updated to latest Bullet 2.x

41 files changed, 418 insertions, 259 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index 7b35df09db6..3ad2467886b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -44,6 +44,8 @@ CONCAVE_SHAPES_START_HERE,
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	///used for demo integration FAST/Swift collision library and Bullet
 	FAST_CONCAVE_MESH_PROXYTYPE,
+	//terrain
+	TERRAIN_SHAPE_PROXYTYPE,
 ///Used for GIMPACT Trimesh integration
 	GIMPACT_SHAPE_PROXYTYPE,
 	
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index 415c398a101..1a471398638 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -29,6 +29,7 @@ enum btCollisionDispatcherId
 };
 
 class btPersistentManifold;
+class btStackAlloc;
 
 struct btDispatcherInfo
 {
@@ -45,7 +46,8 @@ struct btDispatcherInfo
 		m_useContinuous(false),
 		m_debugDraw(0),
 		m_enableSatConvex(false),
-		m_enableSPU(false)
+		m_enableSPU(false),
+		m_stackAllocator(0)
 	{
 
 	}
@@ -57,6 +59,7 @@ struct btDispatcherInfo
 	class btIDebugDraw*	m_debugDraw;
 	bool	m_enableSatConvex;
 	bool	m_enableSPU;
+	btStackAlloc*	m_stackAllocator;
 	
 };
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index c9d21f2d9a3..e8865a2c45a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -101,7 +101,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 { 
 	gNumManifold++;
 	
-	//ASSERT(gNumManifold < 65535);
+	//btAssert(gNumManifold < 65535);
 	
 
 	btCollisionObject* body0 = (btCollisionObject*)b0;
@@ -145,7 +145,7 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 
 btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
-#define USE_DISPATCH_REGISTRY_ARRAY 1
+
 #ifdef USE_DISPATCH_REGISTRY_ARRAY
 	
 	btCollisionAlgorithmConstructionInfo ci;
@@ -194,6 +194,7 @@ btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(in
 }
 
 
+#ifndef USE_DISPATCH_REGISTRY_ARRAY
 
 btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
@@ -232,6 +233,7 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
 	return new btEmptyAlgorithm(ci);
 	
 }
+#endif //USE_DISPATCH_REGISTRY_ARRAY
 
 bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
 {
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index 4e97bce9d65..41bc98e1dca 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -30,7 +30,7 @@ class btOverlappingPairCache;
 
 #include "btCollisionCreateFunc.h"
 
-
+#define USE_DISPATCH_REGISTRY_ARRAY 1
 
 
 ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
@@ -56,7 +56,9 @@ class btCollisionDispatcher : public btDispatcher
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc*   m_emptyCreateFunc;
 
+#ifndef USE_DISPATCH_REGISTRY_ARRAY
 	btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
+#endif //USE_DISPATCH_REGISTRY_ARRAY
 
 public:
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 775ed3e13d8..9df6d7186ec 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -25,6 +25,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btStackAlloc.h"
 
 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -32,26 +33,22 @@ subject to the following restrictions:
 
 #include <algorithm>
 
-btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
+btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize)
 :m_dispatcher1(dispatcher),
 m_broadphasePairCache(pairCache),
 m_ownsDispatcher(false),
 m_ownsBroadphasePairCache(false)
 {
-}
-
-
-btCollisionWorld::btCollisionWorld()
-: m_dispatcher1(new	btCollisionDispatcher()),
-m_broadphasePairCache(new btSimpleBroadphase()),
-m_ownsDispatcher(true),
-m_ownsBroadphasePairCache(true)
-{
+	m_stackAlloc = new btStackAlloc(stackSize);
+	m_dispatchInfo.m_stackAllocator = m_stackAlloc;
 }
 
 
 btCollisionWorld::~btCollisionWorld()
 {
+	m_stackAlloc->destroy();
+	delete m_stackAlloc;
+
 	//clean up remaining objects
 	std::vector<btCollisionObject*>::iterator i;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index e212e520bda..9c548784829 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -64,7 +64,7 @@ subject to the following restrictions:
 #ifndef COLLISION_WORLD_H
 #define COLLISION_WORLD_H
 
-
+class btStackAlloc;
 class btCollisionShape;
 class btBroadphaseInterface;
 #include "LinearMath/btVector3.h"
@@ -88,6 +88,10 @@ protected:
 	
 	btDispatcher*	m_dispatcher1;
 
+	btDispatcherInfo	m_dispatchInfo;
+
+	btStackAlloc*	m_stackAlloc;
+
 	btOverlappingPairCache*	m_broadphasePairCache;
 	
 	bool	m_ownsDispatcher;
@@ -95,11 +99,8 @@ protected:
 
 public:
 
-	//this constructor will create and own a dispatcher and paircache and delete it at destruction
-	btCollisionWorld();
-
 	//this constructor doesn't own the dispatcher and paircache/broadphase
-	btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache);
+	btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize = 2*1024*1024);
 
 	virtual ~btCollisionWorld();
 
@@ -237,7 +238,12 @@ public:
 	void	removeCollisionObject(btCollisionObject* collisionObject);
 
 	virtual void	performDiscreteCollisionDetection(	btDispatcherInfo&	dispatchInfo);
-	
+
+	btDispatcherInfo& getDispatchInfo()
+	{
+		return m_dispatchInfo;
+	}
+
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 8ad3967bac2..06adb3a04c8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -172,7 +172,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod
 
 
 		btCollisionObject*	triOb = triBody;
-		ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->getCollisionShape());
+		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
 		
 		if (convexBody->getCollisionShape()->isConvex())
 		{
@@ -288,7 +288,7 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 
 		btCollisionObject* concavebody = triBody;
 
-		ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->getCollisionShape();
+		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
 		
 		if (triangleMesh)
 		{
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index e896508bdb9..09457aea3e9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -61,37 +61,28 @@ subject to the following restrictions:
 
 #endif //USE_HULL
 
-bool gUseEpa = true;
-
-
-#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;
 
+btConvexConvexAlgorithm::CreateFunc::CreateFunc()
+{
+	m_ownsSolvers = true;
+	m_simplexSolver = new btVoronoiSimplexSolver();
+	m_pdSolver = new btGjkEpaPenetrationDepthSolver;
+}
 
+btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+{
+	m_ownsSolvers = false;
+	m_simplexSolver = simplexSolver;
+	m_pdSolver = pdSolver;
+}
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 : btCollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,&m_simplexSolver,0),
-m_useEpa(!gUseEpa),
+m_gjkPairDetector(0,0,simplexSolver,pdSolver),
 m_ownManifold (false),
 m_manifoldPtr(mf),
 m_lowLevelOfDetail(false)
 {
-	checkPenetrationDepthSolver();
 
 }
 
@@ -115,27 +106,6 @@ void	btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
 
 
 
-static btGjkEpaPenetrationDepthSolver	gEpaPenetrationDepthSolver;
-static btMinkowskiPenetrationDepthSolver	gPenetrationDepthSolver;
-
-
-
-void	btConvexConvexAlgorithm::checkPenetrationDepthSolver()
-{
-	if (m_useEpa != gUseEpa)
-	{
-		m_useEpa  = gUseEpa;
-		if (m_useEpa)
-		{
-			m_gjkPairDetector.setPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
-		} else
-		{
-			m_gjkPairDetector.setPenetrationDepthSolver(&gPenetrationDepthSolver);
-		}
-	}
-	
-}
-
 
 //
 // Convex-Convex collision algorithm
@@ -164,7 +134,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 		resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
 		}
 #else
-	checkPenetrationDepthSolver();
 
 	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
 	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
@@ -176,7 +145,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	m_gjkPairDetector.setMinkowskiB(min1);
 	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
 	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	
+	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
+
 //	input.m_maximumDistanceSquared = 1e30f;
 	
 	input.m_transformA = body0->getWorldTransform();
@@ -209,7 +179,6 @@ float	btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
 	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
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index 1cd94408f1f..ccfe6d5b8cb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -28,23 +28,17 @@ class btConvexPenetrationDepthSolver;
 ///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
 class btConvexConvexAlgorithm : public btCollisionAlgorithm
 {
-	//ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	btVoronoiSimplexSolver	m_simplexSolver;
 	btGjkPairDetector m_gjkPairDetector;
-	bool	m_useEpa;
 public:
 
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
-
-	void	checkPenetrationDepthSolver();
-
 	
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 
 	virtual ~btConvexConvexAlgorithm();
 
@@ -62,9 +56,16 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
+		btConvexPenetrationDepthSolver*		m_pdSolver;
+		btSimplexSolverInterface*			m_simplexSolver;
+		bool	m_ownsSolvers;
+		
+		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+		CreateFunc();
+
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
-			return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
+			return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index e85a36c0b73..ee451a9b6c0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -220,7 +220,7 @@ public:
 			edgeVert1 = 7;
 			break;
 		default:
-			ASSERT(0);
+			btAssert(0);
 
 		}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index 338527d58a4..3bd0a317545 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -15,7 +15,6 @@ subject to the following restrictions:
 
 //#define DISABLE_BVH
 
-
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
index 29f62828d04..7cd35a91860 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
@@ -17,12 +17,12 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-ConcaveShape::ConcaveShape() : m_collisionMargin(0.f)
+btConcaveShape::btConcaveShape() : m_collisionMargin(0.f)
 {
 
 }
 
-ConcaveShape::~ConcaveShape()
+btConcaveShape::~btConcaveShape()
 {
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index 304654531ed..2bbba88bc44 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -24,15 +24,15 @@ subject to the following restrictions:
 
 ///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 btCollisionShape
+class btConcaveShape : public btCollisionShape
 {
 protected:
 	float m_collisionMargin;
 
 public:
-	ConcaveShape();
+	btConcaveShape();
 
-	virtual ~ConcaveShape();
+	virtual ~btConcaveShape();
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index c92f42cdee8..c16149e55fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -29,7 +29,7 @@ subject to the following restrictions:
 
 /// btEmptyShape is a collision shape without actual collision detection. 
 ///It can be replaced by another shape during runtime
-class btEmptyShape	: public ConcaveShape
+class btEmptyShape	: public btConcaveShape
 {
 public:
 	btEmptyShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
new file mode 100644
index 00000000000..57132ee9512
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -0,0 +1,92 @@
+/*
+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 "btHeightfieldTerrainShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape()
+:m_localScaling(0.f,0.f,0.f)
+{
+}
+
+
+btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
+{
+}
+
+
+
+void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+	aabbMax.setValue(1e30f,1e30f,1e30f);
+
+}
+
+
+
+
+void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+	btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
+	btScalar radius = halfExtents.length();
+	btVector3 center = (aabbMax + aabbMin) * 0.5f;
+	
+	//TODO
+	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
+/*
+	btVector3 tangentDir0,tangentDir1;
+
+	//tangentDir0/tangentDir1 can be precalculated
+	btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
+
+	btVector3 supVertex0,supVertex1;
+
+	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
+	
+	btVector3 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	btHeightfieldTerrainShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+{
+	//moving concave objects not supported
+	
+	inertia.setValue(0.f,0.f,0.f);
+}
+
+void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
+{
+	return m_localScaling;
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
new file mode 100644
index 00000000000..e4cc9d42d59
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -0,0 +1,58 @@
+/*
+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 HEIGHTFIELD_TERRAIN_SHAPE_H
+#define HEIGHTFIELD_TERRAIN_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain 
+class btHeightfieldTerrainShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	
+	//todo: terrain data
+
+	btVector3	m_localScaling;
+
+public:
+	btHeightfieldTerrainShape();
+
+	virtual ~btHeightfieldTerrainShape();
+
+
+	virtual int	getShapeType() const
+	{
+		return TERRAIN_SHAPE_PROXYTYPE;
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	virtual const btVector3& getLocalScaling() const;
+	
+	//debugging
+	virtual char*	getName()const {return "HEIGHTFIELD";}
+
+};
+
+#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index 7414d470d7d..65b30e1ff06 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///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 btStaticPlaneShape : public ConcaveShape
+class btStaticPlaneShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index f7507b29394..76b5859be7e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -76,7 +76,7 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 				break;
 			}
 		default:
-			ASSERT((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+			btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 		}
 
 		unLockReadOnlyVertexBase(part);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
index 154b7145e68..7400d372bee 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -32,7 +32,7 @@ btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* tri
 
 void	btTriangleIndexVertexArray::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() );
+	btAssert(subpart< getNumSubParts() );
 	
 	btIndexedMesh& mesh = m_indexedMeshes[subpart];
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index 81cb1412db9..4bf000f0c8d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 
 ///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class btTriangleMeshShape : public ConcaveShape
+class btTriangleMeshShape : public btConcaveShape
 {
 protected:
 	btStridingMeshInterface* m_meshInterface;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 8e6e2daa4fb..3284a599ea7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -59,7 +59,7 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
 	{
-//		ASSERT(0);
+//		btAssert(0);
 		getAabbSlow(t,aabbMin,aabbMax);
 	}
 
@@ -116,7 +116,7 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia)
 	{
-		ASSERT(0);
+		btAssert(0);
 		inertia.setValue(0.f,0.f,0.f);
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
index ba02ea56e83..188c8258c8e 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
@@ -17,6 +17,7 @@ subject to the following restrictions:
 #ifndef CONVEX_PENETRATION_DEPTH_H
 #define CONVEX_PENETRATION_DEPTH_H
 
+class btStackAlloc;
 class btVector3;
 #include "btSimplexSolverInterface.h"
 class btConvexShape;
@@ -33,7 +34,7 @@ public:
 		btConvexShape* convexA,btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
 				btVector3& v, btPoint3& pa, btPoint3& pb,
-				class btIDebugDraw* debugDraw
+				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 				) = 0;
 
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
index ef2b480fa62..e9db97d1b13 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
 #define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
-
+class btStackAlloc;
 
 /// 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
@@ -42,13 +42,15 @@ struct btDiscreteCollisionDetectorInterface
 	struct ClosestPointInput
 	{
 		ClosestPointInput()
-			:m_maximumDistanceSquared(1e30f)
+			:m_maximumDistanceSquared(1e30f),
+			m_stackAlloc(0)
 		{
 		}
 
 		btTransform m_transformA;
 		btTransform m_transformB;
 		btScalar	m_maximumDistanceSquared;
+		btStackAlloc* m_stackAlloc;
 	};
 
 	virtual ~btDiscreteCollisionDetectorInterface() {};
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
index ade4635c57b..8abdfdbb7e5 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
@@ -26,6 +26,15 @@ Nov.2006
 
 #include "btGjkEpa.h"
 #include <string.h> //for memset
+#include <LinearMath/btStackAlloc.h>
+
+#if defined(DEBUG) || defined (_DEBUG)
+#include <stdio.h> //for debug printf
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+#endif //__SPU__
+#endif
 
 namespace gjkepa_impl
 {
@@ -58,21 +67,18 @@ typedef btMatrix3x3		Rotation;
 // Const
 //
 
-static const U			chkPrecision		=1/U(sizeof(F)==4);
-
-static const F			cstInf				=F(1/sin(0.));
-static const F			cstPi				=F(acos(-1.));
-static const F			cst2Pi				=cstPi*2;
 
-static const U			GJK_maxiterations	=128;
-static const U			GJK_hashsize		=1<<6;
-static const U			GJK_hashmask		=GJK_hashsize-1;
-static const F			GJK_insimplex_eps	=F(0.0001);
-static const F			GJK_sqinsimplex_eps	=GJK_insimplex_eps*GJK_insimplex_eps;
-
-static const U			EPA_maxiterations	=256;
-static const F			EPA_inface_eps		=F(0.01);
-static const F			EPA_accuracy		=F(0.001);
+#define cstInf				SIMD_INFINITY
+#define cstPi				SIMD_PI
+#define	cst2Pi				SIMD_2_PI
+#define GJK_maxiterations	(128)
+#define GJK_hashsize		(1<<6)
+#define GJK_hashmask		(GJK_hashsize-1)
+#define GJK_insimplex_eps	F(0.0001)
+#define GJK_sqinsimplex_eps	(GJK_insimplex_eps*GJK_insimplex_eps)
+#define EPA_maxiterations	256
+#define	EPA_inface_eps		F(0.01)
+#define EPA_accuracy		F(0.001)
 
 //
 // Utils
@@ -95,80 +101,7 @@ throw(object); }
 template <typename T> static inline void	Raise(const T&)				{}
 #endif
 
-	struct Block
-		{
-		Block*	previous;
-		U1*		address;
-		};
 
-//
-// StackAlloc
-//
-struct StackAlloc
-	{
-	
-
-				StackAlloc()		{ ctor(); }
-				StackAlloc(U size)	{ ctor();Create(size); }
-				~StackAlloc()		{ Free(); }
-	void		Create(U size)
-		{
-		Free();
-		data		=	new U1[size];
-		totalsize	=	size;
-		}
-	void		Free()
-		{
-		if(usedsize==0)
-			{
-			if(!ischild)		delete[] data;
-			data				=	0;
-			usedsize			=	0;
-			} else Raise(L"StackAlloc is still in use");
-		}
-		U1*			Allocate(U size)
-		{
-		const U	nus(usedsize+size);
-		if(nus<totalsize)
-			{
-			usedsize=nus;
-			return(data+(usedsize-size));
-			}
-		Raise(L"Not enough memory");
-		return(0);
-		}
-	Block*		BeginBlock()
-		{
-		Block*	pb = (Block*)Allocate(sizeof(Block));
-		pb->previous	=	current;
-		pb->address		=	data+usedsize;
-		current			=	pb;
-		return(pb);
-		}
-	void		EndBlock(Block* block)
-		{
-		if(block==current)
-			{
-			current		=	block->previous;
-			usedsize	=	(U)((block->address-data)-sizeof(Block));
-			} else Raise(L"Unmatched blocks");
-		}
-
-	private:
-	void		ctor()
-		{
-		data		=	0;
-		totalsize	=	0;
-		usedsize	=	0;
-		current		=	0;
-		ischild		=	false;
-		}
-	U1*		data;
-	U		totalsize;
-	U		usedsize;
-	Block*	current;
-	Z		ischild;
-	};
 
 //
 // GJK
@@ -185,8 +118,8 @@ struct	GJK
 		Vector3	v;
 		He*		n;
 		};
-	StackAlloc*				sa;
-	Block*		sablock;
+	btStackAlloc*				sa;
+	btBlock*		sablock;
 	He*						table[GJK_hashsize];
 	Rotation				wrotations[2];
 	Vector3					positions[2];
@@ -198,7 +131,7 @@ struct	GJK
 	F						margin;
 	Z						failed;
 	//
-					GJK(StackAlloc* psa,
+					GJK(btStackAlloc* psa,
 						const Rotation& wrot0,const Vector3& pos0,const btConvexShape* shape0,
 						const Rotation& wrot1,const Vector3& pos1,const btConvexShape* shape1,
 						F pmargin=0)
@@ -206,14 +139,14 @@ struct	GJK
 		wrotations[0]=wrot0;positions[0]=pos0;shapes[0]=shape0;
 		wrotations[1]=wrot1;positions[1]=pos1;shapes[1]=shape1;
 		sa		=psa;
-		sablock	=sa->BeginBlock();
+		sablock	=sa->beginBlock();
 		margin	=pmargin;
 		failed	=false;
 		}
 	//
 					~GJK()
 		{
-		sa->EndBlock(sablock);
+		sa->endBlock(sablock);
 		}
 	// vdh : very dumm hash
 	static inline U	Hash(const Vector3& v)
@@ -243,7 +176,7 @@ struct	GJK
 		const U			h(Hash(ray));
 		He*				e = (He*)(table[h]);
 		while(e) { if(e->v==ray) { --order;return(false); } else e=e->n; }
-		e=(He*)sa->Allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e;
+		e=(He*)sa->allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e;
 		Support(ray,simplex[++order]);
 		return(ray.dot(SPXW(order))>0);
 		}
@@ -401,7 +334,7 @@ struct	EPA
 		};
 	//
 	GJK*			gjk;
-	StackAlloc*		sa;
+	btStackAlloc*		sa;
 	Face*			root;
 	U				nfaces;
 	U				iterations;
@@ -464,7 +397,7 @@ c) const
 	//
 	inline Face*	NewFace(const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c)
 		{
-		Face*	pf = (Face*)sa->Allocate(sizeof(Face));
+		Face*	pf = (Face*)sa->allocate(sizeof(Face));
 		if(Set(pf,a,b,c))
 			{
 			if(root) root->prev=pf;
@@ -506,7 +439,7 @@ c) const
 	//
 	GJK::Mkv*		Support(const Vector3& w) const
 		{
-		GJK::Mkv*		v =(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));
+		GJK::Mkv*		v =(GJK::Mkv*)sa->allocate(sizeof(GJK::Mkv));
 		gjk->Support(w,*v);
 		return(v);
 		}
@@ -540,7 +473,7 @@ ff)
 	//
 	inline F		EvaluatePD(F accuracy=EPA_accuracy)
 		{
-		Block*	sablock = sa->BeginBlock();
+		btBlock*	sablock = sa->beginBlock();
 		Face*				bestface = 0;
 		U					markid(1);
 		depth		=	-cstInf;
@@ -579,7 +512,7 @@ U	eidx[9][4]={{0,0,4,0},{0,1,2,1},{0,2,1,2},{1,1,5,2},{1,0,2,0},{2,2,3,2},{3,1,5
 			U i;
 
 			for( i=0;i<=gjk->order;++i)		{ 
-basemkv[i]=(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i]; 
+basemkv[i]=(GJK::Mkv*)sa->allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i]; 
 }
 			for( i=0;i<nfidx;++i,pfidx+=3)		{ 
 basefaces[i]=NewFace(basemkv[pfidx[0]],basemkv[pfidx[1]],basemkv[pfidx[2]]); 
@@ -589,7 +522,7 @@ Link(basefaces[peidx[0]],peidx[1],basefaces[peidx[2]],peidx[3]); }
 			}
 		if(0==nfaces)
 			{
-			sa->EndBlock(sablock);
+			sa->endBlock(sablock);
 			return(depth);
 			}
 		/* Expand hull		*/
@@ -632,7 +565,7 @@ nf+=BuildHorizon(markid,w,*bf->f[i],bf->e[i],cf,ff); }
 			nearest[0]		=	features[0][0]*b.x()+features[0][1]*b.y()+features[0][2]*b.z();
 			nearest[1]		=	features[1][0]*b.x()+features[1][1]*b.y()+features[1][2]*b.z();
 			} else failed=true;
-		sa->EndBlock(sablock);
+		sa->endBlock(sablock);
 		return(depth);
 		}
 	};
@@ -644,17 +577,17 @@ nf+=BuildHorizon(markid,w,*bf->f[i],bf->e[i],cf,ff); }
 
 using namespace	gjkepa_impl;
 
-/* Need some kind of stackalloc , create a static one till bullet provide
-one.	*/
-static const U		g_sasize((1024<<10)*2);
-static StackAlloc	g_sa(g_sasize);
+
 
 //
 bool	btGjkEpaSolver::Collide(btConvexShape *shape0,const btTransform &wtrs0,
 								btConvexShape *shape1,const btTransform &wtrs1,
 								btScalar	radialmargin,
+								btStackAlloc* stackAlloc,
 								sResults&	results)
 {
+	
+
 /* Initialize					*/
 results.witnesses[0]	=
 results.witnesses[1]	=
@@ -664,7 +597,7 @@ results.status			=	sResults::Separated;
 results.epa_iterations	=	0;
 results.gjk_iterations	=	0;
 /* Use GJK to locate origin		*/
-GJK			gjk(&g_sa,
+GJK			gjk(stackAlloc,
 				wtrs0.getBasis(),wtrs0.getOrigin(),shape0,
 				wtrs1.getBasis(),wtrs1.getOrigin(),shape1,
 				radialmargin+EPA_accuracy);
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
index d26ac9cdfe5..359829f8f31 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
@@ -23,6 +23,8 @@ Nov.2006
 #define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 
+class btStackAlloc;
+
 ///btGjkEpaSolver contributed under zlib by Nathanael Presson
 struct	btGjkEpaSolver
 {
@@ -44,6 +46,7 @@ struct	sResults
 static bool	Collide(btConvexShape* shape0,const btTransform& wtrs0,
 					btConvexShape* shape1,const btTransform& wtrs1,
 					btScalar	radialmargin,
+					btStackAlloc* stackAlloc,
 					sResults&	results);
 };
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index c2958b22b6a..3d252751c9a 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -23,7 +23,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 											  btConvexShape* pConvexA, btConvexShape* pConvexB,
 											  const btTransform& transformA, const btTransform& transformB,
 											  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
-											  class btIDebugDraw* debugDraw )
+											  class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
 {
 
 
@@ -32,7 +32,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 	btGjkEpaSolver::sResults	results;
 	if(btGjkEpaSolver::Collide(	pConvexA,transformA,
 								pConvexB,transformB,
-								radialmargin,results))
+								radialmargin,stackAlloc,results))
 		{
 	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
 		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
index a7332a7a51a..3916ba0776c 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
@@ -29,7 +29,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 									  btConvexShape* pConvexA, btConvexShape* pConvexB,
 									  const btTransform& transformA, const btTransform& transformB,
 									  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
-									  class btIDebugDraw* debugDraw );
+									  class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
 
 	private :
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 646c07a5d39..0ce04dcfad8 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -20,6 +20,10 @@ subject to the following restrictions:
 
 #if defined(DEBUG) || defined (_DEBUG)
 #include <stdio.h> //for debug printf
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+#endif //__SPU__
 #endif
 
 //must be above the machine epsilon
@@ -29,10 +33,7 @@ subject to the following restrictions:
 int gNumDeepPenetrationChecks = 0;
 int gNumGjkChecks = 0;
 
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif //__SPU__
+
 
 btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
 :m_cachedSeparatingAxis(0.f,0.f,1.f),
@@ -202,7 +203,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 				normalInB *= rlen; //normalize
 				btScalar s = btSqrt(squaredDistance);
 			
-				ASSERT(s > btScalar(0.0));
+				btAssert(s > btScalar(0.0));
 				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
 				pointOnB += m_cachedSeparatingAxis * (marginB / s);
 				distance = ((1.f/rlen) - margin);
@@ -236,7 +237,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 					m_minkowskiA,m_minkowskiB,
 					localTransA,localTransB,
 					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
-					debugDraw
+					debugDraw,input.m_stackAlloc
 					);
 
 				if (isValid2)
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index 74cf2b7c071..de6749a9b72 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -74,7 +74,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 												   btConvexShape* convexA,btConvexShape* convexB,
 												   const btTransform& transA,const btTransform& transB,
 												   btVector3& v, btPoint3& pa, btPoint3& pb,
-												   class btIDebugDraw* debugDraw
+												   class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 												   )
 {
 
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
index c287195317e..b348b21b52a 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -28,7 +28,7 @@ public:
 	btConvexShape* convexA,btConvexShape* convexB,
 				const btTransform& transA,const btTransform& transB,
 			btVector3& v, btPoint3& pa, btPoint3& pb,
-			class btIDebugDraw* debugDraw
+			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
 			);
 
 };
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index ab0e8767e5d..c2372b648f6 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -86,13 +86,13 @@ public:
 
 	inline const btManifoldPoint& getContactPoint(int index) const
 	{
-		ASSERT(index < m_cachedPoints);
+		btAssert(index < m_cachedPoints);
 		return m_pointCache[index];
 	}
 
 	inline btManifoldPoint& getContactPoint(int index)
 	{
-		ASSERT(index < m_cachedPoints);
+		btAssert(index < m_cachedPoints);
 		return m_pointCache[index];
 	}
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index bb2aecfb6d0..384e4f7bab5 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -50,7 +50,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//angular constraint between two different rigidbodies
@@ -67,7 +67,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//angular constraint between two different rigidbodies
@@ -83,7 +83,7 @@ public:
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	//constraint on one rigidbody
@@ -101,7 +101,7 @@ public:
 		m_1MinvJt = btVector3(0.f,0.f,0.f);
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
 
-		ASSERT(m_Adiag > 0.0f);
+		btAssert(m_Adiag > 0.0f);
 	}
 
 	btScalar	getDiagonal() const { return m_Adiag; }
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
index bf92434b69b..edca6c8fa08 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
@@ -51,7 +51,7 @@ void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
 	if (fabs(len) >= SIMD_EPSILON)
 		return;
 
-	ASSERT(len < SIMD_EPSILON);
+	btAssert(len < SIMD_EPSILON);
 
 
 	//this jacobian entry could be re-used for all iterations
@@ -133,7 +133,7 @@ void btSolve2LinearConstraint::resolveBilateralPairConstraint(
 	if (fabs(len) >= SIMD_EPSILON)
 		return;
 
-	ASSERT(len < SIMD_EPSILON);
+	btAssert(len < SIMD_EPSILON);
 
 
 	//this jacobian entry could be re-used for all iterations
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 0dece6b20e6..f59598f2a53 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -57,19 +57,6 @@ subject to the following restrictions:
 #include <algorithm>
 
 
-btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver)
-:btDynamicsWorld(),
-m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
-m_debugDrawer(0),
-m_gravity(0,-10,0),
-m_localTime(1.f/60.f),
-m_profileTimings(0)
-{
-	m_islandManager = new btSimulationIslandManager();
-	m_ownsIslandManager = true;
-	m_ownsConstraintSolver = (constraintSolver==0);
-}
-
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
@@ -267,27 +254,27 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
 	///apply gravity, predict motion
 	predictUnconstraintMotion(timeStep);
 
-	btDispatcherInfo	dispatchInfo;
+	btDispatcherInfo& dispatchInfo = getDispatchInfo();
+
 	dispatchInfo.m_timeStep = timeStep;
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
-
 	///perform collision detection
 	performDiscreteCollisionDetection(dispatchInfo);
 
 	calculateSimulationIslands();
 
-	btContactSolverInfo infoGlobal;
-	infoGlobal.m_timeStep = timeStep;
+	
+	getSolverInfo().m_timeStep = timeStep;
 	
 
 
 	///solve non-contact constraints
-	solveNoncontactConstraints(infoGlobal);
+	solveNoncontactConstraints(getSolverInfo());
 	
 	///solve contact constraints
-	solveContactConstraints(infoGlobal);
+	solveContactConstraints(getSolverInfo());
 
 	///CallbackTriggers();
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index 4aa83683cd5..72619091c6f 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -23,7 +23,8 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
-struct btContactSolverInfo;
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
 class btRaycastVehicle;
 class btIDebugDraw;
 
@@ -52,6 +53,9 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
+	btContactSolverInfo	m_solverInfo;
+
+
 	std::vector<btRaycastVehicle*>	m_vehicles;
 
 	int	m_profileTimings;
@@ -83,11 +87,8 @@ public:
 
 
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
-	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver=0);
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
 
-	///this btDiscreteDynamicsWorld will create and own dispatcher, pairCache and constraintSolver, and deletes it in the destructor.
-	btDiscreteDynamicsWorld(btConstraintSolver* constraintSolver = 0);
-		
 	virtual ~btDiscreteDynamicsWorld();
 
 	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
@@ -144,6 +145,11 @@ public:
 
 	virtual const btTypedConstraint* getConstraint(int index) const;
 
+	btContactSolverInfo& getSolverInfo()
+	{
+		return m_solverInfo;
+	}
+
 
 };
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index a991fdca79d..617ed98d2af 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -27,9 +27,6 @@ class btDynamicsWorld : public btCollisionWorld
 {
 	public:
 		
-		btDynamicsWorld()
-		{
-		}
 
 		btDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
 		:btCollisionWorld(dispatcher,pairCache)
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index fe6a73939a7..ce5c76c58e2 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -22,13 +22,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 
-btSimpleDynamicsWorld::btSimpleDynamicsWorld()
-:m_constraintSolver(new btSequentialImpulseConstraintSolver),
-m_ownsConstraintSolver(true),
-m_debugDrawer(0),
-m_gravity(0,0,-10)
-{
-}
+
 
 btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
 :btDynamicsWorld(dispatcher,pairCache),
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index f74e2460732..cdc0c5559f6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -46,8 +46,6 @@ protected:
 public:
 
 
-	///this btSimpleDynamicsWorld constructor creates and owns dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld();
 
 	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
 	btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index 700bdb866cd..248ecfbce4e 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -386,21 +386,21 @@ void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 
 const btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) const
 {
-	ASSERT((index >= 0) && (index < 	getNumWheels()));
+	btAssert((index >= 0) && (index < 	getNumWheels()));
 	
 	return m_wheelInfo[index];
 }
 
 btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) 
 {
-	ASSERT((index >= 0) && (index < 	getNumWheels()));
+	btAssert((index >= 0) && (index < 	getNumWheels()));
 	
 	return m_wheelInfo[index];
 }
 
 void btRaycastVehicle::setBrake(float brake,int wheelIndex)
 {
-	ASSERT((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
+	btAssert((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
 	getWheelInfo(wheelIndex).m_brake;
 }
 
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index aa046b89df0..46b8145a766 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -37,7 +37,7 @@ subject to the following restrictions:
 		//#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
 		#define ATTRIBUTE_ALIGNED16(a) a
 		#include <assert.h>
-		#define ASSERT assert
+		#define btAssert assert
 #else
 	
 	//non-windows systems
@@ -47,7 +47,7 @@ subject to the following restrictions:
 		#ifndef assert
 		#include <assert.h>
 		#endif
-		#define ASSERT assert
+		#define btAssert assert
 #endif
 
 
diff --git a/extern/bullet2/src/LinearMath/btStackAlloc.h b/extern/bullet2/src/LinearMath/btStackAlloc.h
new file mode 100644
index 00000000000..d219b453537
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btStackAlloc.h
@@ -0,0 +1,106 @@
+/*
+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.
+*/
+
+/*
+StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
+Nov.2006
+*/
+
+#ifndef BT_STACK_ALLOC
+#define BT_STACK_ALLOC
+
+#include "btScalar.h" //for btAssert
+
+struct btBlock
+{
+	btBlock*			previous;
+	unsigned char*		address;
+};
+
+///StackAlloc provides some fast stack-based memory allocator (LIFO last-in first-out)
+class btStackAlloc
+{
+public:
+
+	btStackAlloc(unsigned int size)	{ ctor();create(size); }
+	~btStackAlloc()		{ destroy(); }
+	
+	inline void		create(unsigned int size)
+	{
+		destroy();
+		data		=	new unsigned char[size];
+		totalsize	=	size;
+	}
+	inline void		destroy()
+	{
+		btAssert(usedsize==0);
+		//Raise(L"StackAlloc is still in use");
+
+		if(usedsize==0)
+		{
+			if(!ischild)		delete[] data;
+			data				=	0;
+			usedsize			=	0;
+		}
+		
+	}
+	unsigned char*			allocate(unsigned int size)
+	{
+		const unsigned int	nus(usedsize+size);
+		if(nus<totalsize)
+		{
+			usedsize=nus;
+			return(data+(usedsize-size));
+		}
+		btAssert(0);
+		//&& (L"Not enough memory"));
+		
+		return(0);
+	}
+	inline btBlock*		beginBlock()
+	{
+		btBlock*	pb = (btBlock*)allocate(sizeof(btBlock));
+		pb->previous	=	current;
+		pb->address		=	data+usedsize;
+		current			=	pb;
+		return(pb);
+	}
+	inline void		endBlock(btBlock* block)
+	{
+		btAssert(block==current);
+		//Raise(L"Unmatched blocks");
+		if(block==current)
+		{
+			current		=	block->previous;
+			usedsize	=	(unsigned int)((block->address-data)-sizeof(btBlock));
+		}
+	}
+
+private:
+	void		ctor()
+	{
+		data		=	0;
+		totalsize	=	0;
+		usedsize	=	0;
+		current		=	0;
+		ischild		=	false;
+	}
+	unsigned char*		data;
+	unsigned int		totalsize;
+	unsigned int		usedsize;
+	btBlock*	current;
+	bool		ischild;
+};
+
+#endif //BT_STACK_ALLOC