumControllers()
-	{
-		return m_controllers.size();
-	}
-
-	
-	
-
-	void	SyncMotionStates(float timeStep);
-	void	UpdateAabbs(IDebugDraw* debugDrawer,BroadphaseInterface* broadphase,float timeStep);
-};
-
-#endif //SIMULATION_ISLAND_H
\ No newline at end of file
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_DynamicTypes.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_DynamicTypes.h
deleted file mode 100644
index 3952377181a..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_DynamicTypes.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef __PHY_DYNAMIC_TYPES
-#define __PHY_DYNAMIC_TYPES
-
-
-
-class	PHY_ResponseTable;
-
-class PHY_Shape;
-
-struct	PHY__Vector3
-{
-	float	m_vec[4];
-	operator const float* () const 
-	{ 
-		return &m_vec[0];
-	}	
-	operator float* () 
-	{ 
-		return &m_vec[0];
-	}	
-};
-//typedef 	float	PHY__Vector3[4];
-
-typedef enum
-{
-	PHY_FH_RESPONSE,
-	PHY_SENSOR_RESPONSE,		/* Touch Sensors */
-	PHY_CAMERA_RESPONSE,	/* Visibility Culling */
-	PHY_OBJECT_RESPONSE,	/* Object Dynamic Geometry Response */
-	PHY_STATIC_RESPONSE,	/* Static Geometry Response */
-	
-	PHY_NUM_RESPONSE
-};
-
-	typedef struct PHY_CollData {
-		PHY__Vector3 m_point1;               /* Point in object1 in world coordinates */ 
-		PHY__Vector3 m_point2;               /* Point in object2 in world coordinates */
-		PHY__Vector3 m_normal;               /* point2 - point1 */ 
-	} PHY_CollData;
-
-
-	typedef bool (*PHY_ResponseCallback)(void *client_data,
-										   void *client_object1,
-										   void *client_object2,
-										   const PHY_CollData *coll_data);
-		
-
-
-/// PHY_PhysicsType enumerates all possible Physics Entities.
-/// It is mainly used to create/add Physics Objects
-
-typedef enum PHY_PhysicsType {
-	PHY_CONVEX_RIGIDBODY=16386,
-	PHY_CONCAVE_RIGIDBODY=16399,
-	PHY_CONVEX_FIXEDBODY=16388,//'collision object'
-	PHY_CONCAVE_FIXEDBODY=16401,
-	PHY_CONVEX_KINEMATICBODY=16387,// 
-	PHY_CONCAVE_KINEMATICBODY=16400,
-	PHY_CONVEX_PHANTOMBODY=16398,
-	PHY_CONCAVE_PHANTOMBODY=16402
-} PHY_PhysicsType;
-
-/// PHY_ConstraintType enumerates all supported Constraint Types
-typedef enum PHY_ConstraintType {
-	PHY_POINT2POINT_CONSTRAINT=1,
-	PHY_LINEHINGE_CONSTRAINT=2,
-	PHY_ANGULAR_CONSTRAINT = 3,//hinge without ball socket
-	PHY_VEHICLE_CONSTRAINT=11,//complex 'constraint' that turns a rigidbody into a vehicle
-	PHY_GENERIC_6DOF_CONSTRAINT=12,//can leave any of the 6 degree of freedom 'free' or 'locked'
-
-} PHY_ConstraintType;
-
-typedef float	PHY_Vector3[3];
-
-#endif //__PHY_DYNAMIC_TYPES
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp
deleted file mode 100644
index c3fd6353018..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "PHY_IMotionState.h"
-
-PHY_IMotionState::~PHY_IMotionState()
-{
-
-}
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.h
deleted file mode 100644
index 23dfdebaee0..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef PHY__MOTIONSTATE_H
-#define PHY__MOTIONSTATE_H
-
-/**
-	PHY_IMotionState is the Interface to explicitly synchronize the world transformation.
-	Default implementations for mayor graphics libraries like OpenGL and DirectX can be provided.
-*/
-class	PHY_IMotionState
-
-{
-	public:
-		
-		virtual ~PHY_IMotionState();
-
-		virtual void	getWorldPosition(float& posX,float& posY,float& posZ)=0;
-		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0;
-		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0;
-		
-		virtual void	setWorldPosition(float posX,float posY,float posZ)=0;
-		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0;
-
-		virtual	void	calculateWorldTransformations()=0;
-};
-
-#endif //PHY__MOTIONSTATE_H
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp
deleted file mode 100644
index 1ef7118ec46..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "PHY_IPhysicsController.h"
-
-PHY_IPhysicsController::~PHY_IPhysicsController()
-{
-
-}
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.h
deleted file mode 100644
index 822cf4e7ff1..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef PHY_IPHYSICSCONTROLLER_H
-#define PHY_IPHYSICSCONTROLLER_H
-
-#include "PHY_DynamicTypes.h"
-
-/**
-	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
-	It contains the IMotionState and IDeformableMesh Interfaces.
-*/
-
-
-class PHY_IPhysicsController	
-{
-
-	public:
-		
-		virtual ~PHY_IPhysicsController();
-		/**
-			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		virtual bool		SynchronizeMotionStates(float time)=0;
-		/**
-			WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
-		*/
-		
-		virtual void		WriteMotionStateToDynamics(bool nondynaonly)=0;
-		virtual	void		WriteDynamicsToMotionState()=0;
-		// controller replication
-		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
-
-		// kinematic methods
-		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
-		virtual void		RelativeRotate(const float drot[12],bool local)=0;
-		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
-		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
-		virtual	void		setPosition(float posX,float posY,float posZ)=0;
-		virtual	void 		getPosition(PHY__Vector3&	pos) const=0;
-		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ)=0;
-		
-		// physics methods
-		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
-		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
-		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
-		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
-	
-		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
-		virtual void		SetActive(bool active)=0;
-
-		// reading out information from physics
-		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
-		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; 
-		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
-
-		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
-		virtual	void		setRigidBody(bool rigid)=0;
-
-
-		// clientinfo for raycasts for example
-		virtual	void*				getNewClientInfo()=0;
-		virtual	void				setNewClientInfo(void* clientinfo)=0;
-		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
-
-		virtual void	calcXform() =0;
-		virtual void SetMargin(float margin) =0;
-		virtual float GetMargin() const=0;
-		virtual float GetRadius() const { return 0.f;}
-		PHY__Vector3	GetWorldPosition(PHY__Vector3& localpos);
-
-};
-
-#endif //PHY_IPHYSICSCONTROLLER_H
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp
deleted file mode 100644
index f59efad561a..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
- * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies and
- * that both that copyright notice and this permission notice appear
- * in supporting documentation.  Erwin Coumans makes no
- * representations about the suitability of this software for any
- * purpose.  It is provided "as is" without express or implied warranty.
- *
- */
-
-#include "PHY_IPhysicsEnvironment.h"
-
-/**
-*	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
-*	A derived class may be able to 'construct' entities by loading and/or converting
-*/
-
-
-
-PHY_IPhysicsEnvironment::~PHY_IPhysicsEnvironment()
-{
-
-}
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.h
deleted file mode 100644
index cbf9094037f..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef _IPHYSICSENVIRONMENT
-#define _IPHYSICSENVIRONMENT
-
-#include <vector>
-#include "PHY_DynamicTypes.h"
-
-/**
-*	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
-*	A derived class may be able to 'construct' entities by loading and/or converting
-*/
-class PHY_IPhysicsEnvironment
-{
-	public:
-		virtual		~PHY_IPhysicsEnvironment();
-		/// Perform an integration step of duration 'timeStep'.
-		virtual	bool		proceedDeltaTime(double curTime,float timeStep)=0;
-
-
-		virtual	void		setGravity(float x,float y,float z)=0;
-
-		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
-			float pivotX,float pivotY,float pivotZ,
-			float axisX,float axisY,float axisZ)=0;
-		virtual void		removeConstraint(int constraintid)=0;
-
-			virtual float		getAppliedImpulse(int	constraintid){ return 0.f;}
-
-		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
-										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0;
-
-
-		//Methods for gamelogic collision/physics callbacks
-		//todo:
-		virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
-		virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
-		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
-		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
-		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) =0;
-		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
-		
-};
-
-#endif //_IPHYSICSENVIRONMENT
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.cpp b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.cpp
deleted file mode 100644
index e22b7fd1a8e..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-#include "PHY_IVehicle.h"
-
-PHY_IVehicle::~PHY_IVehicle()
-{
-
-}
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.h
deleted file mode 100644
index 6d2cb66843e..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_IVehicle.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef PHY_IVEHICLE_H
-#define PHY_IVEHICLE_H
-
-//PHY_IVehicle provides a generic interface for (raycast based) vehicles. Mostly targetting 4 wheel cars and 2 wheel motorbikes.
-
-class PHY_IMotionState;
-#include "PHY_DynamicTypes.h"
-
-class PHY_IVehicle
-{
-public:
-
-	virtual ~PHY_IVehicle();
-	
-	virtual void	AddWheel(
-			PHY_IMotionState* motionState,
-			PHY__Vector3	connectionPoint,
-			PHY__Vector3	downDirection,
-			PHY__Vector3	axleDirection,
-			float	suspensionRestLength,
-			float wheelRadius,
-			bool hasSteering
-		) = 0;
-
-
-	virtual	int		GetNumWheels() const = 0;
-	
-	virtual void	GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const = 0;
-	virtual void	GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const = 0;
-	virtual float	GetWheelRotation(int wheelIndex) const = 0;
-
-	virtual int	GetUserConstraintId() const =0;
-	virtual int	GetUserConstraintType() const =0;
-
-	//some basic steering/braking/tuning/balancing (bikes)
-
-	virtual	void	SetSteeringValue(float steering,int wheelIndex) = 0;
-
-	virtual	void	ApplyEngineForce(float force,int wheelIndex) = 0;
-
-	virtual	void	ApplyBraking(float braking,int wheelIndex) = 0;
-
-};
-
-#endif //PHY_IVEHICLE_H
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PHY_Pro.h b/extern/bullet/Extras/PhysicsInterface/Common/PHY_Pro.h
deleted file mode 100644
index aa455164dcb..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PHY_Pro.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef PHY_PROPSH
-#define PHY_PROPSH
-
-
-class CollisionShape;
-
-// Properties of dynamic objects
-struct PHY_ShapeProps {
-	float  m_mass;                  // Total mass
-	float  m_inertia;               // Inertia, should be a tensor some time 
-	float  m_lin_drag;              // Linear drag (air, water) 0 = concrete, 1 = vacuum 
-	float  m_ang_drag;              // Angular drag
-	float  m_friction_scaling[3];   // Scaling for anisotropic friction. Component in range [0, 1]   
-	bool       m_do_anisotropic;        // Should I do anisotropic friction? 
-	bool       m_do_fh;                 // Should the object have a linear Fh spring?
-	bool       m_do_rot_fh;             // Should the object have an angular Fh spring?
-	CollisionShape*	m_shape;
-};
-
-
-// Properties of collidable objects (non-ghost objects)
-struct PHY_MaterialProps {
-	float m_restitution;           // restitution of energie after a collision 0 = inelastic, 1 = elastic
-	float m_friction;              // Coulomb friction (= ratio between the normal en maximum friction force)
-	float m_fh_spring;             // Spring constant (both linear and angular)
-	float m_fh_damping;            // Damping factor (linear and angular) in range [0, 1]
-	float m_fh_distance;           // The range above the surface where Fh is active.    
-	bool      m_fh_normal;             // Should the object slide off slopes?
-};
-
-#endif //PHY_PROPSH
-
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterface.dsp b/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterface.dsp
deleted file mode 100644
index 7617570f4a7..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterface.dsp
+++ /dev/null
@@ -1,128 +0,0 @@
-# Microsoft Developer Studio Project File - Name="PhysicsInterface" - Package Owner=<4>
-# Microsoft Developer Studio Generated Build File, Format Version 6.00
-# ** DO NOT EDIT **
-
-# TARGTYPE "Win32 (x86) Static Library" 0x0104
-
-CFG=PhysicsInterface - Win32 Debug
-!MESSAGE This is not a valid makefile. To build this project using NMAKE,
-!MESSAGE use the Export Makefile command and run
-!MESSAGE 
-!MESSAGE NMAKE /f "PhysicsInterface.mak".
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-RSC=rc.exe
-
-!IF  "$(CFG)" == "PhysicsInterface - Win32 Release"
-
-# PROP BASE Use_MFC 0
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-# PROP BASE Output_Dir "Release"
-# PROP BASE Intermediate_Dir "Release"
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-# PROP Use_MFC 0
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-# PROP Output_Dir "Release"
-# PROP Intermediate_Dir "Release"
-# PROP Target_Dir ""
-LINK32=link.exe -lib
-MTL=midl.exe
-# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
-# ADD CPP /nologo /W3 /GX /O2 /I "..\..\..\LinearMath" /I "..\..\..\Extras\PhysicsInterface\Common" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
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-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
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-LIB32=link.exe -lib
-# ADD BASE LIB32 /nologo
-# ADD LIB32 /nologo
-
-!ELSEIF  "$(CFG)" == "PhysicsInterface - Win32 Debug"
-
-# PROP BASE Use_MFC 0
-# PROP BASE Use_Debug_Libraries 1
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-# PROP Output_Dir "Debug"
-# PROP Intermediate_Dir "Debug"
-# PROP Target_Dir ""
-LINK32=link.exe -lib
-MTL=midl.exe
-# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
-# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "..\..\..\LinearMath" /I "..\..\..\Extras\PhysicsInterface\Common" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
-# ADD BASE RSC /l 0x809 /d "_DEBUG"
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-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LIB32=link.exe -lib
-# ADD BASE LIB32 /nologo
-# ADD LIB32 /nologo
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-
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-# Name "PhysicsInterface - Win32 Debug"
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-
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-# Begin Source File
-
-SOURCE=.\PHY_IMotionState.cpp
-# End Source File
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-# End Source File
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-# End Source File
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-
-# PROP Default_Filter "h;hpp;hxx;hm;inl"
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-SOURCE=.\PHY_DynamicTypes.h
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diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc7.vcproj b/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc7.vcproj
deleted file mode 100644
index c47e8b1b4e1..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc7.vcproj
+++ /dev/null
@@ -1,143 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="7.10"
-	Name="PhysicsInterfaceCommon"
-	ProjectGUID="{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
-	Keyword="Win32Proj">
-	<Platforms>
-		<Platform
-			Name="Win32"/>
-	</Platforms>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2">
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="TRUE"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
-				DebugInformationFormat="4"/>
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"/>
-			<Tool
-				Name="VCMIDLTool"/>
-			<Tool
-				Name="VCPostBuildEventTool"/>
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-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
-			<Tool
-				Name="VCResourceCompilerTool"/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"/>
-			<Tool
-				Name="VCManagedWrapperGeneratorTool"/>
-			<Tool
-				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
-			ConfigurationType="4"
-			CharacterSet="2">
-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
-				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
-				RuntimeLibrary="4"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
-				DebugInformationFormat="3"/>
-			<Tool
-				Name="VCCustomBuildTool"/>
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-	</Configurations>
-	<References>
-	</References>
-	<Files>
-		<Filter
-			Name="Source Files"
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-			<File
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-				RelativePath="..\PHY_IPhysicsController.cpp">
-			</File>
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-				RelativePath="..\PHY_IPhysicsEnvironment.cpp">
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-			<File
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-			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
-		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt">
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc8.vcproj b/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc8.vcproj
deleted file mode 100644
index b0c5fe09eaf..00000000000
--- a/extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc8.vcproj
+++ /dev/null
@@ -1,211 +0,0 @@
-<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
-	ProjectType="Visual C++"
-	Version="8.00"
-	Name="PhysicsInterfaceCommon"
-	ProjectGUID="{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
-	Keyword="Win32Proj"
-	>
-	<Platforms>
-		<Platform
-			Name="Win32"
-		/>
-	</Platforms>
-	<ToolFiles>
-	</ToolFiles>
-	<Configurations>
-		<Configuration
-			Name="Debug|Win32"
-			OutputDirectory="Debug"
-			IntermediateDirectory="Debug"
-			ConfigurationType="4"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				Optimization="0"
-				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
-				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="true"
-				BasicRuntimeChecks="3"
-				RuntimeLibrary="1"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="4"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			OutputDirectory="Release"
-			IntermediateDirectory="Release"
-			ConfigurationType="4"
-			CharacterSet="2"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
-				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
-				RuntimeLibrary="0"
-				UsePrecompiledHeader="0"
-				WarningLevel="3"
-				Detect64BitPortabilityProblems="true"
-				DebugInformationFormat="3"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
-	</Configurations>
-	<References>
-	</References>
-	<Files>
-		<Filter
-			Name="Source Files"
-			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
-			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
-			>
-			<File
-				RelativePath="..\PHY_IMotionState.cpp"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IPhysicsController.cpp"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IPhysicsEnvironment.cpp"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IVehicle.cpp"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Header Files"
-			Filter="h;hpp;hxx;hm;inl;inc;xsd"
-			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
-			>
-			<File
-				RelativePath="..\PHY_DynamicTypes.h"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IMotionState.h"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IPhysicsController.h"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IPhysicsEnvironment.h"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_IVehicle.h"
-				>
-			</File>
-			<File
-				RelativePath="..\PHY_Pro.h"
-				>
-			</File>
-		</Filter>
-		<Filter
-			Name="Resource Files"
-			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
-			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
-			>
-		</Filter>
-		<File
-			RelativePath=".\ReadMe.txt"
-			>
-		</File>
-	</Files>
-	<Globals>
-	</Globals>
-</VisualStudioProject>
diff --git a/extern/bullet/LinearMath/AabbUtil2.h b/extern/bullet/LinearMath/AabbUtil2.h
deleted file mode 100644
index dab39b8a47e..00000000000
--- a/extern/bullet/LinearMath/AabbUtil2.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
-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 AABB_UTIL2
-#define AABB_UTIL2
-
-#include "SimdVector3.h"
-
-#define SimdMin(a,b) ((a < b ? a : b))
-#define SimdMax(a,b) ((a > b ? a : b))
-
-
-/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const SimdVector3 &aabbMin1, const SimdVector3 &aabbMax1,
-								const SimdVector3 &aabbMin2, const SimdVector3 &aabbMax2)
-{
-	bool overlap = true;
-	overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-	overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-	overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-	return overlap;
-}
-
-/// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const SimdVector3 *vertices,
-									const SimdVector3 &aabbMin, const SimdVector3 &aabbMax)
-{
-	const SimdVector3 &p1 = vertices[0];
-	const SimdVector3 &p2 = vertices[1];
-	const SimdVector3 &p3 = vertices[2];
-
-	if (SimdMin(SimdMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
-	if (SimdMax(SimdMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
-
-	if (SimdMin(SimdMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
-	if (SimdMax(SimdMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-  
-	if (SimdMin(SimdMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
-	if (SimdMax(SimdMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
-	return true;
-}
-
-#endif
-
diff --git a/extern/bullet/LinearMath/GEN_List.h b/extern/bullet/LinearMath/GEN_List.h
deleted file mode 100644
index 9fc2a5233b7..00000000000
--- a/extern/bullet/LinearMath/GEN_List.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-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 GEN_LIST_H
-#define GEN_LIST_H
-
-class GEN_Link {
-public:
-    GEN_Link() : m_next(0), m_prev(0) {}
-    GEN_Link(GEN_Link *next, GEN_Link *prev) : m_next(next), m_prev(prev) {}
-    
-    GEN_Link *getNext() const { return m_next; }  
-    GEN_Link *getPrev() const { return m_prev; }  
-
-    bool isHead() const { return m_prev == 0; }
-    bool isTail() const { return m_next == 0; }
-
-    void insertBefore(GEN_Link *link) {
-        m_next         = link;
-        m_prev         = link->m_prev;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void insertAfter(GEN_Link *link) {
-        m_next         = link->m_next;
-        m_prev         = link;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void remove() { 
-        m_next->m_prev = m_prev; 
-        m_prev->m_next = m_next;
-    }
-
-private:  
-    GEN_Link  *m_next;
-    GEN_Link  *m_prev;
-};
-
-class GEN_List {
-public:
-    GEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
-
-    GEN_Link *getHead() const { return m_head.getNext(); } 
-    GEN_Link *getTail() const { return m_tail.getPrev(); } 
-
-    void addHead(GEN_Link *link) { link->insertAfter(&m_head); }
-    void addTail(GEN_Link *link) { link->insertBefore(&m_tail); }
-    
-private:
-    GEN_Link m_head;
-    GEN_Link m_tail;
-};
-
-#endif
-
-
-
diff --git a/extern/bullet/LinearMath/GEN_MinMax.h b/extern/bullet/LinearMath/GEN_MinMax.h
deleted file mode 100644
index 1b8a3633f38..00000000000
--- a/extern/bullet/LinearMath/GEN_MinMax.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-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 GEN_MINMAX_H
-#define GEN_MINMAX_H
-
-template <class T>
-SIMD_FORCE_INLINE const T& GEN_min(const T& a, const T& b) 
-{
-  return b < a ? b : a;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& GEN_max(const T& a, const T& b) 
-{
-  return  a < b ? b : a;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) 
-{
-	return a < lb ? lb : (ub < a ? ub : a); 
-}
-
-template <class T>
-SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b) 
-{
-    if (b < a) 
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void GEN_set_max(T& a, const T& b) 
-{
-    if (a < b) 
-	{
-		a = b;
-	}
-}
-
-template <class T>
-SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub) 
-{
-	if (a < lb) 
-	{
-		a = lb; 
-	}
-	else if (ub < a) 
-	{
-		a = ub;
-	}
-}
-
-#endif
diff --git a/extern/bullet/LinearMath/GEN_random.h b/extern/bullet/LinearMath/GEN_random.h
deleted file mode 100644
index fdf65e01caf..00000000000
--- a/extern/bullet/LinearMath/GEN_random.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-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 GEN_RANDOM_H
-#define GEN_RANDOM_H
-
-#ifdef MT19937
-
-#include <limits.h>
-#include <mt19937.h>
-
-#define GEN_RAND_MAX UINT_MAX
-
-SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { init_genrand(seed); }
-SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return genrand_int32(); }
-
-#else
-
-#include <stdlib.h>
-
-#define GEN_RAND_MAX RAND_MAX
-
-SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { srand(seed); } 
-SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return rand(); }
-
-#endif
-
-#endif
-
diff --git a/extern/bullet/LinearMath/IDebugDraw.h b/extern/bullet/LinearMath/IDebugDraw.h
deleted file mode 100644
index be6c3fd4fbb..00000000000
--- a/extern/bullet/LinearMath/IDebugDraw.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright (c) 2005 Gino van den Bergen / Erwin Coumans http://continuousphysics.com
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-*/
-
-
-#ifndef IDEBUG_DRAW__H
-#define IDEBUG_DRAW__H
-
-#include "SimdVector3.h"
-
-
-class	IDebugDraw
-{
-	public:
-
-	enum	DebugDrawModes
-	{
-		DBG_NoDebug=0,
-		DBG_DrawAabb=1,
-		DBG_DrawText=2,
-		DBG_DrawFeaturesText=4,
-		DBG_DrawContactPoints=8,
-		DBG_NoDeactivation=16,
-		DBG_NoHelpText = 32,
-		DBG_DrawWireframe = 64,
-		DBG_ProfileTimings = 128,
-		DBG_EnableSatComparison = 256,
-		DBG_DisableBulletLCP = 512,
-		DBG_EnableCCD = 1024,
-		DBG_MAX_DEBUG_DRAW_MODE
-	};
-
-	virtual ~IDebugDraw() {};
-
-	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
-
-	virtual void	DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)=0;
-
-	virtual void	SetDebugMode(int debugMode) =0;
-	
-	virtual int		GetDebugMode() const = 0;
-
-
-};
-
-#endif //IDEBUG_DRAW__H
-
diff --git a/extern/bullet/LinearMath/SimdMatrix3x3.h b/extern/bullet/LinearMath/SimdMatrix3x3.h
deleted file mode 100644
index a6f5bb43479..00000000000
--- a/extern/bullet/LinearMath/SimdMatrix3x3.h
+++ /dev/null
@@ -1,395 +0,0 @@
-/*
-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 SimdMatrix3x3_H
-#define SimdMatrix3x3_H
-
-#include "SimdScalar.h"
-
-#include "SimdVector3.h"
-#include "SimdQuaternion.h"
-
-
-class SimdMatrix3x3 {
-	public:
-		SimdMatrix3x3 () {}
-		
-//		explicit SimdMatrix3x3(const SimdScalar *m) { setFromOpenGLSubMatrix(m); }
-		
-		explicit SimdMatrix3x3(const SimdQuaternion& q) { setRotation(q); }
-		/*
-		template <typename SimdScalar>
-		Matrix3x3(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
-		{ 
-			setEulerYPR(yaw, pitch, roll);
-		}
-		*/
-		SimdMatrix3x3(const SimdScalar& xx, const SimdScalar& xy, const SimdScalar& xz,
-				  const SimdScalar& yx, const SimdScalar& yy, const SimdScalar& yz,
-				  const SimdScalar& zx, const SimdScalar& zy, const SimdScalar& zz)
-		{ 
-			setValue(xx, xy, xz, 
-					 yx, yy, yz, 
-					 zx, zy, zz);
-		}
-		
-		SimdVector3 getColumn(int i) const
-		{
-			return SimdVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
-		}
-
-		const SimdVector3& getRow(int i) const
-		{
-			return m_el[i];
-		}
-
-
-		SIMD_FORCE_INLINE SimdVector3&  operator[](int i)
-		{ 
-			assert(0 <= i && i < 3);
-			return m_el[i]; 
-		}
-		
-		const SimdVector3& operator[](int i) const
-		{
-			assert(0 <= i && i < 3);
-			return m_el[i]; 
-		}
-		
-		SimdMatrix3x3& operator*=(const SimdMatrix3x3& m); 
-		
-	
-	void setFromOpenGLSubMatrix(const SimdScalar *m)
-		{
-			m_el[0][0] = (m[0]); 
-			m_el[1][0] = (m[1]); 
-			m_el[2][0] = (m[2]);
-			m_el[0][1] = (m[4]); 
-			m_el[1][1] = (m[5]); 
-			m_el[2][1] = (m[6]);
-			m_el[0][2] = (m[8]); 
-			m_el[1][2] = (m[9]); 
-			m_el[2][2] = (m[10]);
-		}
-
-		void setValue(const SimdScalar& xx, const SimdScalar& xy, const SimdScalar& xz, 
-					  const SimdScalar& yx, const SimdScalar& yy, const SimdScalar& yz, 
-					  const SimdScalar& zx, const SimdScalar& zy, const SimdScalar& zz)
-		{
-			m_el[0][0] = SimdScalar(xx); 
-			m_el[0][1] = SimdScalar(xy); 
-			m_el[0][2] = SimdScalar(xz);
-			m_el[1][0] = SimdScalar(yx); 
-			m_el[1][1] = SimdScalar(yy); 
-			m_el[1][2] = SimdScalar(yz);
-			m_el[2][0] = SimdScalar(zx); 
-			m_el[2][1] = SimdScalar(zy); 
-			m_el[2][2] = SimdScalar(zz);
-		}
-  
-		void setRotation(const SimdQuaternion& q) 
-		{
-			SimdScalar d = q.length2();
-			assert(d != SimdScalar(0.0));
-			SimdScalar s = SimdScalar(2.0) / d;
-			SimdScalar xs = q[0] * s,   ys = q[1] * s,   zs = q[2] * s;
-			SimdScalar wx = q[3] * xs,  wy = q[3] * ys,  wz = q[3] * zs;
-			SimdScalar xx = q[0] * xs,  xy = q[0] * ys,  xz = q[0] * zs;
-			SimdScalar yy = q[1] * ys,  yz = q[1] * zs,  zz = q[2] * zs;
-			setValue(SimdScalar(1.0) - (yy + zz), xy - wz, xz + wy,
-					 xy + wz, SimdScalar(1.0) - (xx + zz), yz - wx,
-					 xz - wy, yz + wx, SimdScalar(1.0) - (xx + yy));
-		}
-		
-
-
-		void setEulerYPR(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll) 
-		{
-
-			SimdScalar cy(SimdCos(yaw)); 
-			SimdScalar  sy(SimdSin(yaw)); 
-			SimdScalar  cp(SimdCos(pitch)); 
-			SimdScalar  sp(SimdSin(pitch)); 
-			SimdScalar  cr(SimdCos(roll));
-			SimdScalar  sr(SimdSin(roll));
-			SimdScalar  cc = cy * cr; 
-			SimdScalar  cs = cy * sr; 
-			SimdScalar  sc = sy * cr; 
-			SimdScalar  ss = sy * sr;
-			setValue(cc - sp * ss, -cs - sp * sc, -sy * cp,
-                     cp * sr,       cp * cr,      -sp,
-					 sc + sp * cs, -ss + sp * cc,  cy * cp);
-		
-		}
-
-	/**
-	 * setEulerZYX
-	 * @param euler a const reference to a SimdVector3 of euler angles
-	 * These angles are used to produce a rotation matrix. The euler
-	 * angles are applied in ZYX order. I.e a vector is first rotated 
-	 * about X then Y and then Z
-	 **/
-	
-	void setEulerZYX(SimdScalar eulerX,SimdScalar eulerY,SimdScalar eulerZ) {
-		SimdScalar ci ( SimdCos(eulerX)); 
-		SimdScalar cj ( SimdCos(eulerY)); 
-		SimdScalar ch ( SimdCos(eulerZ)); 
-		SimdScalar si ( SimdSin(eulerX)); 
-		SimdScalar sj ( SimdSin(eulerY)); 
-		SimdScalar sh ( SimdSin(eulerZ)); 
-		SimdScalar cc = ci * ch; 
-		SimdScalar cs = ci * sh; 
-		SimdScalar sc = si * ch; 
-		SimdScalar ss = si * sh;
-		
-		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
-				 cj * sh, sj * ss + cc, sj * cs - sc, 
-	       			 -sj,      cj * si,      cj * ci);
-	}
-
-		void setIdentity()
-		{ 
-			setValue(SimdScalar(1.0), SimdScalar(0.0), SimdScalar(0.0), 
-					 SimdScalar(0.0), SimdScalar(1.0), SimdScalar(0.0), 
-					 SimdScalar(0.0), SimdScalar(0.0), SimdScalar(1.0)); 
-		}
-    
-		void getOpenGLSubMatrix(SimdScalar *m) const 
-		{
-			m[0]  = SimdScalar(m_el[0][0]); 
-			m[1]  = SimdScalar(m_el[1][0]);
-			m[2]  = SimdScalar(m_el[2][0]);
-			m[3]  = SimdScalar(0.0); 
-			m[4]  = SimdScalar(m_el[0][1]);
-			m[5]  = SimdScalar(m_el[1][1]);
-			m[6]  = SimdScalar(m_el[2][1]);
-			m[7]  = SimdScalar(0.0); 
-			m[8]  = SimdScalar(m_el[0][2]); 
-			m[9]  = SimdScalar(m_el[1][2]);
-			m[10] = SimdScalar(m_el[2][2]);
-			m[11] = SimdScalar(0.0); 
-		}
-
-		void getRotation(SimdQuaternion& q) const
-		{
-			SimdScalar trace = m_el[0][0] + m_el[1][1] + m_el[2][2];
-			
-			if (trace > SimdScalar(0.0)) 
-			{
-				SimdScalar s = SimdSqrt(trace + SimdScalar(1.0));
-				q[3] = s * SimdScalar(0.5);
-				s = SimdScalar(0.5) / s;
-				
-				q[0] = (m_el[2][1] - m_el[1][2]) * s;
-				q[1] = (m_el[0][2] - m_el[2][0]) * s;
-				q[2] = (m_el[1][0] - m_el[0][1]) * s;
-			} 
-			else 
-			{
-				int i = m_el[0][0] < m_el[1][1] ? 
-					(m_el[1][1] < m_el[2][2] ? 2 : 1) :
-					(m_el[0][0] < m_el[2][2] ? 2 : 0); 
-				int j = (i + 1) % 3;  
-				int k = (i + 2) % 3;
-				
-				SimdScalar s = SimdSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + SimdScalar(1.0));
-				q[i] = s * SimdScalar(0.5);
-				s = SimdScalar(0.5) / s;
-				
-				q[3] = (m_el[k][j] - m_el[j][k]) * s;
-				q[j] = (m_el[j][i] + m_el[i][j]) * s;
-				q[k] = (m_el[k][i] + m_el[i][k]) * s;
-			}
-		}
-	
-
-		
-		void getEuler(SimdScalar& yaw, SimdScalar& pitch, SimdScalar& roll) const
-		{
-			pitch = SimdScalar(SimdAsin(-m_el[2][0]));
-			if (pitch < SIMD_2_PI)
-			{
-				if (pitch > SIMD_2_PI)
-				{
-					yaw = SimdScalar(SimdAtan2(m_el[1][0], m_el[0][0]));
-					roll = SimdScalar(SimdAtan2(m_el[2][1], m_el[2][2]));
-				}
-				else 
-				{
-					yaw = SimdScalar(-SimdAtan2(-m_el[0][1], m_el[0][2]));
-					roll = SimdScalar(0.0);
-				}
-			}
-			else
-			{
-				yaw = SimdScalar(SimdAtan2(-m_el[0][1], m_el[0][2]));
-				roll = SimdScalar(0.0);
-			}
-		}
-
-		SimdVector3 getScaling() const
-		{
-			return SimdVector3(m_el[0][0] * m_el[0][0] + m_el[1][0] * m_el[1][0] + m_el[2][0] * m_el[2][0],
-								   m_el[0][1] * m_el[0][1] + m_el[1][1] * m_el[1][1] + m_el[2][1] * m_el[2][1],
-								   m_el[0][2] * m_el[0][2] + m_el[1][2] * m_el[1][2] + m_el[2][2] * m_el[2][2]);
-		}
-		
-		
-		SimdMatrix3x3 scaled(const SimdVector3& s) const
-		{
-			return SimdMatrix3x3(m_el[0][0] * s[0], m_el[0][1] * s[1], m_el[0][2] * s[2],
-									 m_el[1][0] * s[0], m_el[1][1] * s[1], m_el[1][2] * s[2],
-									 m_el[2][0] * s[0], m_el[2][1] * s[1], m_el[2][2] * s[2]);
-		}
-
-		SimdScalar            determinant() const;
-		SimdMatrix3x3 adjoint() const;
-		SimdMatrix3x3 absolute() const;
-		SimdMatrix3x3 transpose() const;
-		SimdMatrix3x3 inverse() const; 
-		
-		SimdMatrix3x3 transposeTimes(const SimdMatrix3x3& m) const;
-		SimdMatrix3x3 timesTranspose(const SimdMatrix3x3& m) const;
-		
-		SimdScalar tdot(int c, const SimdVector3& v) const 
-		{
-			return m_el[0][c] * v[0] + m_el[1][c] * v[1] + m_el[2][c] * v[2];
-		}
-		
-	protected:
-		SimdScalar cofac(int r1, int c1, int r2, int c2) const 
-		{
-			return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
-		}
-
-		SimdVector3 m_el[3];
-	};
-	
-	SIMD_FORCE_INLINE SimdMatrix3x3& 
-	SimdMatrix3x3::operator*=(const SimdMatrix3x3& m)
-	{
-		setValue(m.tdot(0, m_el[0]), m.tdot(1, m_el[0]), m.tdot(2, m_el[0]),
-				 m.tdot(0, m_el[1]), m.tdot(1, m_el[1]), m.tdot(2, m_el[1]),
-				 m.tdot(0, m_el[2]), m.tdot(1, m_el[2]), m.tdot(2, m_el[2]));
-		return *this;
-	}
-	
-	SIMD_FORCE_INLINE SimdScalar 
-	SimdMatrix3x3::determinant() const
-	{ 
-		return triple((*this)[0], (*this)[1], (*this)[2]);
-	}
-	
-
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::absolute() const
-	{
-		return SimdMatrix3x3(
-			SimdFabs(m_el[0][0]), SimdFabs(m_el[0][1]), SimdFabs(m_el[0][2]),
-			SimdFabs(m_el[1][0]), SimdFabs(m_el[1][1]), SimdFabs(m_el[1][2]),
-			SimdFabs(m_el[2][0]), SimdFabs(m_el[2][1]), SimdFabs(m_el[2][2]));
-	}
-
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::transpose() const 
-	{
-		return SimdMatrix3x3(m_el[0][0], m_el[1][0], m_el[2][0],
-								 m_el[0][1], m_el[1][1], m_el[2][1],
-								 m_el[0][2], m_el[1][2], m_el[2][2]);
-	}
-	
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::adjoint() const 
-	{
-		return SimdMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
-								 cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
-								 cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
-	}
-	
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::inverse() const
-	{
-		SimdVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
-		SimdScalar det = (*this)[0].dot(co);
-		assert(det != SimdScalar(0.0f));
-		SimdScalar s = SimdScalar(1.0f) / det;
-		return SimdMatrix3x3(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
-								 co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
-								 co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
-	}
-	
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::transposeTimes(const SimdMatrix3x3& m) const
-	{
-		return SimdMatrix3x3(
-			m_el[0][0] * m[0][0] + m_el[1][0] * m[1][0] + m_el[2][0] * m[2][0],
-			m_el[0][0] * m[0][1] + m_el[1][0] * m[1][1] + m_el[2][0] * m[2][1],
-			m_el[0][0] * m[0][2] + m_el[1][0] * m[1][2] + m_el[2][0] * m[2][2],
-			m_el[0][1] * m[0][0] + m_el[1][1] * m[1][0] + m_el[2][1] * m[2][0],
-			m_el[0][1] * m[0][1] + m_el[1][1] * m[1][1] + m_el[2][1] * m[2][1],
-			m_el[0][1] * m[0][2] + m_el[1][1] * m[1][2] + m_el[2][1] * m[2][2],
-			m_el[0][2] * m[0][0] + m_el[1][2] * m[1][0] + m_el[2][2] * m[2][0],
-			m_el[0][2] * m[0][1] + m_el[1][2] * m[1][1] + m_el[2][2] * m[2][1],
-			m_el[0][2] * m[0][2] + m_el[1][2] * m[1][2] + m_el[2][2] * m[2][2]);
-	}
-	
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	SimdMatrix3x3::timesTranspose(const SimdMatrix3x3& m) const
-	{
-		return SimdMatrix3x3(
-			m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
-			m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
-			m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-		
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 
-	operator*(const SimdMatrix3x3& m, const SimdVector3& v) 
-	{
-		return SimdVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
-	}
-	
-
-	SIMD_FORCE_INLINE SimdVector3
-	operator*(const SimdVector3& v, const SimdMatrix3x3& m)
-	{
-		return SimdVector3(m.tdot(0, v), m.tdot(1, v), m.tdot(2, v));
-	}
-
-	SIMD_FORCE_INLINE SimdMatrix3x3 
-	operator*(const SimdMatrix3x3& m1, const SimdMatrix3x3& m2)
-	{
-		return SimdMatrix3x3(
-			m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]),
-			m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]),
-			m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2]));
-	}
-
-
-	SIMD_FORCE_INLINE SimdMatrix3x3 SimdMultTransposeLeft(const SimdMatrix3x3& m1, const SimdMatrix3x3& m2) {
-    return SimdMatrix3x3(
-        m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
-        m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
-        m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
-        m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
-        m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
-        m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
-        m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
-        m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
-        m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
-}
-
-
-#endif
diff --git a/extern/bullet/LinearMath/SimdMinMax.h b/extern/bullet/LinearMath/SimdMinMax.h
deleted file mode 100644
index 693cb2b7e74..00000000000
--- a/extern/bullet/LinearMath/SimdMinMax.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-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 SIMD_MINMAX_H
-#define SIMD_MINMAX_H
-
-template <class T>
-SIMD_FORCE_INLINE const T& SimdMin(const T& a, const T& b) {
-  return b < a ? b : a;
-}
-
-template <class T>
-SIMD_FORCE_INLINE const T& SimdMax(const T& a, const T& b) {
-  return  a < b ? b : a;
-}
-
-template <class T>
-SIMD_FORCE_INLINE void SimdSetMin(T& a, const T& b) {
-    if (a > b) a = b;
-}
-
-template <class T>
-SIMD_FORCE_INLINE void SimdSetMax(T& a, const T& b) {
-    if (a < b) a = b;
-}
-
-#endif
diff --git a/extern/bullet/LinearMath/SimdPoint3.h b/extern/bullet/LinearMath/SimdPoint3.h
deleted file mode 100644
index 15fb376f286..00000000000
--- a/extern/bullet/LinearMath/SimdPoint3.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
-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 SimdPoint3_H
-#define SimdPoint3_H
-
-#include "SimdVector3.h"
-
-typedef SimdVector3 SimdPoint3;
-
-#endif
diff --git a/extern/bullet/LinearMath/SimdQuadWord.h b/extern/bullet/LinearMath/SimdQuadWord.h
deleted file mode 100644
index 99768da5891..00000000000
--- a/extern/bullet/LinearMath/SimdQuadWord.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
-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 SIMD_QUADWORD_H
-#define SIMD_QUADWORD_H
-
-#include "SimdScalar.h"
-
-
-
-
-
-class	SimdQuadWord
-{
-	protected:
-		ATTRIBUTE_ALIGNED16	(SimdScalar	m_x);
-		SimdScalar	m_y;
-		SimdScalar	m_z;
-		SimdScalar	m_unusedW;
-
-	public:
-	
-		SIMD_FORCE_INLINE SimdScalar&       operator[](int i)       { return (&m_x)[i];	}      
-		SIMD_FORCE_INLINE const SimdScalar& operator[](int i) const { return (&m_x)[i]; }
-
-		SIMD_FORCE_INLINE const SimdScalar& getX() const { return m_x; }
-
-		SIMD_FORCE_INLINE const SimdScalar& getY() const { return m_y; }
-
-		SIMD_FORCE_INLINE const SimdScalar& getZ() const { return m_z; }
-
-		SIMD_FORCE_INLINE void	setX(float x) { m_x = x;};
-
-		SIMD_FORCE_INLINE void	setY(float y) { m_y = y;};
-
-		SIMD_FORCE_INLINE void	setZ(float z) { m_z = z;};
-
-		SIMD_FORCE_INLINE const SimdScalar& x() const { return m_x; }
-
-		SIMD_FORCE_INLINE const SimdScalar& y() const { return m_y; }
-
-		SIMD_FORCE_INLINE const SimdScalar& z() const { return m_z; }
-
-
-		operator       SimdScalar *()       { return &m_x; }
-		operator const SimdScalar *() const { return &m_x; }
-
-		SIMD_FORCE_INLINE void 	setValue(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z)
-		{
-			m_x=x;
-			m_y=y;
-			m_z=z;
-		}
-
-/*		void getValue(SimdScalar *m) const 
-		{
-			m[0] = m_x;
-			m[1] = m_y;
-			m[2] = m_z;
-		}
-*/
-		SIMD_FORCE_INLINE void	setValue(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w)
-		{
-			m_x=x;
-			m_y=y;
-			m_z=z;
-			m_unusedW=w;
-		}
-
-		SIMD_FORCE_INLINE SimdQuadWord() :
-		m_x(0.f),m_y(0.f),m_z(0.f),m_unusedW(0.f)
-		{
-		}
-
-		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
-		:m_x(x),m_y(y),m_z(z)
-		//todo, remove this in release/simd ?
-		,m_unusedW(0.f)
-		{
-		}
-
-		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
-			:m_x(x),m_y(y),m_z(z),m_unusedW(w)
-		{
-		}
-
-
-		SIMD_FORCE_INLINE void	setMax(const SimdQuadWord& other)
-		{
-			if (other.m_x > m_x)
-				m_x = other.m_x;
-
-			if (other.m_y > m_y)
-				m_y = other.m_y;
-
-			if (other.m_z > m_z)
-				m_z = other.m_z;
-
-			if (other.m_unusedW > m_unusedW)
-				m_unusedW = other.m_unusedW;
-		}
-
-		SIMD_FORCE_INLINE void	setMin(const SimdQuadWord& other)
-		{
-			if (other.m_x < m_x)
-				m_x = other.m_x;
-
-			if (other.m_y < m_y)
-				m_y = other.m_y;
-
-			if (other.m_z < m_z)
-				m_z = other.m_z;
-
-			if (other.m_unusedW < m_unusedW)
-				m_unusedW = other.m_unusedW;
-		}
-
-
-
-};
-
-#endif //SIMD_QUADWORD_H
diff --git a/extern/bullet/LinearMath/SimdQuaternion.h b/extern/bullet/LinearMath/SimdQuaternion.h
deleted file mode 100644
index 2d152268ead..00000000000
--- a/extern/bullet/LinearMath/SimdQuaternion.h
+++ /dev/null
@@ -1,290 +0,0 @@
-/*
-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 SIMD__QUATERNION_H_
-#define SIMD__QUATERNION_H_
-
-#include "SimdVector3.h"
-
-class SimdQuaternion : public SimdQuadWord {
-public:
-	SimdQuaternion() {}
-
-	//		template <typename SimdScalar>
-	//		explicit Quaternion(const SimdScalar *v) : Tuple4<SimdScalar>(v) {}
-
-	SimdQuaternion(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z, const SimdScalar& w) 
-		: SimdQuadWord(x, y, z, w) 
-	{}
-
-	SimdQuaternion(const SimdVector3& axis, const SimdScalar& angle) 
-	{ 
-		setRotation(axis, angle); 
-	}
-
-	SimdQuaternion(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
-	{ 
-		setEuler(yaw, pitch, roll); 
-	}
-
-	void setRotation(const SimdVector3& axis, const SimdScalar& angle)
-	{
-		SimdScalar d = axis.length();
-		assert(d != SimdScalar(0.0));
-		SimdScalar s = SimdSin(angle * SimdScalar(0.5)) / d;
-		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
-			SimdCos(angle * SimdScalar(0.5)));
-	}
-
-	void setEuler(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
-	{
-		SimdScalar halfYaw = SimdScalar(yaw) * SimdScalar(0.5);  
-		SimdScalar halfPitch = SimdScalar(pitch) * SimdScalar(0.5);  
-		SimdScalar halfRoll = SimdScalar(roll) * SimdScalar(0.5);  
-		SimdScalar cosYaw = SimdCos(halfYaw);
-		SimdScalar sinYaw = SimdSin(halfYaw);
-		SimdScalar cosPitch = SimdCos(halfPitch);
-		SimdScalar sinPitch = SimdSin(halfPitch);
-		SimdScalar cosRoll = SimdCos(halfRoll);
-		SimdScalar sinRoll = SimdSin(halfRoll);
-		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
-			cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
-			sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
-			cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
-	}
-
-	SimdQuaternion& operator+=(const SimdQuaternion& q)
-	{
-		m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q[3];
-		return *this;
-	}
-
-	SimdQuaternion& operator-=(const SimdQuaternion& q) 
-	{
-		m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q[3];
-		return *this;
-	}
-
-	SimdQuaternion& operator*=(const SimdScalar& s)
-	{
-		m_x *= s; m_y *= s; m_z *= s; m_unusedW *= s;
-		return *this;
-	}
-
-
-	SimdQuaternion& operator*=(const SimdQuaternion& q)
-	{
-		setValue(m_unusedW * q.x() + m_x * q[3] + m_y * q.z() - m_z * q.y(),
-			m_unusedW * q.y() + m_y * q[3] + m_z * q.x() - m_x * q.z(),
-			m_unusedW * q.z() + m_z * q[3] + m_x * q.y() - m_y * q.x(),
-			m_unusedW * q[3] - m_x * q.x() - m_y * q.y() - m_z * q.z());
-		return *this;
-	}
-
-	SimdScalar dot(const SimdQuaternion& q) const
-	{
-		return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q[3];
-	}
-
-	SimdScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	SimdScalar length() const
-	{
-		return SimdSqrt(length2());
-	}
-
-	SimdQuaternion& normalize() 
-	{
-		return *this /= length();
-	}
-
-	SIMD_FORCE_INLINE SimdQuaternion
-	operator*(const SimdScalar& s) const
-	{
-		return SimdQuaternion(x() * s, y() * s, z() * s, m_unusedW * s);
-	}
-
-
-
-	SimdQuaternion operator/(const SimdScalar& s) const
-	{
-		assert(s != SimdScalar(0.0));
-		return *this * (SimdScalar(1.0) / s);
-	}
-
-
-	SimdQuaternion& operator/=(const SimdScalar& s) 
-	{
-		assert(s != SimdScalar(0.0));
-		return *this *= SimdScalar(1.0) / s;
-	}
-
-
-	SimdQuaternion normalized() const 
-	{
-		return *this / length();
-	} 
-
-	SimdScalar angle(const SimdQuaternion& q) const 
-	{
-		SimdScalar s = SimdSqrt(length2() * q.length2());
-		assert(s != SimdScalar(0.0));
-		return SimdAcos(dot(q) / s);
-	}
-
-	SimdScalar getAngle() const 
-	{
-		SimdScalar s = 2.f * SimdAcos(m_unusedW);
-		return s;
-	}
-
-
-
-	SimdQuaternion inverse() const
-	{
-		return SimdQuaternion(m_x, m_y, m_z, -m_unusedW);
-	}
-
-	SIMD_FORCE_INLINE SimdQuaternion
-	operator+(const SimdQuaternion& q2) const
-	{
-		const SimdQuaternion& q1 = *this;
-		return SimdQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1[3] + q2[3]);
-	}
-
-	SIMD_FORCE_INLINE SimdQuaternion
-	operator-(const SimdQuaternion& q2) const
-	{
-		const SimdQuaternion& q1 = *this;
-		return SimdQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1[3] - q2[3]);
-	}
-
-	SIMD_FORCE_INLINE SimdQuaternion operator-() const
-	{
-		const SimdQuaternion& q2 = *this;
-		return SimdQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2[3]);
-	}
-
-	SIMD_FORCE_INLINE SimdQuaternion farthest( const SimdQuaternion& qd) const 
-	{
-		SimdQuaternion diff,sum;
-		diff = *this - qd;
-		sum = *this + qd;
-		if( diff.dot(diff) > sum.dot(sum) )
-			return qd;
-		return (-qd);
-	}
-
-	SimdQuaternion slerp(const SimdQuaternion& q, const SimdScalar& t) const
-	{
-		SimdScalar theta = angle(q);
-		if (theta != SimdScalar(0.0))
-		{
-			SimdScalar d = SimdScalar(1.0) / SimdSin(theta);
-			SimdScalar s0 = SimdSin((SimdScalar(1.0) - t) * theta);
-			SimdScalar s1 = SimdSin(t * theta);   
-			return SimdQuaternion((m_x * s0 + q.x() * s1) * d,
-				(m_y * s0 + q.y() * s1) * d,
-				(m_z * s0 + q.z() * s1) * d,
-				(m_unusedW * s0 + q[3] * s1) * d);
-		}
-		else
-		{
-			return *this;
-		}
-	}
-
-	
-
-};
-
-
-
-SIMD_FORCE_INLINE SimdQuaternion
-operator-(const SimdQuaternion& q)
-{
-	return SimdQuaternion(-q.x(), -q.y(), -q.z(), -q[3]);
-}
-
-
-
-
-SIMD_FORCE_INLINE SimdQuaternion
-operator*(const SimdQuaternion& q1, const SimdQuaternion& q2) {
-	return SimdQuaternion(q1[3] * q2.x() + q1.x() * q2[3] + q1.y() * q2.z() - q1.z() * q2.y(),
-		q1[3] * q2.y() + q1.y() * q2[3] + q1.z() * q2.x() - q1.x() * q2.z(),
-		q1[3] * q2.z() + q1.z() * q2[3] + q1.x() * q2.y() - q1.y() * q2.x(),
-		q1[3] * q2[3] - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); 
-}
-
-SIMD_FORCE_INLINE SimdQuaternion
-operator*(const SimdQuaternion& q, const SimdVector3& w)
-{
-	return SimdQuaternion( q[3] * w.x() + q.y() * w.z() - q.z() * w.y(),
-		q[3] * w.y() + q.z() * w.x() - q.x() * w.z(),
-		q[3] * w.z() + q.x() * w.y() - q.y() * w.x(),
-		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); 
-}
-
-SIMD_FORCE_INLINE SimdQuaternion
-operator*(const SimdVector3& w, const SimdQuaternion& q)
-{
-	return SimdQuaternion( w.x() * q[3] + w.y() * q.z() - w.z() * q.y(),
-		w.y() * q[3] + w.z() * q.x() - w.x() * q.z(),
-		w.z() * q[3] + w.x() * q.y() - w.y() * q.x(),
-		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
-}
-
-SIMD_FORCE_INLINE SimdScalar 
-dot(const SimdQuaternion& q1, const SimdQuaternion& q2) 
-{ 
-	return q1.dot(q2); 
-}
-
-
-SIMD_FORCE_INLINE SimdScalar
-length(const SimdQuaternion& q) 
-{ 
-	return q.length(); 
-}
-
-SIMD_FORCE_INLINE SimdScalar
-angle(const SimdQuaternion& q1, const SimdQuaternion& q2) 
-{ 
-	return q1.angle(q2); 
-}
-
-
-SIMD_FORCE_INLINE SimdQuaternion
-inverse(const SimdQuaternion& q) 
-{
-	return q.inverse();
-}
-
-SIMD_FORCE_INLINE SimdQuaternion
-slerp(const SimdQuaternion& q1, const SimdQuaternion& q2, const SimdScalar& t) 
-{
-	return q1.slerp(q2, t);
-}
-
-
-#endif
-
-
-
diff --git a/extern/bullet/LinearMath/SimdScalar.h b/extern/bullet/LinearMath/SimdScalar.h
deleted file mode 100644
index e866382c022..00000000000
--- a/extern/bullet/LinearMath/SimdScalar.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
-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 SIMD___SCALAR_H
-#define SIMD___SCALAR_H
-
-#include <math.h>
-#undef max
-
-
-
-#include <cstdlib>
-#include <cfloat>
-#include <float.h>
-
-#ifdef WIN32
-
-		#if defined(__MINGW32__) || defined(__CYGWIN__)
-			#define SIMD_FORCE_INLINE inline
-		#else
-			#pragma warning(disable:4530)
-			#pragma warning(disable:4996)
-			#define SIMD_FORCE_INLINE __forceinline
-		#endif //__MINGW32__
-	
-		//#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
-		#define ATTRIBUTE_ALIGNED16(a) a
-		#include <assert.h>
-		#define ASSERT assert
-#else
-	
-	//non-windows systems
-
-		#define SIMD_FORCE_INLINE inline
-		#define ATTRIBUTE_ALIGNED16(a) a
-		#ifndef assert
-		#include <assert.h>
-		#endif
-		#define ASSERT assert
-#endif
-
-
-
-typedef float    SimdScalar;
-
-#if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__)
-//use double float precision operation on those platforms for Blender
-		
-SIMD_FORCE_INLINE SimdScalar SimdSqrt(SimdScalar x) { return sqrt(x); }
-SIMD_FORCE_INLINE SimdScalar SimdFabs(SimdScalar x) { return fabs(x); }
-SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cos(x); }
-SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sin(x); }
-SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tan(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acos(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asin(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atan(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2(x, y); }
-SIMD_FORCE_INLINE SimdScalar SimdExp(SimdScalar x) { return exp(x); }
-SIMD_FORCE_INLINE SimdScalar SimdLog(SimdScalar x) { return log(x); }
-SIMD_FORCE_INLINE SimdScalar SimdPow(SimdScalar x,SimdScalar y) { return pow(x,y); }
-
-#else
-		
-SIMD_FORCE_INLINE SimdScalar SimdSqrt(SimdScalar x) { return sqrtf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdFabs(SimdScalar x) { return fabsf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cosf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sinf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tanf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acosf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asinf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atanf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2f(x, y); }
-SIMD_FORCE_INLINE SimdScalar SimdExp(SimdScalar x) { return expf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdLog(SimdScalar x) { return logf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdPow(SimdScalar x,SimdScalar y) { return powf(x,y); }
-	
-#endif
-
-
-const SimdScalar  SIMD_2_PI         = 6.283185307179586232f;
-const SimdScalar  SIMD_PI           = SIMD_2_PI * SimdScalar(0.5f);
-const SimdScalar  SIMD_HALF_PI		 = SIMD_2_PI * SimdScalar(0.25f);
-const SimdScalar  SIMD_RADS_PER_DEG = SIMD_2_PI / SimdScalar(360.0f);
-const SimdScalar  SIMD_DEGS_PER_RAD = SimdScalar(360.0f) / SIMD_2_PI;
-const SimdScalar  SIMD_EPSILON      = FLT_EPSILON;
-const SimdScalar  SIMD_INFINITY     = FLT_MAX;
-
-SIMD_FORCE_INLINE bool      SimdFuzzyZero(SimdScalar x) { return SimdFabs(x) < SIMD_EPSILON; }
-
-SIMD_FORCE_INLINE bool	SimdEqual(SimdScalar a, SimdScalar eps) {
-	return (((a) <= eps) && !((a) < -eps));
-}
-SIMD_FORCE_INLINE bool	SimdGreaterEqual (SimdScalar a, SimdScalar eps) {
-	return (!((a) <= eps));
-}
-
-/*SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cosf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sinf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tanf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acosf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asinf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atanf(x); }
-SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2f(x, y); }
-*/
-
-SIMD_FORCE_INLINE int       SimdSign(SimdScalar x) {
-    return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
-}
-
-SIMD_FORCE_INLINE SimdScalar SimdRadians(SimdScalar x) { return x * SIMD_RADS_PER_DEG; }
-SIMD_FORCE_INLINE SimdScalar SimdDegrees(SimdScalar x) { return x * SIMD_DEGS_PER_RAD; }
-
-
-
-#endif //SIMD___SCALAR_H
diff --git a/extern/bullet/LinearMath/SimdTransform.h b/extern/bullet/LinearMath/SimdTransform.h
deleted file mode 100644
index d2d9b53f94e..00000000000
--- a/extern/bullet/LinearMath/SimdTransform.h
+++ /dev/null
@@ -1,236 +0,0 @@
-/*
-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 SimdTransform_H
-#define SimdTransform_H
-
-#include "SimdVector3.h"
-#include "SimdMatrix3x3.h"
-
-
-
-class SimdTransform {
-	enum { 
-		TRANSLATION = 0x01,
-		ROTATION    = 0x02,
-		RIGID       = TRANSLATION | ROTATION,  
-		SCALING     = 0x04,
-		LINEAR      = ROTATION | SCALING,
-		AFFINE      = TRANSLATION | LINEAR
-	};
-
-public:
-	SimdTransform() {}
-
-	//	template <typename Scalar2>
-	//	explicit Transform(const Scalar2 *m) { setValue(m); }
-
-	explicit SIMD_FORCE_INLINE SimdTransform(const SimdQuaternion& q, 
-		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0))) 
-		: m_basis(q),
-		m_origin(c),
-		m_type(RIGID)
-	{}
-
-	explicit SIMD_FORCE_INLINE SimdTransform(const SimdMatrix3x3& b, 
-		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)), 
-		unsigned int type = AFFINE)
-		: m_basis(b),
-		m_origin(c),
-		m_type(type)
-	{}
-
-
-		SIMD_FORCE_INLINE void mult(const SimdTransform& t1, const SimdTransform& t2) {
-			m_basis = t1.m_basis * t2.m_basis;
-			m_origin = t1(t2.m_origin);
-			m_type = t1.m_type | t2.m_type;
-		}
-
-		void multInverseLeft(const SimdTransform& t1, const SimdTransform& t2) {
-			SimdVector3 v = t2.m_origin - t1.m_origin;
-			if (t1.m_type & SCALING) {
-				SimdMatrix3x3 inv = t1.m_basis.inverse();
-				m_basis = inv * t2.m_basis;
-				m_origin = inv * v;
-			}
-			else {
-				m_basis = SimdMultTransposeLeft(t1.m_basis, t2.m_basis);
-				m_origin = v * t1.m_basis;
-			}
-			m_type = t1.m_type | t2.m_type;
-		}
-
-	SIMD_FORCE_INLINE SimdVector3 operator()(const SimdVector3& x) const
-	{
-		return SimdVector3(m_basis[0].dot(x) + m_origin[0], 
-			m_basis[1].dot(x) + m_origin[1], 
-			m_basis[2].dot(x) + m_origin[2]);
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 operator*(const SimdVector3& x) const
-	{
-		return (*this)(x);
-	}
-
-	SIMD_FORCE_INLINE SimdMatrix3x3&       getBasis()          { return m_basis; }
-	SIMD_FORCE_INLINE const SimdMatrix3x3& getBasis()    const { return m_basis; }
-
-	SIMD_FORCE_INLINE SimdVector3&         getOrigin()         { return m_origin; }
-	SIMD_FORCE_INLINE const SimdVector3&   getOrigin()   const { return m_origin; }
-
-	SimdQuaternion getRotation() const { 
-		SimdQuaternion q;
-		m_basis.getRotation(q);
-		return q;
-	}
-	template <typename Scalar2>
-		void setValue(const Scalar2 *m) 
-	{
-		m_basis.setValue(m);
-		m_origin.setValue(&m[12]);
-		m_type = AFFINE;
-	}
-
-	
-	void setFromOpenGLMatrix(const SimdScalar *m)
-	{
-		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin[0] = m[12];
-		m_origin[1] = m[13];
-		m_origin[2] = m[14];
-	}
-
-	void getOpenGLMatrix(SimdScalar *m) const 
-	{
-		m_basis.getOpenGLSubMatrix(m);
-		m[12] = m_origin[0];
-		m[13] = m_origin[1];
-		m[14] = m_origin[2];
-		m[15] = SimdScalar(1.0f);
-	}
-
-	SIMD_FORCE_INLINE void setOrigin(const SimdVector3& origin) 
-	{ 
-		m_origin = origin;
-		m_type |= TRANSLATION;
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 invXform(const SimdVector3& inVec) const;
-
-
-
-	SIMD_FORCE_INLINE void setBasis(const SimdMatrix3x3& basis)
-	{ 
-		m_basis = basis;
-		m_type |= LINEAR;
-	}
-
-	SIMD_FORCE_INLINE void setRotation(const SimdQuaternion& q)
-	{
-		m_basis.setRotation(q);
-		m_type = (m_type & ~LINEAR) | ROTATION;
-	}
-
-	SIMD_FORCE_INLINE void scale(const SimdVector3& scaling)
-	{
-		m_basis = m_basis.scaled(scaling);
-		m_type |= SCALING;
-	}
-
-	void setIdentity()
-	{
-		m_basis.setIdentity();
-		m_origin.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
-		m_type = 0x0;
-	}
-
-	SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
-
-	SimdTransform& operator*=(const SimdTransform& t) 
-	{
-		m_origin += m_basis * t.m_origin;
-		m_basis *= t.m_basis;
-		m_type |= t.m_type; 
-		return *this;
-	}
-
-	SimdTransform inverse() const
-	{ 
-		if (m_type)
-		{
-			SimdMatrix3x3 inv = (m_type & SCALING) ? 
-				m_basis.inverse() : 
-			m_basis.transpose();
-
-			return SimdTransform(inv, inv * -m_origin, m_type);
-		}
-
-		return *this;
-	}
-
-	SimdTransform inverseTimes(const SimdTransform& t) const;  
-
-	SimdTransform operator*(const SimdTransform& t) const;
-
-private:
-
-	SimdMatrix3x3 m_basis;
-	SimdVector3   m_origin;
-	unsigned int      m_type;
-};
-
-
-SIMD_FORCE_INLINE SimdVector3
-SimdTransform::invXform(const SimdVector3& inVec) const
-{
-	SimdVector3 v = inVec - m_origin;
-	return (m_basis.transpose() * v);
-}
-
-SIMD_FORCE_INLINE SimdTransform 
-SimdTransform::inverseTimes(const SimdTransform& t) const  
-{
-	SimdVector3 v = t.getOrigin() - m_origin;
-	if (m_type & SCALING) 
-	{
-		SimdMatrix3x3 inv = m_basis.inverse();
-		return SimdTransform(inv * t.getBasis(), inv * v, 
-			m_type | t.m_type);
-	}
-	else 
-	{
-		return SimdTransform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis, m_type | t.m_type);
-	}
-}
-
-SIMD_FORCE_INLINE SimdTransform 
-SimdTransform::operator*(const SimdTransform& t) const
-{
-	return SimdTransform(m_basis * t.m_basis, 
-		(*this)(t.m_origin), 
-		m_type | t.m_type);
-}	
-
-
-
-#endif
-
-
-
-
-
diff --git a/extern/bullet/LinearMath/SimdTransformUtil.h b/extern/bullet/LinearMath/SimdTransformUtil.h
deleted file mode 100644
index 6bc0d297310..00000000000
--- a/extern/bullet/LinearMath/SimdTransformUtil.h
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
-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 SIMD_TRANSFORM_UTIL_H
-#define SIMD_TRANSFORM_UTIL_H
-
-#include "SimdTransform.h"
-#define ANGULAR_MOTION_TRESHOLD 0.5f*SIMD_HALF_PI
-
-
-
-#define SIMDSQRT12 SimdScalar(0.7071067811865475244008443621048490)
-
-#define SimdRecipSqrt(x) ((float)(1.0f/SimdSqrt(float(x))))		/* reciprocal square root */
-
-inline SimdVector3 SimdAabbSupport(const SimdVector3& halfExtents,const SimdVector3& supportDir)
-{
-	return SimdVector3(supportDir.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
-      supportDir.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
-      supportDir.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
-}
-
-
-inline void SimdPlaneSpace1 (const SimdVector3& n, SimdVector3& p, SimdVector3& q)
-{
-  if (SimdFabs(n[2]) > SIMDSQRT12) {
-    // choose p in y-z plane
-    SimdScalar a = n[1]*n[1] + n[2]*n[2];
-    SimdScalar k = SimdRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    SimdScalar a = n[0]*n[0] + n[1]*n[1];
-    SimdScalar k = SimdRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}
-
-
-
-/// Utils related to temporal transforms
-class SimdTransformUtil
-{
-
-public:
-
-	static void IntegrateTransform(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep,SimdTransform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-//	#define QUATERNION_DERIVATIVE
-	#ifdef QUATERNION_DERIVATIVE
-		SimdQuaternion orn = curTrans.getRotation();
-		orn += (angvel * orn) * (timeStep * 0.5f);
-		orn.normalize();
-	#else
-		//exponential map
-		SimdVector3 axis;
-		SimdScalar	fAngle = angvel.length(); 
-		//limit the angular motion
-		if (fAngle*timeStep > ANGULAR_MOTION_TRESHOLD)
-		{
-			fAngle = ANGULAR_MOTION_TRESHOLD / timeStep;
-		}
-
-		if ( fAngle < 0.001f )
-		{
-			// use Taylor's expansions of sync function
-			axis   = angvel*( 0.5f*timeStep-(timeStep*timeStep*timeStep)*(0.020833333333f)*fAngle*fAngle );
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis   = angvel*( SimdSin(0.5f*fAngle*timeStep)/fAngle );
-		}
-		SimdQuaternion dorn (axis.x(),axis.y(),axis.z(),SimdCos( fAngle*timeStep*0.5f ));
-		SimdQuaternion orn0 = curTrans.getRotation();
-
-		SimdQuaternion predictedOrn = dorn * orn0;
-	#endif
-		predictedTransform.setRotation(predictedOrn);
-	}
-
-	static void	CalculateVelocity(const SimdTransform& transform0,const SimdTransform& transform1,SimdScalar timeStep,SimdVector3& linVel,SimdVector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-#ifdef USE_QUATERNION_DIFF
-		SimdQuaternion orn0 = transform0.getRotation();
-		SimdQuaternion orn1a = transform1.getRotation();
-		SimdQuaternion orn1 = orn0.farthest(orn1a);
-		SimdQuaternion dorn = orn1 * orn0.inverse();
-#else
-		SimdMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		SimdQuaternion dorn;
-		dmat.getRotation(dorn);
-#endif//USE_QUATERNION_DIFF
-
-		SimdVector3 axis;
-		SimdScalar  angle;
-		angle = dorn.getAngle();
-		axis = SimdVector3(dorn.x(),dorn.y(),dorn.z());
-		axis[3] = 0.f;
-		//check for axis length
-		SimdScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = SimdVector3(1.f,0.f,0.f);
-		else
-			axis /= SimdSqrt(len);
-
-		
-		angVel = axis * angle / timeStep;
-
-	}
-
-
-};
-
-#endif //SIMD_TRANSFORM_UTIL_H
-
diff --git a/extern/bullet/LinearMath/SimdVector3.h b/extern/bullet/LinearMath/SimdVector3.h
deleted file mode 100644
index b44ef6c099f..00000000000
--- a/extern/bullet/LinearMath/SimdVector3.h
+++ /dev/null
@@ -1,403 +0,0 @@
-/*
-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 SIMD__VECTOR3_H
-#define SIMD__VECTOR3_H
-
-#include "SimdQuadWord.h"
-
-
-///SimdVector3 is 16byte aligned, and has an extra unused component m_w
-///this extra component can be used by derived classes (Quaternion?) or by user
-class SimdVector3 : public SimdQuadWord {
-
-
-public:
-	SIMD_FORCE_INLINE SimdVector3() {}
-
-	
-
-	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
-		:SimdQuadWord(x,y,z,0.f)
-	{
-	}
-
-//	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
-//		: SimdQuadWord(x,y,z,w)
-//	{
-//	}
-
-	
-
-	SIMD_FORCE_INLINE SimdVector3& operator+=(const SimdVector3& v)
-	{
-		m_x += v.x(); m_y += v.y(); m_z += v.z();
-		return *this;
-	}
-
-
-
-	SIMD_FORCE_INLINE SimdVector3& operator-=(const SimdVector3& v) 
-	{
-		m_x -= v.x(); m_y -= v.y(); m_z -= v.z();
-		return *this;
-	}
-
-	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdScalar& s)
-	{
-		m_x *= s; m_y *= s; m_z *= s;
-		return *this;
-	}
-
-	SIMD_FORCE_INLINE SimdVector3& operator/=(const SimdScalar& s) 
-	{
-		assert(s != SimdScalar(0.0));
-		return *this *= SimdScalar(1.0) / s;
-	}
-
-	SIMD_FORCE_INLINE SimdScalar dot(const SimdVector3& v) const
-	{
-		return m_x * v.x() + m_y * v.y() + m_z * v.z();
-	}
-
-	SIMD_FORCE_INLINE SimdScalar length2() const
-	{
-		return dot(*this);
-	}
-
-	SIMD_FORCE_INLINE SimdScalar length() const
-	{
-		return SimdSqrt(length2());
-	}
-
-	SIMD_FORCE_INLINE SimdScalar distance2(const SimdVector3& v) const;
-
-	SIMD_FORCE_INLINE SimdScalar distance(const SimdVector3& v) const;
-
-	SIMD_FORCE_INLINE SimdVector3& normalize() 
-	{
-		return *this /= length();
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 normalized() const;
-
-	SIMD_FORCE_INLINE SimdVector3 rotate( const SimdVector3& wAxis, const SimdScalar angle );
-
-	SIMD_FORCE_INLINE SimdScalar angle(const SimdVector3& v) const 
-	{
-		SimdScalar s = SimdSqrt(length2() * v.length2());
-		assert(s != SimdScalar(0.0));
-		return SimdAcos(dot(v) / s);
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 absolute() const 
-	{
-		return SimdVector3(
-			SimdFabs(m_x), 
-			SimdFabs(m_y), 
-			SimdFabs(m_z));
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 cross(const SimdVector3& v) const
-	{
-		return SimdVector3(
-			m_y * v.z() - m_z * v.y(),
-			m_z * v.x() - m_x * v.z(),
-			m_x * v.y() - m_y * v.x());
-	}
-
-	SIMD_FORCE_INLINE SimdScalar triple(const SimdVector3& v1, const SimdVector3& v2) const
-	{
-		return m_x * (v1.y() * v2.z() - v1.z() * v2.y()) + 
-			m_y * (v1.z() * v2.x() - v1.x() * v2.z()) + 
-			m_z * (v1.x() * v2.y() - v1.y() * v2.x());
-	}
-
-	SIMD_FORCE_INLINE int minAxis() const
-	{
-		return m_x < m_y ? (m_x < m_z ? 0 : 2) : (m_y < m_z ? 1 : 2);
-	}
-
-	SIMD_FORCE_INLINE int maxAxis() const 
-	{
-		return m_x < m_y ? (m_y < m_z ? 2 : 1) : (m_x < m_z ? 2 : 0);
-	}
-
-	SIMD_FORCE_INLINE int furthestAxis() const
-	{
-		return absolute().minAxis();
-	}
-
-	SIMD_FORCE_INLINE int closestAxis() const 
-	{
-		return absolute().maxAxis();
-	}
-
-	SIMD_FORCE_INLINE void setInterpolate3(const SimdVector3& v0, const SimdVector3& v1, SimdScalar rt)
-	{
-		SimdScalar s = 1.0f - rt;
-		m_x = s * v0[0] + rt * v1.x();
-		m_y = s * v0[1] + rt * v1.y();
-		m_z = s * v0[2] + rt * v1.z();
-		//don't do the unused w component
-		//		m_co[3] = s * v0[3] + rt * v1[3];
-	}
-
-	SIMD_FORCE_INLINE SimdVector3 lerp(const SimdVector3& v, const SimdScalar& t) const 
-	{
-		return SimdVector3(m_x + (v.x() - m_x) * t,
-			m_y + (v.y() - m_y) * t,
-			m_z + (v.z() - m_z) * t);
-	}
-
-
-	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdVector3& v)
-	{
-		m_x *= v.x(); m_y *= v.y(); m_z *= v.z();
-		return *this;
-	}
-
-	
-
-};
-
-SIMD_FORCE_INLINE SimdVector3 
-operator+(const SimdVector3& v1, const SimdVector3& v2) 
-{
-	return SimdVector3(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-operator*(const SimdVector3& v1, const SimdVector3& v2) 
-{
-	return SimdVector3(v1.x() * v2.x(), v1.y() * v2.y(), v1.z() * v2.z());
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-operator-(const SimdVector3& v1, const SimdVector3& v2)
-{
-	return SimdVector3(v1.x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-operator-(const SimdVector3& v)
-{
-	return SimdVector3(-v.x(), -v.y(), -v.z());
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-operator*(const SimdVector3& v, const SimdScalar& s)
-{
-	return SimdVector3(v.x() * s, v.y() * s, v.z() * s);
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-operator*(const SimdScalar& s, const SimdVector3& v)
-{ 
-	return v * s; 
-}
-
-SIMD_FORCE_INLINE SimdVector3
-operator/(const SimdVector3& v, const SimdScalar& s)
-{
-	assert(s != SimdScalar(0.0));
-	return v * (SimdScalar(1.0) / s);
-}
-
-SIMD_FORCE_INLINE SimdVector3
-operator/(const SimdVector3& v1, const SimdVector3& v2)
-{
-	return SimdVector3(v1.x() / v2.x(),v1.y() / v2.y(),v1.z() / v2.z());
-}
-
-SIMD_FORCE_INLINE SimdScalar 
-dot(const SimdVector3& v1, const SimdVector3& v2) 
-{ 
-	return v1.dot(v2); 
-}
-
-
-
-SIMD_FORCE_INLINE SimdScalar
-distance2(const SimdVector3& v1, const SimdVector3& v2) 
-{ 
-	return v1.distance2(v2); 
-}
-
-
-SIMD_FORCE_INLINE SimdScalar
-distance(const SimdVector3& v1, const SimdVector3& v2) 
-{ 
-	return v1.distance(v2); 
-}
-
-SIMD_FORCE_INLINE SimdScalar
-angle(const SimdVector3& v1, const SimdVector3& v2) 
-{ 
-	return v1.angle(v2); 
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-cross(const SimdVector3& v1, const SimdVector3& v2) 
-{ 
-	return v1.cross(v2); 
-}
-
-SIMD_FORCE_INLINE SimdScalar
-triple(const SimdVector3& v1, const SimdVector3& v2, const SimdVector3& v3)
-{
-	return v1.triple(v2, v3);
-}
-
-SIMD_FORCE_INLINE SimdVector3 
-lerp(const SimdVector3& v1, const SimdVector3& v2, const SimdScalar& t)
-{
-	return v1.lerp(v2, t);
-}
-
-
-SIMD_FORCE_INLINE bool operator==(const SimdVector3& p1, const SimdVector3& p2) 
-{
-	return p1[0] == p2[0] && p1[1] == p2[1] && p1[2] == p2[2];
-}
-
-SIMD_FORCE_INLINE SimdScalar SimdVector3::distance2(const SimdVector3& v) const
-{
-	return (v - *this).length2();
-}
-
-SIMD_FORCE_INLINE SimdScalar SimdVector3::distance(const SimdVector3& v) const
-{
-	return (v - *this).length();
-}
-
-SIMD_FORCE_INLINE SimdVector3 SimdVector3::normalized() const
-{
-	return *this / length();
-} 
-
-SIMD_FORCE_INLINE SimdVector3 SimdVector3::rotate( const SimdVector3& wAxis, const SimdScalar angle )
-{
-	// wAxis must be a unit lenght vector
-
-	SimdVector3 o = wAxis * wAxis.dot( *this );
-	SimdVector3 x = *this - o;
-	SimdVector3 y;
-
-	y = wAxis.cross( *this );
-
-	return ( o + x * SimdCos( angle ) + y * SimdSin( angle ) );
-}
-
-class SimdVector4 : public SimdVector3
-{
-public:
-
-	SIMD_FORCE_INLINE SimdVector4() {}
-
-
-	SIMD_FORCE_INLINE SimdVector4(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
-		: SimdVector3(x,y,z)
-	{
-		m_unusedW = w;
-	}
-
-
-	SIMD_FORCE_INLINE SimdVector4 absolute4() const 
-	{
-		return SimdVector4(
-			SimdFabs(m_x), 
-			SimdFabs(m_y), 
-			SimdFabs(m_z),
-			SimdFabs(m_unusedW));
-	}
-
-
-
-	float	getW() const { return m_unusedW;}
-
-
-		SIMD_FORCE_INLINE int maxAxis4() const
-	{
-		int maxIndex = -1;
-		float maxVal = -1e30f;
-		if (m_x > maxVal)
-		{
-			maxIndex = 0;
-			maxVal = m_x;
-		}
-		if (m_y > maxVal)
-		{
-			maxIndex = 1;
-			maxVal = m_y;
-		}
-		if (m_z > maxVal)
-		{
-			maxIndex = 2;
-			maxVal = m_z;
-		}
-		if (m_unusedW > maxVal)
-		{
-			maxIndex = 3;
-			maxVal = m_unusedW;
-		}
-		
-		
-		
-
-		return maxIndex;
-
-	}
-
-
-	SIMD_FORCE_INLINE int minAxis4() const
-	{
-		int minIndex = -1;
-		float minVal = 1e30f;
-		if (m_x < minVal)
-		{
-			minIndex = 0;
-			minVal = m_x;
-		}
-		if (m_y < minVal)
-		{
-			minIndex = 1;
-			minVal = m_y;
-		}
-		if (m_z < minVal)
-		{
-			minIndex = 2;
-			minVal = m_z;
-		}
-		if (m_unusedW < minVal)
-		{
-			minIndex = 3;
-			minVal = m_unusedW;
-		}
-		
-		return minIndex;
-
-	}
-
-
-	SIMD_FORCE_INLINE int closestAxis4() const 
-	{
-		return absolute4().maxAxis4();
-	}
-
-};
-
-#endif //SIMD__VECTOR3_H
diff --git a/extern/bullet/LinearMath/quickprof.h b/extern/bullet/LinearMath/quickprof.h
deleted file mode 100644
index 86774d1bb01..00000000000
--- a/extern/bullet/LinearMath/quickprof.h
+++ /dev/null
@@ -1,678 +0,0 @@
-/************************************************************************
-* 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 General 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      *
-*       General 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.                *
-************************************************************************/
-
-// Please visit the project website (http://quickprof.sourceforge.net) 
-// for usage instructions.
-
-// Credits: The Clock class was inspired by the Timer classes in 
-// Ogre (www.ogre3d.org).
-
-
-//#define USE_QUICKPROF 1
-
-#ifdef USE_QUICKPROF
-
-#ifndef QUICK_PROF_H
-#define QUICK_PROF_H
-
-#include <iostream>
-#include <fstream>
-#include <string>
-#include <map>
-
-#ifdef __PPU__
-#include <sys/sys_time.h>
-#include <stdio.h>
-typedef uint64_t __int64;
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-	#define USE_WINDOWS_TIMERS
-	#include <windows.h>
-	#include <time.h>
-#else
-	#include <sys/time.h>
-#endif
-
-#define mymin(a,b) (a > b ? a : b)
-namespace hidden
-{
-	/// A simple data structure representing a single timed block 
-	/// of code.
-	struct ProfileBlock
-	{
-		ProfileBlock()
-		{
-			currentBlockStartMicroseconds = 0;
-			currentCycleTotalMicroseconds = 0;
-			lastCycleTotalMicroseconds = 0;
-			totalMicroseconds = 0;
-		}
-
-		/// The starting time (in us) of the current block update.
-		unsigned long int currentBlockStartMicroseconds;
-
-		/// The accumulated time (in us) spent in this block during the 
-		/// current profiling cycle.
-		unsigned long int currentCycleTotalMicroseconds;
-
-		/// The accumulated time (in us) spent in this block during the 
-		/// past profiling cycle.
-		unsigned long int lastCycleTotalMicroseconds;
-
-		/// The total accumulated time (in us) spent in this block.
-		unsigned long int totalMicroseconds;
-	};
-
-	class Clock
-	{
-	public:
-		Clock()
-		{
-#ifdef USE_WINDOWS_TIMERS
-			QueryPerformanceFrequency(&mClockFrequency);
-#endif
-			reset();
-		}
-
-		~Clock()
-		{
-		}
-
-		/// Resets the initial reference time.
-		void reset()
-		{
-#ifdef USE_WINDOWS_TIMERS
-			QueryPerformanceCounter(&mStartTime);
-			mStartTick = GetTickCount();
-			mPrevElapsedTime = 0;
-#else
-#ifdef __PPU__
-
-	typedef uint64_t __int64;
-	typedef __int64  ClockSize;
-	ClockSize newTime;
-	__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	mStartTime = newTime;
-#else
-			gettimeofday(&mStartTime, NULL);
-#endif
-
-#endif
-		}
-
-		/// Returns the time in ms since the last call to reset or since 
-		/// the Clock was created.
-		unsigned long int getTimeMilliseconds()
-		{
-#ifdef USE_WINDOWS_TIMERS
-			LARGE_INTEGER currentTime;
-			QueryPerformanceCounter(&currentTime);
-			LONGLONG elapsedTime = currentTime.QuadPart - 
-				mStartTime.QuadPart;
-
-			// Compute the number of millisecond ticks elapsed.
-			unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
-				mClockFrequency.QuadPart);
-
-			// Check for unexpected leaps in the Win32 performance counter.  
-			// (This is caused by unexpected data across the PCI to ISA 
-			// bridge, aka south bridge.  See Microsoft KB274323.)
-			unsigned long elapsedTicks = GetTickCount() - mStartTick;
-			signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-			if (msecOff < -100 || msecOff > 100)
-			{
-				// Adjust the starting time forwards.
-				LONGLONG msecAdjustment = mymin(msecOff * 
-					mClockFrequency.QuadPart / 1000, elapsedTime - 
-					mPrevElapsedTime);
-				mStartTime.QuadPart += msecAdjustment;
-				elapsedTime -= msecAdjustment;
-
-				// Recompute the number of millisecond ticks elapsed.
-				msecTicks = (unsigned long)(1000 * elapsedTime / 
-					mClockFrequency.QuadPart);
-			}
-
-			// Store the current elapsed time for adjustments next time.
-			mPrevElapsedTime = elapsedTime;
-
-			return msecTicks;
-#else
-			
-#ifdef __PPU__
-	__int64 freq=sys_time_get_timebase_frequency();
-	 double dFreq=((double) freq) / 1000.0;
-	typedef uint64_t __int64;
-	typedef __int64  ClockSize;
-	ClockSize newTime;
-	__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	
-	return (newTime-mStartTime) / dFreq;
-#else
-
-			struct timeval currentTime;
-			gettimeofday(&currentTime, NULL);
-			return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 + 
-				(currentTime.tv_usec - mStartTime.tv_usec) / 1000;
-#endif //__PPU__
-#endif
-		}
-
-		/// Returns the time in us since the last call to reset or since 
-		/// the Clock was created.
-		unsigned long int getTimeMicroseconds()
-		{
-#ifdef USE_WINDOWS_TIMERS
-			LARGE_INTEGER currentTime;
-			QueryPerformanceCounter(&currentTime);
-			LONGLONG elapsedTime = currentTime.QuadPart - 
-				mStartTime.QuadPart;
-
-			// Compute the number of millisecond ticks elapsed.
-			unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
-				mClockFrequency.QuadPart);
-
-			// Check for unexpected leaps in the Win32 performance counter.  
-			// (This is caused by unexpected data across the PCI to ISA 
-			// bridge, aka south bridge.  See Microsoft KB274323.)
-			unsigned long elapsedTicks = GetTickCount() - mStartTick;
-			signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-			if (msecOff < -100 || msecOff > 100)
-			{
-				// Adjust the starting time forwards.
-				LONGLONG msecAdjustment = mymin(msecOff * 
-					mClockFrequency.QuadPart / 1000, elapsedTime - 
-					mPrevElapsedTime);
-				mStartTime.QuadPart += msecAdjustment;
-				elapsedTime -= msecAdjustment;
-			}
-
-			// Store the current elapsed time for adjustments next time.
-			mPrevElapsedTime = elapsedTime;
-
-			// Convert to microseconds.
-			unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
-				mClockFrequency.QuadPart);
-
-			return usecTicks;
-#else
-
-#ifdef __PPU__
-	__int64 freq=sys_time_get_timebase_frequency();
-	 double dFreq=((double) freq)/ 1000000.0;
-	typedef uint64_t __int64;
-	typedef __int64  ClockSize;
-	ClockSize newTime;
-	__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-	
-	return (newTime-mStartTime) / dFreq;
-#else
-
-			struct timeval currentTime;
-			gettimeofday(&currentTime, NULL);
-			return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 + 
-				(currentTime.tv_usec - mStartTime.tv_usec);
-#endif//__PPU__
-#endif 
-		}
-
-	private:
-#ifdef USE_WINDOWS_TIMERS
-		LARGE_INTEGER mClockFrequency;
-		DWORD mStartTick;
-		LONGLONG mPrevElapsedTime;
-		LARGE_INTEGER mStartTime;
-#else
-#ifdef __PPU__
-		uint64_t	mStartTime;
-#else
-		struct timeval mStartTime;
-#endif
-#endif //__PPU__
-
-	};
-};
-
-/// A static class that manages timing for a set of profiling blocks.
-class Profiler
-{
-public:
-	/// A set of ways to retrieve block timing data.
-	enum BlockTimingMethod
-	{
-		/// The total time spent in the block (in seconds) since the 
-		/// profiler was initialized.
-		BLOCK_TOTAL_SECONDS,
-
-		/// The total time spent in the block (in ms) since the 
-		/// profiler was initialized.
-		BLOCK_TOTAL_MILLISECONDS,
-
-		/// The total time spent in the block (in us) since the 
-		/// profiler was initialized.
-		BLOCK_TOTAL_MICROSECONDS,
-
-		/// The total time spent in the block, as a % of the total 
-		/// elapsed time since the profiler was initialized.
-		BLOCK_TOTAL_PERCENT,
-
-		/// The time spent in the block (in seconds) in the most recent 
-		/// profiling cycle.
-		BLOCK_CYCLE_SECONDS,
-
-		/// The time spent in the block (in ms) in the most recent 
-		/// profiling cycle.
-		BLOCK_CYCLE_MILLISECONDS,
-
-		/// The time spent in the block (in us) in the most recent 
-		/// profiling cycle.
-		BLOCK_CYCLE_MICROSECONDS,
-
-		/// The time spent in the block (in seconds) in the most recent 
-		/// profiling cycle, as a % of the total cycle time.
-		BLOCK_CYCLE_PERCENT
-	};
-
-	/// Initializes the profiler.  This must be called first.  If this is 
-	/// never called, the profiler is effectively disabled; all other 
-	/// functions will return immediately.  The first parameter 
-	/// is the name of an output data file; if this string is not empty, 
-	/// data will be saved on every profiling cycle; if this string is 
-	/// empty, no data will be saved to a file.  The second parameter 
-	/// determines which timing method is used when printing data to the 
-	/// output file.
-	inline static void init(const std::string outputFilename="", 
-		BlockTimingMethod outputMethod=BLOCK_CYCLE_MILLISECONDS);
-
-	/// Cleans up allocated memory.
-	inline static void destroy();
-
-	/// Begins timing the named block of code.
-	inline static void beginBlock(const std::string& name);
-
-	/// Updates the accumulated time spent in the named block by adding 
-	/// the elapsed time since the last call to startBlock for this block 
-	/// name.
-	inline static void endBlock(const std::string& name);
-
-	/// Returns the time spent in the named block according to the 
-	/// given timing method.  See comments on BlockTimingMethod for details.
-	inline static double getBlockTime(const std::string& name, 
-		BlockTimingMethod method=BLOCK_CYCLE_MILLISECONDS);
-
-	/// Defines the end of a profiling cycle.  Use this regularly if you 
-	/// want to generate detailed timing information.  This must not be 
-	/// called within a timing block.
-	inline static void endProfilingCycle();
-
-	/// A helper function that creates a string of statistics for 
-	/// each timing block.  This is mainly for printing an overall 
-	/// summary to the command line.
-	inline static std::string createStatsString(
-		BlockTimingMethod method=BLOCK_TOTAL_PERCENT);
-
-//private:
-	inline Profiler();
-
-	inline ~Profiler();
-
-	/// Prints an error message to standard output.
-	inline static void printError(const std::string& msg)
-	{
-		std::cout << "[QuickProf error] " << msg << std::endl;
-	}
-
-	/// Determines whether the profiler is enabled.
-	static bool mEnabled;
-
-	/// The clock used to time profile blocks.
-	static hidden::Clock mClock;
-
-	/// The starting time (in us) of the current profiling cycle.
-	static unsigned long int mCurrentCycleStartMicroseconds;
-
-	/// The duration (in us) of the most recent profiling cycle.
-	static unsigned long int mLastCycleDurationMicroseconds;
-
-	/// Internal map of named profile blocks.
-	static std::map<std::string, hidden::ProfileBlock*> mProfileBlocks;
-
-	/// The data file used if this feature is enabled in 'init.'
-	static std::ofstream mOutputFile;
-
-	/// Tracks whether we have begun print data to the output file.
-	static bool mFirstFileOutput;
-
-	/// The method used when printing timing data to an output file.
-	static BlockTimingMethod mFileOutputMethod;
-
-	/// The number of the current profiling cycle.
-	static unsigned long int mCycleNumber;
-};
-
-
-Profiler::Profiler()
-{
-	// This never gets called because a Profiler instance is never 
-	// created.
-}
-
-Profiler::~Profiler()
-{
-	// This never gets called because a Profiler instance is never 
-	// created.
-}
-
-void Profiler::init(const std::string outputFilename, 
-	BlockTimingMethod outputMethod)
-{
-	mEnabled = true;
-	
-	if (!outputFilename.empty())
-	{
-		mOutputFile.open(outputFilename.c_str());
-	}
-
-	mFileOutputMethod = outputMethod;
-
-	mClock.reset();
-
-	// Set the start time for the first cycle.
-	mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-void Profiler::destroy()
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	if (mOutputFile.is_open())
-	{
-		mOutputFile.close();
-	}
-
-	// Destroy all ProfileBlocks.
-	while (!mProfileBlocks.empty())
-	{
-		delete (*mProfileBlocks.begin()).second;
-		mProfileBlocks.erase(mProfileBlocks.begin());
-	}
-}
-
-void Profiler::beginBlock(const std::string& name)
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	if (name.empty())
-	{
-		printError("Cannot allow unnamed profile blocks.");
-		return;
-	}
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// Create a new ProfileBlock.
-		mProfileBlocks[name] = new hidden::ProfileBlock();
-		block = mProfileBlocks[name];
-	}
-
-	// We do this at the end to get more accurate results.
-	block->currentBlockStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-void Profiler::endBlock(const std::string& name)
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	// We do this at the beginning to get more accurate results.
-	unsigned long int endTick = mClock.getTimeMicroseconds();
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// The named block does not exist.  Print an error.
-		printError("The profile block named '" + name + 
-			"' does not exist.");
-		return;
-	}
-
-	unsigned long int blockDuration = endTick - 
-		block->currentBlockStartMicroseconds;
-	block->currentCycleTotalMicroseconds += blockDuration;
-	block->totalMicroseconds += blockDuration;
-}
-
-double Profiler::getBlockTime(const std::string& name, 
-	BlockTimingMethod method)
-{
-	if (!mEnabled)
-	{
-		return 0;
-	}
-
-	hidden::ProfileBlock* block = mProfileBlocks[name];
-
-	if (!block)
-	{
-		// The named block does not exist.  Print an error.
-		printError("The profile block named '" + name + 
-			"' does not exist.");
-		return 0;
-	}
-
-	double result = 0;
-
-	switch(method)
-	{
-		case BLOCK_TOTAL_SECONDS:
-			result = (double)block->totalMicroseconds * (double)0.000001;
-			break;
-		case BLOCK_TOTAL_MILLISECONDS:
-			result = (double)block->totalMicroseconds * (double)0.001;
-			break;
-		case BLOCK_TOTAL_MICROSECONDS:
-			result = (double)block->totalMicroseconds;
-			break;
-		case BLOCK_TOTAL_PERCENT:
-		{
-			double timeSinceInit = (double)mClock.getTimeMicroseconds();
-			if (timeSinceInit <= 0)
-			{
-				result = 0;
-			}
-			else
-			{
-				result = 100.0 * (double)block->totalMicroseconds / 
-					timeSinceInit;
-			}
-			break;
-		}
-		case BLOCK_CYCLE_SECONDS:
-			result = (double)block->lastCycleTotalMicroseconds * 
-				(double)0.000001;
-			break;
-		case BLOCK_CYCLE_MILLISECONDS:
-			result = (double)block->lastCycleTotalMicroseconds * 
-				(double)0.001;
-			break;
-		case BLOCK_CYCLE_MICROSECONDS:
-			result = (double)block->lastCycleTotalMicroseconds;
-			break;
-		case BLOCK_CYCLE_PERCENT:
-		{
-			if (0 == mLastCycleDurationMicroseconds)
-			{
-				// We have not yet finished a cycle, so just return zero 
-				// percent to avoid a divide by zero error.
-				result = 0;
-			}
-			else
-			{
-				result = 100.0 * (double)block->lastCycleTotalMicroseconds / 
-					mLastCycleDurationMicroseconds;
-			}
-			break;
-		}
-		default:
-			break;
-	}
-
-	return result;
-}
-
-void Profiler::endProfilingCycle()
-{
-	if (!mEnabled)
-	{
-		return;
-	}
-
-	// Store the duration of the cycle that just finished.
-	mLastCycleDurationMicroseconds = mClock.getTimeMicroseconds() - 
-		mCurrentCycleStartMicroseconds;
-
-	// For each block, update data for the cycle that just finished.
-	std::map<std::string, hidden::ProfileBlock*>::iterator iter;
-	for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
-	{
-		hidden::ProfileBlock* block = (*iter).second;
-		block->lastCycleTotalMicroseconds = 
-			block->currentCycleTotalMicroseconds;
-		block->currentCycleTotalMicroseconds = 0;
-	}
-
-	if (mOutputFile.is_open())
-	{
-		// Print data to the output file.
-		if (mFirstFileOutput)
-		{
-			// On the first iteration, print a header line that shows the 
-			// names of each profiling block.
-			mOutputFile << "#cycle; ";
-
-			for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); 
-				++iter)
-			{
-				mOutputFile << (*iter).first << "; ";
-			}
-
-			mOutputFile << std::endl;
-			mFirstFileOutput = false;
-		}
-
-		mOutputFile << mCycleNumber << "; ";
-
-		for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); 
-			++iter)
-		{
-			mOutputFile << getBlockTime((*iter).first, mFileOutputMethod) 
-				<< "; ";
-		}
-
-		mOutputFile << std::endl;
-	}
-
-	++mCycleNumber;
-	mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds();
-}
-
-std::string Profiler::createStatsString(BlockTimingMethod method)
-{
-	if (!mEnabled)
-	{
-		return "";
-	}
-
-	std::string s;
-	std::string suffix;
-
-	switch(method)
-	{
-		case BLOCK_TOTAL_SECONDS:
-			suffix = "s";
-			break;
-		case BLOCK_TOTAL_MILLISECONDS:
-			suffix = "ms";
-			break;
-		case BLOCK_TOTAL_MICROSECONDS:
-			suffix = "us";
-			break;
-		case BLOCK_TOTAL_PERCENT:
-		{
-			suffix = "%";
-			break;
-		}
-		case BLOCK_CYCLE_SECONDS:
-			suffix = "s";
-			break;
-		case BLOCK_CYCLE_MILLISECONDS:
-			suffix = "ms";
-			break;
-		case BLOCK_CYCLE_MICROSECONDS:
-			suffix = "us";
-			break;
-		case BLOCK_CYCLE_PERCENT:
-		{
-			suffix = "%";
-			break;
-		}
-		default:
-			break;
-	}
-
-	std::map<std::string, hidden::ProfileBlock*>::iterator iter;
-	for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter)
-	{
-		if (iter != mProfileBlocks.begin())
-		{
-			s += "\n";
-		}
-
-		char blockTime[64];
-		sprintf(blockTime, "%lf", getBlockTime((*iter).first, method));
-
-		s += (*iter).first;
-		s += ": ";
-		s += blockTime;
-		s += " ";
-		s += suffix;
-	}
-
-	return s;
-}
-
-#endif
-
-#endif //USE_QUICKPROF
diff --git a/extern/bullet/Makefile b/extern/bullet/Makefile
deleted file mode 100755
index 793a9606e8c..00000000000
--- a/extern/bullet/Makefile
+++ /dev/null
@@ -1,73 +0,0 @@
-#
-# $Id$
-#
-# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version. The Blender
-# Foundation also sells licenses for use in proprietary software under
-# the Blender License.  See http://www.blender.org/BL/ for information
-# about this.
-#
-# This program 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
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
-#
-# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
-# All rights reserved.
-#
-# The Original Code is: all of this file.
-#
-# Contributor(s): none yet.
-#
-# ***** END GPL/BL DUAL LICENSE BLOCK *****
-#
-#
-
-include nan_definitions.mk
-
-
-SOURCEDIR = extern/bullet
-LIBNAMES = bullet bulletdyn
-DIR = $(OCGDIR)/$(SOURCEDIR)
-DIRS = Bullet BulletDynamics
-
-include nan_subdirs.mk
-
-install: all debug
-	@[ -d $(NAN_BULLET) ] || mkdir $(NAN_BULLET)
-	@[ -d $(NAN_BULLET)/include ] || mkdir $(NAN_BULLET)/include
-	@[ -d $(NAN_BULLET)/include/CollisionShapes ] || mkdir $(NAN_BULLET)/include/CollisionShapes
-	@[ -d $(NAN_BULLET)/include/BroadphaseCollision ] || mkdir $(NAN_BULLET)/include/BroadphaseCollision
-	@[ -d $(NAN_BULLET)/include/NarrowPhaseCollision ] || mkdir $(NAN_BULLET)/include/NarrowPhaseCollision
-	@[ -d $(NAN_BULLET)/include/Dynamics ] || mkdir $(NAN_BULLET)/include/Dynamics
-	@[ -d $(NAN_BULLET)/include/ConstraintSolver ] || mkdir $(NAN_BULLET)/include/ConstraintSolver
-	@[ -d $(NAN_BULLET)/include/CollisionDispatch ] || mkdir $(NAN_BULLET)/include/CollisionDispatch
-	@[ -d $(NAN_BULLET)/include/Vehicle ] || mkdir $(NAN_BULLET)/include/Vehicle
-	@[ -d $(NAN_BULLET)/lib ] || mkdir $(NAN_BULLET)/lib
-	@[ -d $(NAN_BULLET)/lib/debug ] || mkdir $(NAN_BULLET)/lib/debug
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/Bullet/libbullet.a $(NAN_BULLET)/lib/
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/Bullet/debug/libbullet.a $(NAN_BULLET)/lib/debug/
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/BulletDynamics/libbulletdyn.a $(NAN_BULLET)/lib/
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh $(DIR)/BulletDynamics/debug/libbulletdyn.a $(NAN_BULLET)/lib/debug/
-ifeq ($(OS),darwin)
-	ranlib $(NAN_BULLET)/lib/libbullet.a
-	ranlib $(NAN_BULLET)/lib/debug/libbullet.a
-	ranlib $(NAN_BULLET)/lib/libbulletdyn.a
-	ranlib $(NAN_BULLET)/lib/debug/libbulletdyn.a
-endif
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh Bullet/CollisionShapes/*.h $(NAN_BULLET)/include/CollisionShapes
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh Bullet/BroadphaseCollision/*.h $(NAN_BULLET)/include/BroadphaseCollision
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh Bullet/NarrowPhaseCollision/*.h $(NAN_BULLET)/include/NarrowPhaseCollision
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh Bullet/CollisionDispatch/*.h $(NAN_BULLET)/include/CollisionDispatch
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh BulletDynamics/Dynamics/*.h $(NAN_BULLET)/include/Dynamics
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh BulletDynamics/ConstraintSolver/*.h $(NAN_BULLET)/include/ConstraintSolver
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh BulletDynamics/Vehicle/*.h $(NAN_BULLET)/include/Vehicle
-	@$(NANBLENDERHOME)/intern/tools/cpifdiff.sh LinearMath/*.h $(NAN_BULLET)/include
diff --git a/extern/bullet/SConscript b/extern/bullet/SConscript
deleted file mode 100644
index 5e1d107eabc..00000000000
--- a/extern/bullet/SConscript
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/usr/bin/python
-import sys
-import os
-
-Import('env')
-
-defs = 'USE_DOUBLES QHULL _LIB'
-cflags = []
-
-if env['OURPLATFORM']=='win32-vc':
-    defs += ' WIN32 NDEBUG _WINDOWS _LIB'
-    #cflags += ['/MT', '/W3', '/GX', '/O2', '/Op']
-    cflags += ['/MT', '/W3', '/GX', '/Og', '/Ot', '/Ob1', '/Op', '/G6']
-elif env['OURPLATFORM']=='win32-mingw':
-    defs += ' NDEBUG'
-    cflags += ['-O2']
-elif sys.platform=='linux2' or sys.platform=='linux-i386' or sys.platform=='freebsd4' or sys.platform=='freebsd5':
-    defs += ' NDEBUG'
-    cflags += ['-O2']
-elif sys.platform=='darwin':
-    defs += ' NDEBUG'
-    cflags += ['-O2','-pipe', '-fPIC', '-funsigned-char', '-ffast-math', '-mpowerpc' , '-mtune=G4']
-    
-sources = env.Glob("Bullet/BroadphaseCollision/*.cpp")
-sources += env.Glob("Bullet/CollisionShapes/*.cpp")
-sources += env.Glob("Bullet/NarrowPhaseCollision/*.cpp")
-sources += env.Glob("Bullet/CollisionDispatch/*.cpp")
-sources += env.Glob("BulletDynamics/ConstraintSolver/*.cpp")
-sources += env.Glob("BulletDynamics/Vehicle/*.cpp")
-sources += env.Glob("BulletDynamics/Dynamics/*.cpp")
-
-incs = '. Bullet BulletDynamics LinearMath'
-
-env.BlenderLib ( libname = 'extern_bullet', sources=sources, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
diff --git a/extern/bullet/continuous.dsw b/extern/bullet/continuous.dsw
deleted file mode 100644
index 4d0cd2689bf..00000000000
--- a/extern/bullet/continuous.dsw
+++ /dev/null
@@ -1,248 +0,0 @@
-Microsoft Developer Studio Workspace File, Format Version 6.00
-# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
-
-###############################################################################
-
-Project: "Bullet"=.\Bullet\Bullet3.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name BulletDynamics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name CcdPhysics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name PhysicsInterface
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "BulletDynamics"=.\BulletDynamics\BulletDynamics.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "CcdPhysics"=.\EXTRAS\PHYSICSINTERFACE\CcdPhysics\CcdPhysics.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "CcdPhysicsDemo"=.\Demos\CcdPhysicsDemo\CcdPhysicsDemo.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name BulletDynamics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name CcdPhysics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name PhysicsInterface
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "CollisionDemo"=.\Demos\CollisionDemo\CollisionDemo.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "ConcaveDemo"=.\DEMOS\ConcaveDemo\ConcaveDemo.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name BulletDynamics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name CcdPhysics
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name PhysicsInterface
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "ContinuousConvexCollision"=.\Demos\ContinuousConvexCollision\ContinuousConvexCollision.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "ConvexHullDistance"=.\DEMOS\ConvexHullDistance\ConvexHullDistance.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "GjkConvexCastDemo"=.\Demos\GjkConvexCastDemo\GjkConvexCastDemo.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "OpenGL"=.\Demos\OpenGL\OpenGL.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "PhysicsInterface"=.\EXTRAS\PHYSICSINTERFACE\Common\PhysicsInterface.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "Raytracer"=.\Demos\Raytracer\Raytracer.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Project: "SimplexDemo"=.\Demos\SimplexDemo\SimplexDemo.dsp - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-    Begin Project Dependency
-    Project_Dep_Name Bullet
-    End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name OpenGL
-    End Project Dependency
-}}}
-
-###############################################################################
-
-Global:
-
-Package=<5>
-{{{
-}}}
-
-Package=<3>
-{{{
-}}}
-
-###############################################################################
-
diff --git a/extern/bullet/continuous_vc7.sln b/extern/bullet/continuous_vc7.sln
deleted file mode 100644
index 015e91e2e11..00000000000
--- a/extern/bullet/continuous_vc7.sln
+++ /dev/null
@@ -1,140 +0,0 @@
-Microsoft Visual Studio Solution File, Format Version 8.00
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenGLSupport", "Demos\OpenGL\OpenGL_vc7.vcproj", "{47328C1E-54A4-4065-B3DA-F88EE281D1E5}"
-	ProjectSection(ProjectDependencies) = postProject
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3ContinuousCollision", "Bullet\Bullet3_vc7.vcproj", "{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
-	ProjectSection(ProjectDependencies) = postProject
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimplexDemo", "Demos\SimplexDemo\SimplexDemo_vc7.vcproj", "{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}"
-	ProjectSection(ProjectDependencies) = postProject
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CollisionDemo", "Demos\CollisionDemo\CollisionDemo_vc7.vcproj", "{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}"
-	ProjectSection(ProjectDependencies) = postProject
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearConvexCastDemo", "Demos\GjkConvexCastDemo\GjkConvexCastDemo_vc7.vcproj", "{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}"
-	ProjectSection(ProjectDependencies) = postProject
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ContinuousConvexCollisionDemo", "Demos\ContinuousConvexCollision\ContinuousConvexCollision_vc7.vcproj", "{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}"
-	ProjectSection(ProjectDependencies) = postProject
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Raytracer", "Demos\Raytracer\Raytracer_vc7.vcproj", "{F8B0A298-14C9-4006-8D53-51032892BEDD}"
-	ProjectSection(ProjectDependencies) = postProject
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3Dynamics", "BulletDynamics\BulletDynamics_vc7.vcproj", "{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
-	ProjectSection(ProjectDependencies) = postProject
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysics", "Extras\PhysicsInterface\CcdPhysics\CcdPhysics_vc7.vcproj", "{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
-	ProjectSection(ProjectDependencies) = postProject
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PhysicsInterfaceCommon", "Extras\PhysicsInterface\Common\PhysicsInterfaceCommon\PhysicsInterfaceCommon_vc7.vcproj", "{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
-	ProjectSection(ProjectDependencies) = postProject
-	EndProjectSection
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysicsDemo", "Demos\CcdPhysicsDemo\CcdPhysicsDemo_vc7.vcproj", "{E9C93159-EC18-4121-9D73-1DE7053D81D7}"
-	ProjectSection(ProjectDependencies) = postProject
-		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
-		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
-	EndProjectSection
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-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConcaveDemo", "Demos\ConcaveDemo\ConcaveDemo.vcproj", "{F20F38CC-CFA7-40C7-81AE-945C8C09E473}"
-	ProjectSection(ProjectDependencies) = postProject
-		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
-		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
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-		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
-		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
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-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConvexHullDistance", "Demos\ConvexHullDistance\ConvexHullDistance_vc7.vcproj", "{AF9E7C2B-BE49-4101-B056-4A628B276389}"
-	ProjectSection(ProjectDependencies) = postProject
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-	EndProjectSection
-EndProject
-Global
-	GlobalSection(SolutionConfiguration) = preSolution
-		Debug = Debug
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-	EndGlobalSection
-	GlobalSection(ProjectConfiguration) = postSolution
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deleted file mode 100644
index 108d29aa1ba..00000000000
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diff --git a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj b/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
deleted file mode 100644
index 67369fa4052..00000000000
--- a/extern/bullet/make/msvc_7_0/Bullet3_vc7.vcproj
+++ /dev/null
@@ -1,1533 +0,0 @@
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diff --git a/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj b/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj
deleted file mode 100644
index 7f20dc3fa20..00000000000
--- a/extern/bullet/make/msvc_7_0/Dynamics/BulletDynamics_vc7.vcproj
+++ /dev/null
@@ -1,522 +0,0 @@
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