Merged changes in the trunk up to revision 55357.

Resolved conflicts:
release/datafiles/startup.blend
source/blender/editors/space_nla/nla_buttons.c

Also updated source/blender/blenkernel/intern/linestyle.c as a follow-up of
recent changes for the use of bool.

232 files changed, 9445 insertions, 3873 deletions

diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt
index 6ad6bdc316f..941f69e9047 100644
--- a/extern/CMakeLists.txt
+++ b/extern/CMakeLists.txt
@@ -28,6 +28,7 @@ remove_strict_flags()
 
 add_subdirectory(colamd)
 add_subdirectory(rangetree)
+add_subdirectory(wcwidth)
 
 if(WITH_BULLET)
 	if(NOT WITH_SYSTEM_BULLET)
diff --git a/extern/SConscript b/extern/SConscript
index 6a0ffa3f588..e2bb1dc1f31 100644
--- a/extern/SConscript
+++ b/extern/SConscript
@@ -5,6 +5,7 @@ Import('env')
 SConscript(['glew/SConscript'])
 SConscript(['colamd/SConscript'])
 SConscript(['rangetree/SConscript'])
+SConscript(['wcwidth/SConscript'])
 
 if env['WITH_BF_GAMEENGINE']:
     SConscript(['recastnavigation/SConscript'])
diff --git a/extern/bullet2/CMakeLists.txt b/extern/bullet2/CMakeLists.txt
index 3d757947980..02ca2cd3755 100644
--- a/extern/bullet2/CMakeLists.txt
+++ b/extern/bullet2/CMakeLists.txt
@@ -139,6 +139,7 @@ set(SRC
 	src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
 	src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
 	src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+	src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
 	src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
 	src/BulletDynamics/Dynamics/btRigidBody.cpp
 	src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -162,6 +163,8 @@ set(SRC
 	src/LinearMath/btGeometryUtil.cpp
 	src/LinearMath/btQuickprof.cpp
 	src/LinearMath/btSerializer.cpp
+	src/LinearMath/btVector3.cpp
+	src/LinearMath/btPolarDecomposition.cpp
 	
 	
 	src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -183,6 +186,7 @@ set(SRC
 	src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
 	src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
 	src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+	src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
 	src/BulletCollision/CollisionDispatch/btCollisionObject.h
 	src/BulletCollision/CollisionDispatch/btCollisionWorld.h
 	src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -303,6 +307,7 @@ set(SRC
 	src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
 	src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
 	src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+	src/BulletDynamics/ConstraintSolver/btGearConstraint.h
 	src/BulletDynamics/Dynamics/btActionInterface.h
 	src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
 	src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -353,6 +358,7 @@ set(SRC
 	src/LinearMath/btTransform.h
 	src/LinearMath/btTransformUtil.h
 	src/LinearMath/btVector3.h
+	src/LinearMath/btPolarDecomposition.h
 	
 	
 	src/btBulletCollisionCommon.h
diff --git a/extern/bullet2/patches/make_id.patch b/extern/bullet2/patches/make_id.patch
deleted file mode 100644
index 959e578ad0e..00000000000
--- a/extern/bullet2/patches/make_id.patch
+++ /dev/null
@@ -1,42 +0,0 @@
-Index: src/LinearMath/btSerializer.h
-===================================================================
---- src/LinearMath/btSerializer.h	(revision 46625)
-+++ src/LinearMath/btSerializer.h	(working copy)
-@@ -106,23 +106,23 @@
- 
- #define BT_HEADER_LENGTH 12
- #if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
--#	define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
-+#	define BT_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
- #else
--#	define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
-+#	define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
- #endif
- 
--#define BT_SOFTBODY_CODE		MAKE_ID('S','B','D','Y')
--#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
--#define BT_RIGIDBODY_CODE		MAKE_ID('R','B','D','Y')
--#define BT_CONSTRAINT_CODE		MAKE_ID('C','O','N','S')
--#define BT_BOXSHAPE_CODE		MAKE_ID('B','O','X','S')
--#define BT_QUANTIZED_BVH_CODE	MAKE_ID('Q','B','V','H')
--#define BT_TRIANLGE_INFO_MAP	MAKE_ID('T','M','A','P')
--#define BT_SHAPE_CODE			MAKE_ID('S','H','A','P')
--#define BT_ARRAY_CODE			MAKE_ID('A','R','A','Y')
--#define BT_SBMATERIAL_CODE		MAKE_ID('S','B','M','T')
--#define BT_SBNODE_CODE			MAKE_ID('S','B','N','D')
--#define BT_DNA_CODE				MAKE_ID('D','N','A','1')
-+#define BT_SOFTBODY_CODE		BT_MAKE_ID('S','B','D','Y')
-+#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J')
-+#define BT_RIGIDBODY_CODE		BT_MAKE_ID('R','B','D','Y')
-+#define BT_CONSTRAINT_CODE		BT_MAKE_ID('C','O','N','S')
-+#define BT_BOXSHAPE_CODE		BT_MAKE_ID('B','O','X','S')
-+#define BT_QUANTIZED_BVH_CODE	BT_MAKE_ID('Q','B','V','H')
-+#define BT_TRIANLGE_INFO_MAP	BT_MAKE_ID('T','M','A','P')
-+#define BT_SHAPE_CODE			BT_MAKE_ID('S','H','A','P')
-+#define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
-+#define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
-+#define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
-+#define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')
- 
- 
- struct	btPointerUid
diff --git a/extern/bullet2/patches/pvs_warning_fixes.patch b/extern/bullet2/patches/pvs_warning_fixes.patch
deleted file mode 100644
index 5a3fe140454..00000000000
--- a/extern/bullet2/patches/pvs_warning_fixes.patch
+++ /dev/null
@@ -1,31 +0,0 @@
-Index: extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
-===================================================================
---- extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h	(Revision 45907)
-+++ extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h	(Revision 45908)
-@@ -45,7 +45,9 @@
- 	int	getTriangleIndex() const
- 	{
- 		// Get only the lower bits where the triangle index is stored
--		return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
-+		unsigned int x = 0;
-+		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
-+		return (m_PartIdTriangleIndex&~(y));
- 	}
- 	int	getPartId() const
- 	{
-Index: extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
-===================================================================
---- extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h	(Revision 45907)
-+++ extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h	(Revision 45908)
-@@ -78,8 +78,10 @@
- 	int	getTriangleIndex() const
- 	{
- 		btAssert(isLeafNode());
-+		unsigned int x=0;
-+		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
- 		// Get only the lower bits where the triangle index is stored
--		return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
-+		return (m_escapeIndexOrTriangleIndex&~(y));
- 	}
- 	int	getPartId() const
- 	{
diff --git a/extern/bullet2/readme.txt b/extern/bullet2/readme.txt
index 7f5a7f1e163..dd806d40fac 100644
--- a/extern/bullet2/readme.txt
+++ b/extern/bullet2/readme.txt
@@ -7,13 +7,6 @@ Erwin
 Apply patches/ghost_softbody.patch to prevent softbodies being hit by ghost objects.
 Originally committed in blender svn revision: 43905.
 
-Apply patches/pvs_warning_fixes.patch to fix warnings reported by PVS-Studio.
-Originally committed in blender svn revision: 45908.
-
-Apply patches/make_id.patch to prevent duplicated define of MAKE_ID macro in blender
-side and bullet side.
-Sergey
-
 Apply patches/ghost_character.patch to prevent characters from colliding with ghost objects.
 Mitchell
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index 4f4d94b3cc7..cd6e1a8929e 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -615,7 +615,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*/)
 {
 	if (m_numHandles == 0)
 	{
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 36eec97174f..405656236bd 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -23,6 +23,7 @@ struct btBroadphaseProxy;
 class btDispatcher;
 class btManifoldResult;
 class btCollisionObject;
+struct btCollisionObjectWrapper;
 struct btDispatcherInfo;
 class	btPersistentManifold;
 
@@ -69,7 +70,7 @@ public:
 
 	virtual ~btCollisionAlgorithm() {};
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
index 409da80ae1b..b64936844d5 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -57,7 +57,7 @@ subject to the following restrictions:
 // Specific methods implementation
 
 //SSE gives errors on a MSVC 7.1
-#if defined (BT_USE_SSE) && defined (_WIN32)
+#if defined (BT_USE_SSE) //&& defined (_WIN32)
 #define DBVT_SELECT_IMPL		DBVT_IMPL_SSE
 #define DBVT_MERGE_IMPL			DBVT_IMPL_SSE
 #define DBVT_INT0_IMPL			DBVT_IMPL_SSE
@@ -160,6 +160,10 @@ struct	btDbvtAabbMm
 		btDbvtAabbMm& r);
 	DBVT_INLINE friend bool			NotEqual(	const btDbvtAabbMm& a,
 		const btDbvtAabbMm& b);
+    
+    DBVT_INLINE btVector3&	tMins()	{ return(mi); }
+	DBVT_INLINE btVector3&	tMaxs()	{ return(mx); }
+    
 private:
 	DBVT_INLINE void				AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
 private:
@@ -320,7 +324,7 @@ struct	btDbvt
 	DBVT_PREFIX
 		void		collideTV(	const btDbvtNode* root,
 		const btDbvtVolume& volume,
-		DBVT_IPOLICY);
+		DBVT_IPOLICY) const;
 	///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
 	///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
 	DBVT_PREFIX
@@ -519,7 +523,11 @@ DBVT_INLINE bool		Intersect(	const btDbvtAabbMm& a,
 #if	DBVT_INT0_IMPL == DBVT_IMPL_SSE
 	const __m128	rt(_mm_or_ps(	_mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
 		_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
+#if defined (_WIN32)
 	const __int32*	pu((const __int32*)&rt);
+#else
+    const int*	pu((const int*)&rt);
+#endif
 	return((pu[0]|pu[1]|pu[2])==0);
 #else
 	return(	(a.mi.x()<=b.mx.x())&&
@@ -568,7 +576,12 @@ DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
 							   const btDbvtAabbMm& b)
 {
 #if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
+    
+#if defined (_WIN32)
 	static ATTRIBUTE_ALIGNED16(const unsigned __int32)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
+#else
+    static ATTRIBUTE_ALIGNED16(const unsigned int)	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
+#endif
 	///@todo: the intrinsic version is 11% slower
 #if DBVT_USE_INTRINSIC_SSE
 
@@ -908,7 +921,7 @@ inline void		btDbvt::collideTT(	const btDbvtNode* root0,
 DBVT_PREFIX
 inline void		btDbvt::collideTV(	const btDbvtNode* root,
 								  const btDbvtVolume& vol,
-								  DBVT_IPOLICY)
+								  DBVT_IPOLICY) const
 {
 	DBVT_CHECKTYPE
 		if(root)
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index a79cf9402b1..1ebb37797d9 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -22,7 +22,7 @@ struct btBroadphaseProxy;
 class btRigidBody;
 class	btCollisionObject;
 class btOverlappingPairCache;
-
+struct btCollisionObjectWrapper;
 
 class btPersistentManifold;
 class btStackAlloc;
@@ -76,17 +76,17 @@ class btDispatcher
 public:
 	virtual ~btDispatcher() ;
 
-	virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
+	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
 
-	virtual btPersistentManifold*	getNewManifold(void* body0,void* body1)=0;
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
 
 	virtual void releaseManifold(btPersistentManifold* manifold)=0;
 
 	virtual void clearManifold(btPersistentManifold* manifold)=0;
 
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
 
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
 
 	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
 
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index c911435a946..889216df509 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -96,7 +96,25 @@ void	btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
 	m_bvhAabbMax = bvhAabbMax + clampValue;
 	btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
 	m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+
 	m_useQuantization = true;
+
+	{
+		unsigned short vecIn[3];
+		btVector3 v;
+		{
+			quantize(vecIn,m_bvhAabbMin,false);
+			v = unQuantize(vecIn);
+			m_bvhAabbMin.setMin(v-clampValue);
+		}
+		{
+			quantize(vecIn,m_bvhAabbMax,true);
+			v = unQuantize(vecIn);
+			m_bvhAabbMax.setMax(v+clampValue);
+		}
+		aabbSize = m_bvhAabbMax - m_bvhAabbMin;
+		m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+	}
 }
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index 23a5c7526b4..63401780970 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -158,7 +158,6 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 				depth = -(radius-distance);
 			} else
 			{
-				btScalar distance = 0.f;
 				resultNormal = normal;
 				point = contactPoint;
 				depth = -radius;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
index 7e5da6c5872..57f14649353 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
@@ -24,7 +24,7 @@ btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisio
 //m_colObj1(0)
 {
 }
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
 :btCollisionAlgorithm(ci)
 //,
 //m_colObj0(0),
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
index 25fe088942d..489812b9663 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
@@ -28,7 +28,7 @@ public:
 
 	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
 
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btActivatingCollisionAlgorithm();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
index 2182d0d7e49..2c362778210 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
@@ -22,17 +22,18 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
 #include "BulletCollision/CollisionShapes/btBox2dShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
+: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -52,19 +53,18 @@ btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
 void b2CollidePolygons(btManifoldResult* manifold,  const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
 
 //#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject*	col0 = body0;
-	btCollisionObject*	col1 = body1;
-	btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
-	btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
+	
+	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
+	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
+	b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
 
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
 	if (m_ownManifold)
@@ -151,15 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 	int index = 0;
 	btScalar minDot = BT_LARGE_FLOAT;
 
-	for (int i = 0; i < count2; ++i)
-	{
-		btScalar dot = b2Dot(vertices2[i], normal1);
-		if (dot < minDot)
-		{
-			minDot = dot;
-			index = i;
-		}
-	}
+    if( count2 > 0 )
+        index = (int) normal1.minDot( vertices2, count2, minDot);
 
 	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
 	btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -181,16 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 
 	// Find edge normal on poly1 that has the largest projection onto d.
 	int edge = 0;
-	btScalar maxDot = -BT_LARGE_FLOAT;
-	for (int i = 0; i < count1; ++i)
-	{
-		btScalar dot = b2Dot(normals1[i], dLocal1);
-		if (dot > maxDot)
-		{
-			maxDot = dot;
-			edge = i;
-		}
-	}
+    btScalar maxDot;
+    if( count1 > 0 )
+        edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
 
 	// Get the separation for the edge normal.
 	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@@ -368,7 +354,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	btVector3 v11 = vertices1[edge1];
 	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
 
-	btVector3 dv = v12 - v11;
+	//btVector3 dv = v12 - v11;
 	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
 	sideNormal.normalize();
 	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
index 97c5be77003..6ea6e89bda6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
@@ -33,11 +33,11 @@ public:
 	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBox2dBox2dCollisionAlgorithm();
 
@@ -52,11 +52,11 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
+			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
index 49628853493..ac68968f590 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -18,17 +18,17 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "btBoxBoxDetector.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 #define USE_PERSISTENT_CONTACTS 1
 
-btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -42,15 +42,14 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
 	}
 }
 
-void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject*	col0 = body0;
-	btCollisionObject*	col1 = body1;
-	btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
-	btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
+	
+	const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
+	const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
 
 
 
@@ -62,8 +61,8 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
 
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
-	input.m_transformA = body0->getWorldTransform();
-	input.m_transformB = body1->getWorldTransform();
+	input.m_transformA = body0Wrap->getWorldTransform();
+	input.m_transformB = body1Wrap->getWorldTransform();
 
 	btBoxBoxDetector detector(box0,box1);
 	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index f0bbae61e3b..59808df5a9d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -33,11 +33,11 @@ public:
 	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBoxBoxCollisionAlgorithm();
 
@@ -52,11 +52,11 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
+			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index a7c8cf140ce..7043bde34f5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include <float.h>
 #include <string.h>
 
-btBoxBoxDetector::btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2)
+btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
 : m_box1(box1),
 m_box2(box2)
 {
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
index 3c941f7deb2..39243777051 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
@@ -28,12 +28,12 @@ class btBoxShape;
 /// re-distributed under the Zlib license with permission from Russell L. Smith
 struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
 {
-	btBoxShape* m_box1;
-	btBoxShape* m_box2;
+	const btBoxShape* m_box1;
+	const btBoxShape* m_box2;
 
 public:
 
-	btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
+	btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
 
 	virtual ~btBoxBoxDetector() {};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index 1d7e74401dd..62ee66c4e9a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 class btCollisionAlgorithm;
 class btCollisionObject;
-
+struct btCollisionObjectWrapper;
 struct btCollisionAlgorithmConstructionInfo;
 
 ///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
@@ -33,11 +33,11 @@ struct btCollisionAlgorithmCreateFunc
 	}
 	virtual ~btCollisionAlgorithmCreateFunc(){};
 
-	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
+	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		
-		(void)body0;
-		(void)body1;
+		(void)body0Wrap;
+		(void)body1Wrap;
 		return 0;
 	}
 };
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 29674f3be46..669d0b6b55e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -25,6 +25,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "LinearMath/btPoolAllocator.h"
 #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 int gNumManifold = 0;
 
@@ -67,15 +68,13 @@ btCollisionDispatcher::~btCollisionDispatcher()
 {
 }
 
-btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1) 
+btPersistentManifold*	btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) 
 { 
 	gNumManifold++;
 	
 	//btAssert(gNumManifold < 65535);
 	
 
-	btCollisionObject* body0 = (btCollisionObject*)b0;
-	btCollisionObject* body1 = (btCollisionObject*)b1;
 
 	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
 	
@@ -85,7 +84,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 
 	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
 		
-	void* mem = 0;
+ 	void* mem = 0;
 	
 	if (m_persistentManifoldPoolAllocator->getFreeCount())
 	{
@@ -143,14 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 
 	
 
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold)
 {
 	
 	btCollisionAlgorithmConstructionInfo ci;
 
 	ci.m_dispatcher1 = this;
 	ci.m_manifold = sharedManifold;
-	btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
+	btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap);
 
 	return algo;
 }
@@ -158,7 +157,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 
 
 
-bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
+bool	btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	//here you can do filtering
 	bool hasResponse = 
@@ -169,7 +168,7 @@ bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
 	return hasResponse;
 }
 
-bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
+bool	btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	btAssert(body0);
 	btAssert(body1);
@@ -259,20 +258,25 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
 
 		if (dispatcher.needsCollision(colObj0,colObj1))
 		{
+			btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
+
+
 			//dispatcher will keep algorithms persistent in the collision pair
 			if (!collisionPair.m_algorithm)
 			{
-				collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
+				collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap);
 			}
 
 			if (collisionPair.m_algorithm)
 			{
-				btManifoldResult contactPointResult(colObj0,colObj1);
+				btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
 				
 				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
 				{
 					//discrete collision detection query
-					collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
+					
+					collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
 				} else
 				{
 					//continuous collision detection query, time of impact (toi)
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index 5accad9a993..92696ee5429 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -108,19 +108,18 @@ public:
 
 	virtual ~btCollisionDispatcher();
 
-	virtual btPersistentManifold*	getNewManifold(void* b0,void* b1);
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
 	
 	virtual void releaseManifold(btPersistentManifold* manifold);
 
 
 	virtual void clearManifold(btPersistentManifold* manifold);
 
-			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
+	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0);
 		
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
 	
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1);
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
 	
 	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 580ea345860..cf8ed59a541 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -31,6 +31,7 @@ btCollisionObject::btCollisionObject()
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
 		m_friction(btScalar(0.5)),
+		m_rollingFriction(0.0f),
 		m_restitution(btScalar(0.)),
 		m_internalType(CO_COLLISION_OBJECT),
 		m_userObjectPointer(0),
@@ -46,18 +47,18 @@ btCollisionObject::~btCollisionObject()
 {
 }
 
-void btCollisionObject::setActivationState(int newState) 
+void btCollisionObject::setActivationState(int newState) const
 { 
 	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 		m_activationState1 = newState;
 }
 
-void btCollisionObject::forceActivationState(int newState)
+void btCollisionObject::forceActivationState(int newState) const
 {
 	m_activationState1 = newState;
 }
 
-void btCollisionObject::activate(bool forceActivation)
+void btCollisionObject::activate(bool forceActivation) const
 {
 	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
 	{
@@ -85,9 +86,9 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_islandTag1 = m_islandTag1;
 	dataOut->m_companionId = m_companionId;
 	dataOut->m_activationState1 = m_activationState1;
-	dataOut->m_activationState1 = m_activationState1;
 	dataOut->m_deactivationTime = m_deactivationTime;
 	dataOut->m_friction = m_friction;
+	dataOut->m_rollingFriction = m_rollingFriction;
 	dataOut->m_restitution = m_restitution;
 	dataOut->m_internalType = m_internalType;
 	
@@ -100,7 +101,6 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_hitFraction = m_hitFraction;
 	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
 	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
-	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 	dataOut->m_checkCollideWith = m_checkCollideWith;
 
 	return btCollisionObjectDataName;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 3a11c967ac9..2f17967fe0f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -80,11 +80,12 @@ protected:
 	int				m_islandTag1;
 	int				m_companionId;
 
-	int				m_activationState1;
-	btScalar			m_deactivationTime;
+	mutable int				m_activationState1;
+	mutable btScalar			m_deactivationTime;
 
 	btScalar		m_friction;
 	btScalar		m_restitution;
+	btScalar		m_rollingFriction;
 
 	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
@@ -105,7 +106,7 @@ protected:
 	/// If some object should have elaborate collision filtering by sub-classes
 	int			m_checkCollideWith;
 
-	virtual bool	checkCollideWithOverride(btCollisionObject* /* co */)
+	virtual bool	checkCollideWithOverride(const btCollisionObject* /* co */) const
 	{
 		return true;
 	}
@@ -137,6 +138,13 @@ public:
 		CO_USER_TYPE=32
 	};
 
+	enum AnisotropicFrictionFlags
+	{
+		CF_ANISOTROPIC_FRICTION_DISABLED=0,
+		CF_ANISOTROPIC_FRICTION = 1,
+		CF_ANISOTROPIC_ROLLING_FRICTION = 2
+	};
+
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
 	{
 		///static objects, kinematic and object without contact response don't merge islands
@@ -147,14 +155,15 @@ public:
 	{
 		return m_anisotropicFriction;
 	}
-	void	setAnisotropicFriction(const btVector3& anisotropicFriction)
+	void	setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
 	{
 		m_anisotropicFriction = anisotropicFriction;
-		m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+		bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+		m_hasAnisotropicFriction = isUnity?frictionMode : 0;
 	}
-	bool	hasAnisotropicFriction() const
+	bool	hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
 	{
-		return m_hasAnisotropicFriction!=0;
+		return (m_hasAnisotropicFriction&frictionMode)!=0;
 	}
 
 	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@@ -207,22 +216,9 @@ public:
 		return m_collisionShape;
 	}
 
-	SIMD_FORCE_INLINE const btCollisionShape*	getRootCollisionShape() const
-	{
-		return m_rootCollisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getRootCollisionShape()
-	{
-		return m_rootCollisionShape;
-	}
+	
 
-	///Avoid using this internal API call
-	///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
-	void	internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-	}
+	
 
 	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
 	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
@@ -239,7 +235,7 @@ public:
 
 	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
 	
-	void setActivationState(int newState);
+	void setActivationState(int newState) const;
 
 	void	setDeactivationTime(btScalar time)
 	{
@@ -250,9 +246,9 @@ public:
 		return m_deactivationTime;
 	}
 
-	void forceActivationState(int newState);
+	void forceActivationState(int newState) const;
 
-	void	activate(bool forceActivation = false);
+	void	activate(bool forceActivation = false) const;
 
 	SIMD_FORCE_INLINE bool isActive() const
 	{
@@ -276,6 +272,16 @@ public:
 		return m_friction;
 	}
 
+	void	setRollingFriction(btScalar frict)
+	{
+		m_rollingFriction = frict;
+	}
+	btScalar	getRollingFriction() const
+	{
+		return m_rollingFriction;
+	}
+
+
 	///reserved for Bullet internal usage
 	int	getInternalType() const
 	{
@@ -433,7 +439,7 @@ public:
 	}
 
 
-	inline bool checkCollideWith(btCollisionObject* co)
+	inline bool checkCollideWith(const btCollisionObject* co) const
 	{
 		if (m_checkCollideWith)
 			return checkCollideWithOverride(co);
@@ -466,6 +472,7 @@ struct	btCollisionObjectDoubleData
 	double					m_contactProcessingThreshold;	
 	double					m_deactivationTime;
 	double					m_friction;
+	double					m_rollingFriction;
 	double					m_restitution;
 	double					m_hitFraction; 
 	double					m_ccdSweptSphereRadius;
@@ -498,6 +505,8 @@ struct	btCollisionObjectFloatData
 	float					m_contactProcessingThreshold;	
 	float					m_deactivationTime;
 	float					m_friction;
+	float					m_rollingFriction;
+
 	float					m_restitution;
 	float					m_hitFraction; 
 	float					m_ccdSweptSphereRadius;
@@ -510,6 +519,7 @@ struct	btCollisionObjectFloatData
 	int						m_activationState1;
 	int						m_internalType;
 	int						m_checkCollideWith;
+	char					m_padding[4];
 };
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
new file mode 100644
index 00000000000..952440b7dee
--- /dev/null
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
@@ -0,0 +1,43 @@
+#ifndef BT_COLLISION_OBJECT_WRAPPER_H
+#define BT_COLLISION_OBJECT_WRAPPER_H
+
+///btCollisionObjectWrapperis an internal data structure. 
+///Most users can ignore this and use btCollisionObject and btCollisionShape instead
+class btCollisionShape;
+class btCollisionObject;
+class btTransform;
+#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
+
+#define BT_DECLARE_STACK_ONLY_OBJECT \
+	private: \
+		void* operator new(size_t size); \
+		void operator delete(void*);
+
+struct btCollisionObjectWrapper;
+struct btCollisionObjectWrapper
+{
+BT_DECLARE_STACK_ONLY_OBJECT
+
+private:
+	btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
+	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
+
+public:
+	const btCollisionObjectWrapper* m_parent;
+	const btCollisionShape* m_shape;
+	const btCollisionObject* m_collisionObject;
+	const btTransform& m_worldTransform;
+	int		m_partId;
+	int		m_index;
+
+	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
+	: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
+	m_partId(partId), m_index(index)
+	{}
+
+	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
+	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
+	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
+};
+
+#endif //BT_COLLISION_OBJECT_WRAPPER_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 66b93b88efa..4c09291692d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -34,6 +34,7 @@ subject to the following restrictions:
 #include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btSerializer.h"
 #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 
@@ -207,6 +208,11 @@ void	btCollisionWorld::updateAabbs()
 }
 
 
+void	btCollisionWorld::computeOverlappingPairs()
+{
+	BT_PROFILE("calculateOverlappingPairs");
+	m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
+}
 
 void	btCollisionWorld::performDiscreteCollisionDetection()
 {
@@ -216,11 +222,7 @@ void	btCollisionWorld::performDiscreteCollisionDetection()
 
 	updateAabbs();
 
-	{
-		BT_PROFILE("calculateOverlappingPairs");
-		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
-	}
-
+	computeOverlappingPairs();
 
 	btDispatcher* dispatcher = getDispatcher();
 	{
@@ -260,16 +262,25 @@ void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 }
 
 
-
 void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
 										btCollisionObject* collisionObject,
 										const btCollisionShape* collisionShape,
 										const btTransform& colObjWorldTransform,
 										RayResultCallback& resultCallback)
 {
+	btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
+	btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
+}
+
+void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+										const btCollisionObjectWrapper* collisionObjectWrap,
+										RayResultCallback& resultCallback)
+{
 	btSphereShape pointShape(btScalar(0.0));
 	pointShape.setMargin(0.f);
 	const btConvexShape* castShape = &pointShape;
+	const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
+	const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
 
 	if (collisionShape->isConvex())
 	{
@@ -302,7 +313,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 					castResult.m_normal.normalize();
 					btCollisionWorld::LocalRayResult localRayResult
 						(
-						collisionObject,
+						collisionObjectWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
 						castResult.m_fraction
@@ -330,13 +341,13 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btTriangleMeshShape*	m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
+						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
 					//@BP Mod
 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 						m_resultCallback(resultCallback),
@@ -367,7 +378,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 				};
 
-				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
+				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
 			} else
@@ -385,13 +396,13 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btConcaveShape*	m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
+						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):
 					//@BP Mod
 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 						m_resultCallback(resultCallback),
@@ -423,7 +434,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				};
 
 
-				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 
 				btVector3 rayAabbMinLocal = rayFromLocal;
@@ -446,6 +457,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 						: m_userCallback(user), m_i(i)
 					{ 
 						m_closestHitFraction = m_userCallback->m_closestHitFraction;
+						m_flags = m_userCallback->m_flags;
 					}
 					virtual bool needsCollision(btBroadphaseProxy* p) const
 					{
@@ -468,14 +480,14 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				
 				struct RayTester : btDbvt::ICollide
 				{
-					btCollisionObject* m_collisionObject;
+					const btCollisionObject* m_collisionObject;
 					const btCompoundShape* m_compoundShape;
 					const btTransform& m_colObjWorldTransform;
 					const btTransform& m_rayFromTrans;
 					const btTransform& m_rayToTrans;
 					RayResultCallback& m_resultCallback;
 					
-					RayTester(btCollisionObject* collisionObject,
+					RayTester(const btCollisionObject* collisionObject,
 							const btCompoundShape* compoundShape,
 							const btTransform& colObjWorldTransform,
 							const btTransform& rayFromTrans,
@@ -491,33 +503,30 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 						
 					}
 					
-					void Process(int i)
+					void ProcessLeaf(int i)
 					{
 						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
 						const btTransform& childTrans = m_compoundShape->getChildTransform(i);
 						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
 						
+						btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i);
 						// replace collision shape so that callback can determine the triangle
-						btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
-						m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+
+						
 
 						LocalInfoAdder2 my_cb(i, &m_resultCallback);
 
-						rayTestSingle(
+						rayTestSingleInternal(
 							m_rayFromTrans,
 							m_rayToTrans,
-							m_collisionObject,
-							childCollisionShape,
-							childWorldTrans,
+							&tmpOb,
 							my_cb);
 						
-						// restore
-						m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
 					}
-					
+				
 					void Process(const btDbvtNode* leaf)
 					{
-						Process(leaf->dataAsInt);
+						ProcessLeaf(leaf->dataAsInt);
 					}
 				};
 				
@@ -526,7 +535,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 
 				RayTester rayCB(
-					collisionObject,
+					collisionObjectWrap->getCollisionObject(),
 					compoundShape,
 					colObjWorldTransform,
 					rayFromTrans,
@@ -544,7 +553,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				{
 					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
 					{
-						rayCB.Process(i);
+						rayCB.ProcessLeaf(i);
 					}	
 				}
 			}
@@ -558,6 +567,17 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 											const btTransform& colObjWorldTransform,
 											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
 {
+	btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
+	btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
+}
+
+void	btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
+											const btCollisionObjectWrapper* colObjWrap,
+											ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+{
+	const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
+	const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
+
 	if (collisionShape->isConvex())
 	{
 		//BT_PROFILE("convexSweepConvex");
@@ -587,7 +607,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					castResult.m_normal.normalize();
 					btCollisionWorld::LocalConvexResult localConvexResult
 						(
-						collisionObject,
+						colObjWrap->getCollisionObject(),
 						0,
 						castResult.m_normal,
 						castResult.m_hitPoint,
@@ -617,11 +637,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 				{
 					btCollisionWorld::ConvexResultCallback* m_resultCallback;
-					btCollisionObject*	m_collisionObject;
+					const btCollisionObject*	m_collisionObject;
 					btTriangleMeshShape*	m_triangleMesh;
 
 					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
+						btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
 					btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 						m_resultCallback(resultCallback),
 						m_collisionObject(collisionObject),
@@ -655,7 +675,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 				};
 
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 				tccb.m_allowedPenetration = allowedPenetration;
 				btVector3 boxMinLocal, boxMaxLocal;
@@ -682,7 +702,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 								castResult.m_normal.normalize();
 								btCollisionWorld::LocalConvexResult localConvexResult
 									(
-									collisionObject,
+									colObjWrap->getCollisionObject(),
 									0,
 									castResult.m_normal,
 									castResult.m_hitPoint,
@@ -709,11 +729,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
 					{
 						btCollisionWorld::ConvexResultCallback* m_resultCallback;
-						btCollisionObject*	m_collisionObject;
+						const btCollisionObject*	m_collisionObject;
 						btConcaveShape*	m_triangleMesh;
 
 						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-							btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
+							btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
 						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
@@ -746,7 +766,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 					};
 
-					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
 					tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 					tccb.m_allowedPenetration = allowedPenetration;
 					btVector3 boxMinLocal, boxMaxLocal;
@@ -773,9 +793,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 					btTransform childTrans = compoundShape->getChildTransform(i);
 					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
 					btTransform childWorldTrans = colObjWorldTransform * childTrans;
-					// replace collision shape so that callback can determine the triangle
-					btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
-					collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+					
                     struct	LocalInfoAdder : public ConvexResultCallback {
                             ConvexResultCallback* m_userCallback;
 							int m_i;
@@ -805,14 +823,11 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
                     LocalInfoAdder my_cb(i, &resultCallback);
 					
+					btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
 
-					objectQuerySingle(castShape, convexFromTrans,convexToTrans,
-						collisionObject,
-						childCollisionShape,
-						childWorldTrans,
-						my_cb, allowedPenetration);
-					// restore
-					collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
+					objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
+						&tmpObj,my_cb, allowedPenetration);
+					
 				}
 			}
 		}
@@ -993,13 +1008,13 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 	/* Compute AABB that encompasses angular movement */
 	{
 		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
+		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
 		btVector3 zeroLinVel;
 		zeroLinVel.setValue(0,0,0);
 		btTransform R;
 		R.setIdentity ();
 		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
 	}
 
 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
@@ -1044,26 +1059,26 @@ struct btBridgedManifoldResult : public btManifoldResult
 
 	btCollisionWorld::ContactResultCallback&	m_resultCallback;
 
-	btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
-		:btManifoldResult(obj0,obj1),
+	btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
+		:btManifoldResult(obj0Wrap,obj1Wrap),
 		m_resultCallback(resultCallback)
 	{
 	}
 
 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 	{
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
 		btVector3 localA;
 		btVector3 localB;
 		if (isSwapped)
 		{
-			localA = m_rootTransB.invXform(pointA );
-			localB = m_rootTransA.invXform(pointInWorld);
+			localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		} else
 		{
-			localA = m_rootTransA.invXform(pointA );
-			localB = m_rootTransB.invXform(pointInWorld);
+			localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		}
 		
 		btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -1086,9 +1101,9 @@ struct btBridgedManifoldResult : public btManifoldResult
 		}
 
 		//experimental feature info, for per-triangle material etc.
-		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
-		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-		m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
+		m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
 
 	}
 	
@@ -1120,12 +1135,16 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
 		//only perform raycast if filterMask matches
 		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
 		{
-			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
+			btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);
+
+			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
 			if (algorithm)
 			{
-				btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
+				btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
 				//discrete collision detection query
-				algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
+				
+				algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);
 
 				algorithm->~btCollisionAlgorithm();
 				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1152,12 +1171,15 @@ void	btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
 ///it reports one or more contact points (including the one with deepest penetration)
 void	btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
 {
-	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
+	btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1);
+	btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1);
+
+	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
 	if (algorithm)
 	{
-		btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
+		btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
 		//discrete collision detection query
-		algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
+		algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);
 
 		algorithm->~btCollisionAlgorithm();
 		getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1231,163 +1253,162 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
 	} else
 	{
 
-		/// for polyhedral shapes
-		if (shape->isPolyhedral())
-		{
-			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
-
-			int i;
-			if (polyshape->getConvexPolyhedron())
-			{
-				const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
-				for (i=0;i<poly->m_faces.size();i++)
-				{
-					btVector3 centroid(0,0,0);
-					int numVerts = poly->m_faces[i].m_indices.size();
-					if (numVerts)
-					{
-						int lastV = poly->m_faces[i].m_indices[numVerts-1];
-						for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
-						{
-							int curVert = poly->m_faces[i].m_indices[v];
-							centroid+=poly->m_vertices[curVert];
-							getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
-							lastV = curVert;
-						}
-					}
-					centroid*= btScalar(1.f)/btScalar(numVerts);
-                    if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+        switch (shape->getShapeType())
+        {
+
+        case BOX_SHAPE_PROXYTYPE:
+            {
+                const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+                btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
+                getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
+                break;
+            }
+
+        case SPHERE_SHAPE_PROXYTYPE:
+            {
+                const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+                btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+
+                getDebugDrawer()->drawSphere(radius, worldTransform, color);
+                break;
+            }
+        case MULTI_SPHERE_SHAPE_PROXYTYPE:
+            {
+                const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+                btTransform childTransform;
+                childTransform.setIdentity();
+
+                for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+                {
+                    childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+                    getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
+                }
+
+                break;
+            }
+        case CAPSULE_SHAPE_PROXYTYPE:
+            {
+                const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
+
+                btScalar radius = capsuleShape->getRadius();
+                btScalar halfHeight = capsuleShape->getHalfHeight();
+
+                int upAxis = capsuleShape->getUpAxis();
+                getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
+                break;
+            }
+        case CONE_SHAPE_PROXYTYPE:
+            {
+                const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+                btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
+                btScalar height = coneShape->getHeight();//+coneShape->getMargin();
+
+                int upAxis= coneShape->getConeUpIndex();
+                getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
+                break;
+
+            }
+        case CYLINDER_SHAPE_PROXYTYPE:
+            {
+                const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+                int upAxis = cylinder->getUpAxis();
+                btScalar radius = cylinder->getRadius();
+                btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+                getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
+                break;
+            }
+
+        case STATIC_PLANE_PROXYTYPE:
+            {
+                const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+                btScalar planeConst = staticPlaneShape->getPlaneConstant();
+                const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+                getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
+                break;
+
+            }
+        default:
+            {
+
+                /// for polyhedral shapes
+                if (shape->isPolyhedral())
+                {
+                    btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+                    
+                    int i;
+                    if (polyshape->getConvexPolyhedron())
+                    {
+                        const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
+                        for (i=0;i<poly->m_faces.size();i++)
+                        {
+                            btVector3 centroid(0,0,0);
+                            int numVerts = poly->m_faces[i].m_indices.size();
+                            if (numVerts)
+                            {
+                                int lastV = poly->m_faces[i].m_indices[numVerts-1];
+                                for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
+                                {
+                                    int curVert = poly->m_faces[i].m_indices[v];
+                                    centroid+=poly->m_vertices[curVert];
+                                    getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
+                                    lastV = curVert;
+                                }
+                            }
+                            centroid*= btScalar(1.f)/btScalar(numVerts);
+                            if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+                            {
+                                btVector3 normalColor(1,1,0);
+                                btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
+                                getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+                            }
+                            
+                        }
+                        
+                        
+                    } else
                     {
-					  btVector3 normalColor(1,1,0);
-					  btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
-					  getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+                        for (i=0;i<polyshape->getNumEdges();i++)
+                        {
+                            btVector3 a,b;
+                            polyshape->getEdge(i,a,b);
+                            btVector3 wa = worldTransform * a;
+                            btVector3 wb = worldTransform * b;
+                            getDebugDrawer()->drawLine(wa,wb,color);
+                        }
                     }
-					
-				}
-
-				
-			} else
-			{
-				for (i=0;i<polyshape->getNumEdges();i++)
-				{
-					btVector3 a,b;
-					polyshape->getEdge(i,a,b);
-					btVector3 wa = worldTransform * a;
-					btVector3 wb = worldTransform * b;
-					getDebugDrawer()->drawLine(wa,wb,color);
-				}
-			}
-
-
-		}
-		else
-		{
-			switch (shape->getShapeType())
-			{
-
-			case BOX_SHAPE_PROXYTYPE:
-				{
-					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
-					btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
-					getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
-					break;
-				}
-
-			case SPHERE_SHAPE_PROXYTYPE:
-				{
-					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
-					btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
-
-					getDebugDrawer()->drawSphere(radius, worldTransform, color);
-					break;
-				}
-			case MULTI_SPHERE_SHAPE_PROXYTYPE:
-				{
-					const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
-					btTransform childTransform;
-					childTransform.setIdentity();
-
-					for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
-					{
-						childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
-						getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
-					}
-
-					break;
-				}
-			case CAPSULE_SHAPE_PROXYTYPE:
-				{
-					const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
-
-					btScalar radius = capsuleShape->getRadius();
-					btScalar halfHeight = capsuleShape->getHalfHeight();
-
-					int upAxis = capsuleShape->getUpAxis();
-					getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
-					break;
-				}
-			case CONE_SHAPE_PROXYTYPE:
-				{
-					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
-					btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
-					btScalar height = coneShape->getHeight();//+coneShape->getMargin();
-
-					int upAxis= coneShape->getConeUpIndex();
-					getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
-					break;
-
-				}
-			case CYLINDER_SHAPE_PROXYTYPE:
-				{
-					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
-					int upAxis = cylinder->getUpAxis();
-					btScalar radius = cylinder->getRadius();
-					btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
-					getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
-					break;
-				}
-
-			case STATIC_PLANE_PROXYTYPE:
-				{
-					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
-					btScalar planeConst = staticPlaneShape->getPlaneConstant();
-					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
-					getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
-					break;
-
-				}
-			default:
-				{
-
-					if (shape->isConcave())
-					{
-						btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-
-						///@todo pass camera, for some culling? no -> we are not a graphics lib
-						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-
-						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-						concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
-
-					}
-
-					if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
-					{
-						btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
-						//todo: pass camera for some culling			
-						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
-						//DebugDrawcallback drawCallback;
-						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
-						convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
-					}
-
-
-					
-				}
-			}
+                    
+                    
+                }
+                    
+                if (shape->isConcave())
+                {
+                    btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+                    ///@todo pass camera, for some culling? no -> we are not a graphics lib
+                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+                    concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+                }
+
+                if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+                {
+                    btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+                    //todo: pass camera for some culling			
+                    btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+                    btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+                    //DebugDrawcallback drawCallback;
+                    DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+                    convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+                }
+
+
+                
+            }
+       
 		}
 	}
 }
@@ -1398,7 +1419,7 @@ void	btCollisionWorld::debugDrawWorld()
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
 	{
 		int numManifolds = getDispatcher()->getNumManifolds();
-		btVector3 color(1,0.65,0);
+		btVector3 color(1,1,0);
 		for (int i=0;i<numManifolds;i++)
 		{
 			btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index 0a92d2d6e15..9412242e8a3 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -144,6 +144,11 @@ public:
 	void	updateSingleAabb(btCollisionObject* colObj);
 
 	virtual void	updateAabbs();
+
+	///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
+	///it can be useful to use if you perform ray tests without collision detection/simulation
+	virtual void	computeOverlappingPairs();
+
 	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{
@@ -173,7 +178,7 @@ public:
 
 	struct	LocalRayResult
 	{
-		LocalRayResult(btCollisionObject*	collisionObject, 
+		LocalRayResult(const btCollisionObject*	collisionObject, 
 			LocalShapeInfo*	localShapeInfo,
 			const btVector3&		hitNormalLocal,
 			btScalar hitFraction)
@@ -184,7 +189,7 @@ public:
 		{
 		}
 
-		btCollisionObject*		m_collisionObject;
+		const btCollisionObject*		m_collisionObject;
 		LocalShapeInfo*			m_localShapeInfo;
 		btVector3				m_hitNormalLocal;
 		btScalar				m_hitFraction;
@@ -195,11 +200,11 @@ public:
 	struct	RayResultCallback
 	{
 		btScalar	m_closestHitFraction;
-		btCollisionObject*		m_collisionObject;
+		const btCollisionObject*		m_collisionObject;
 		short int	m_collisionFilterGroup;
 		short int	m_collisionFilterMask;
-      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
-      unsigned int m_flags;
+		//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
+		unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
@@ -214,8 +219,8 @@ public:
 			m_collisionObject(0),
 			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
 			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-         //@BP Mod
-         m_flags(0)
+			//@BP Mod
+			m_flags(0)
 		{
 		}
 
@@ -272,7 +277,7 @@ public:
 		{
 		}
 
-		btAlignedObjectArray<btCollisionObject*>		m_collisionObjects;
+		btAlignedObjectArray<const btCollisionObject*>		m_collisionObjects;
 
 		btVector3	m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
 		btVector3	m_rayToWorld;
@@ -306,7 +311,7 @@ public:
 
 	struct LocalConvexResult
 	{
-		LocalConvexResult(btCollisionObject*	hitCollisionObject, 
+		LocalConvexResult(const btCollisionObject*	hitCollisionObject, 
 			LocalShapeInfo*	localShapeInfo,
 			const btVector3&		hitNormalLocal,
 			const btVector3&		hitPointLocal,
@@ -320,7 +325,7 @@ public:
 		{
 		}
 
-		btCollisionObject*		m_hitCollisionObject;
+		const btCollisionObject*		m_hitCollisionObject;
 		LocalShapeInfo*			m_localShapeInfo;
 		btVector3				m_hitNormalLocal;
 		btVector3				m_hitPointLocal;
@@ -376,7 +381,7 @@ public:
 
 		btVector3	m_hitNormalWorld;
 		btVector3	m_hitPointWorld;
-		btCollisionObject*	m_hitCollisionObject;
+		const btCollisionObject*	m_hitCollisionObject;
 		
 		virtual	btScalar	addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
 		{
@@ -421,7 +426,7 @@ public:
 			return collides;
 		}
 
-		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
+		virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0;
 	};
 
 
@@ -457,6 +462,10 @@ public:
 					  const btTransform& colObjWorldTransform,
 					  RayResultCallback& resultCallback);
 
+	static void	rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+					  const btCollisionObjectWrapper* collisionObjectWrap,
+					  RayResultCallback& resultCallback);
+
 	/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
 	static void	objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
 					  btCollisionObject* collisionObject,
@@ -464,6 +473,10 @@ public:
 					  const btTransform& colObjWorldTransform,
 					  ConvexResultCallback& resultCallback, btScalar	allowedPenetration);
 
+	static void	objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
+											const btCollisionObjectWrapper* colObjWrap,
+											ConvexResultCallback& resultCallback, btScalar allowedPenetration);
+
 	virtual void	addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
 
 	btCollisionObjectArray& getCollisionObjectArray()
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 54889a6375d..39b86a28918 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -20,30 +20,32 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "btManifoldResult.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-:btActivatingCollisionAlgorithm(ci,body0,body1),
+btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
+:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_isSwapped(isSwapped),
 m_sharedManifold(ci.m_manifold)
 {
 	m_ownsManifold = false;
 
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btAssert (colObj->getCollisionShape()->isCompound());
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 	m_compoundShapeRevision = compoundShape->getUpdateRevision();
 	
-	preallocateChildAlgorithms(body0,body1);
+	
+	preallocateChildAlgorithms(body0Wrap,body1Wrap);
 }
 
-void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
+void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 {
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	btAssert (colObj->getCollisionShape()->isCompound());
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
 	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
@@ -56,11 +58,11 @@ void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
 			m_childCollisionAlgorithms[i] = 0;
 		} else
 		{
-			btCollisionShape* tmpShape = colObj->getCollisionShape();
-			btCollisionShape* childShape = compoundShape->getChildShape(i);
-			colObj->internalSetTemporaryCollisionShape( childShape );
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
-			colObj->internalSetTemporaryCollisionShape( tmpShape );
+			
+			const btCollisionShape* childShape = compoundShape->getChildShape(i);
+
+			btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
+			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold);
 		}
 	}
 }
@@ -92,19 +94,16 @@ struct	btCompoundLeafCallback : btDbvt::ICollide
 
 public:
 
-	btCollisionObject* m_compoundColObj;
-	btCollisionObject* m_otherObj;
+	const btCollisionObjectWrapper* m_compoundColObjWrap;
+	const btCollisionObjectWrapper* m_otherObjWrap;
 	btDispatcher* m_dispatcher;
 	const btDispatcherInfo& m_dispatchInfo;
 	btManifoldResult*	m_resultOut;
 	btCollisionAlgorithm**	m_childCollisionAlgorithms;
 	btPersistentManifold*	m_sharedManifold;
-
-
-
-
-	btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult*	resultOut,btCollisionAlgorithm**	childCollisionAlgorithms,btPersistentManifold*	sharedManifold)
-		:m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
+	
+	btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult*	resultOut,btCollisionAlgorithm**	childCollisionAlgorithms,btPersistentManifold*	sharedManifold)
+		:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
 		m_childCollisionAlgorithms(childCollisionAlgorithms),
 		m_sharedManifold(sharedManifold)
 	{
@@ -112,73 +111,89 @@ public:
 	}
 
 
-	void	ProcessChildShape(btCollisionShape* childShape,int index)
+	void	ProcessChildShape(const btCollisionShape* childShape,int index)
 	{
 		btAssert(index>=0);
-		btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
 		btAssert(index<compoundShape->getNumChildShapes());
 
 
 		//backup
-		btTransform	orgTrans = m_compoundColObj->getWorldTransform();
-		btTransform	orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
+		btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
+		btTransform	orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
 		const btTransform& childTrans = compoundShape->getChildTransform(index);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
 
 		//perform an AABB check first
 		btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
 		childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
-		m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
+		m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
 
 		if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
 		{
 
-			m_compoundColObj->setWorldTransform( newChildWorldTrans);
-			m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
+			btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
 
-			//the contactpoint is still projected back using the original inverted worldtrans
-			btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
-			m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
 
+			//the contactpoint is still projected back using the original inverted worldtrans
 			if (!m_childCollisionAlgorithms[index])
-				m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
+				m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap,m_otherObjWrap,m_sharedManifold);
+
+			
+			const btCollisionObjectWrapper* tmpWrap = 0;
 
 			///detect swapping case
-			if (m_resultOut->getBody0Internal() == m_compoundColObj)
+			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
 			{
+				tmpWrap = m_resultOut->getBody0Wrap();
+				m_resultOut->setBody0Wrap(&compoundWrap);
 				m_resultOut->setShapeIdentifiersA(-1,index);
 			} else
 			{
+				tmpWrap = m_resultOut->getBody1Wrap();
+				m_resultOut->setBody1Wrap(&compoundWrap);
 				m_resultOut->setShapeIdentifiersB(-1,index);
 			}
 
-			m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
+
+			m_childCollisionAlgorithms[index]->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
+
+#if 0
 			if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 			{
 				btVector3 worldAabbMin,worldAabbMax;
 				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
 				m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
 			}
+#endif
+
+			if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
+			{
+				m_resultOut->setBody0Wrap(tmpWrap);
+			} else
+			{
+				m_resultOut->setBody1Wrap(tmpWrap);
+			}
 			
-			//revert back transform
-			m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
-			m_compoundColObj->setWorldTransform(  orgTrans );
-			m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
 		}
 	}
 	void		Process(const btDbvtNode* leaf)
 	{
 		int index = leaf->dataAsInt;
 
-		btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
-		btCollisionShape* childShape = compoundShape->getChildShape(index);
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
+		const btCollisionShape* childShape = compoundShape->getChildShape(index);
+
+#if 0
 		if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
 		{
 			btVector3 worldAabbMin,worldAabbMax;
-			btTransform	orgTrans = m_compoundColObj->getWorldTransform();
+			btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
 			btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
 			m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
 		}
+#endif
+
 		ProcessChildShape(childShape,index);
 
 	}
@@ -189,15 +204,13 @@ public:
 
 
 
-void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-
-	
+	const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
 
-	btAssert (colObj->getCollisionShape()->isCompound());
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+	btAssert (colObjWrap->getCollisionShape()->isCompound());
+	const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
 
 	///btCompoundShape might have changed:
 	////make sure the internal child collision algorithm caches are still valid
@@ -206,13 +219,13 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 		///clear and update all
 		removeChildAlgorithms();
 		
-		preallocateChildAlgorithms(body0,body1);
+		preallocateChildAlgorithms(body0Wrap,body1Wrap);
 	}
 
 
-	btDbvt* tree = compoundShape->getDynamicAabbTree();
+	const btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
-	btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
+	btCompoundLeafCallback  callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
 	///we need to refresh all contact manifolds
 	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
@@ -244,8 +257,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 
 		btVector3 localAabbMin,localAabbMax;
 		btTransform otherInCompoundSpace;
-		otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
-		otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
+		otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
+		otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
 
 		const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
 		//process all children, that overlap with  the given AABB bounds
@@ -267,7 +280,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
 		btManifoldArray	manifoldArray;
-        btCollisionShape* childShape = 0;
+        const btCollisionShape* childShape = 0;
         btTransform	orgTrans;
         btTransform	orgInterpolationTrans;
         btTransform	newChildWorldTrans;
@@ -279,14 +292,14 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 			{
 				childShape = compoundShape->getChildShape(i);
 			//if not longer overlapping, remove the algorithm
-                orgTrans = colObj->getWorldTransform();
-                orgInterpolationTrans = colObj->getInterpolationWorldTransform();
+                orgTrans = colObjWrap->getWorldTransform();
+                orgInterpolationTrans = colObjWrap->getWorldTransform();
 				const btTransform& childTrans = compoundShape->getChildTransform(i);
                 newChildWorldTrans = orgTrans*childTrans ;
 
 				//perform an AABB check first
 				childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
-				otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
+				otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
 
 				if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
 				{
@@ -301,7 +314,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 
 btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-
+	btAssert(0);
+	//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
@@ -324,8 +338,7 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
     btScalar frac;
 	for (i=0;i<numChildren;i++)
 	{
-		//temporarily exchange parent btCollisionShape with childShape, and recurse
-		btCollisionShape* childShape = compoundShape->getChildShape(i);
+		//btCollisionShape* childShape = compoundShape->getChildShape(i);
 
 		//backup
         orgTrans = colObj->getWorldTransform();
@@ -334,15 +347,15 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 		//btTransform	newChildWorldTrans = orgTrans*childTrans ;
 		colObj->setWorldTransform( orgTrans*childTrans );
 
-		btCollisionShape* tmpShape = colObj->getCollisionShape();
-		colObj->internalSetTemporaryCollisionShape( childShape );
+		//btCollisionShape* tmpShape = colObj->getCollisionShape();
+		//colObj->internalSetTemporaryCollisionShape( childShape );
         frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
 		if (frac<hitFraction)
 		{
 			hitFraction = frac;
 		}
 		//revert back
-		colObj->internalSetTemporaryCollisionShape( tmpShape);
+		//colObj->internalSetTemporaryCollisionShape( tmpShape);
 		colObj->setWorldTransform( orgTrans);
 	}
 	return hitFraction;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 404574989ab..b16fc524672 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -41,15 +41,15 @@ class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 	
 	void	removeChildAlgorithms();
 	
-	void	preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
+	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 public:
 
-	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
 	virtual ~btCompoundCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -65,19 +65,19 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 		}
 	};
 
 	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
-			return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
index db7f884ac82..3e1afede1bf 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
@@ -43,7 +43,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
@@ -57,8 +57,8 @@ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_simplexSolver(simplexSolver),
 m_pdSolver(pdSolver),
 m_ownManifold (false),
@@ -67,8 +67,8 @@ m_lowLevelOfDetail(false),
  m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	(void)body0;
-	(void)body1;
+	(void)body0Wrap;
+	(void)body1Wrap;
 }
 
 
@@ -96,13 +96,13 @@ extern btScalar gContactBreakingThreshold;
 //
 // Convex-Convex collision algorithm
 //
-void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -111,8 +111,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
 	//resultOut->getPersistentManifold()->clearManifold();
 
 
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
+	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
 	btVector3  normalOnB;
 	btVector3  pointOnBWorld;
@@ -133,8 +133,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
 		}
 
 		input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-		input.m_transformA = body0->getWorldTransform();
-		input.m_transformB = body1->getWorldTransform();
+		input.m_transformA = body0Wrap->getWorldTransform();
+		input.m_transformB = body1Wrap->getWorldTransform();
 
 		gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
index 53d13b87151..18d9385a180 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@@ -45,12 +45,12 @@ class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+	btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 
 	virtual ~btConvex2dConvex2dAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -82,10 +82,10 @@ public:
 		
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
-			return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index d2b2c221426..18fde771b14 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -25,11 +25,12 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_isSwapped(isSwapped),
-m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
+m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
 {
 }
 
@@ -46,17 +47,17 @@ void	btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
 }
 
 
-btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
+btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
 	  m_dispatcher(dispatcher),
 	m_dispatchInfoPtr(0)
 {
-	m_convexBody = isSwapped? body1:body0;
-	m_triBody = isSwapped? body0:body1;
+	m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
+	m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
 	
 	  //
 	  // create the manifold from the dispatcher 'manifold pool'
 	  //
-	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
+	  m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
 
   	  clearCache();
 }
@@ -88,7 +89,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+	//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 
 
 #if 0	
@@ -103,46 +104,63 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 	}
 #endif
 	
-	if (m_convexBody->getCollisionShape()->isConvex())
+	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
 		btTriangleShape tm(triangle[0],triangle[1],triangle[2]);	
 		tm.setMargin(m_collisionMarginTriangle);
 		
-		btCollisionShape* tmpShape = ob->getCollisionShape();
-		ob->internalSetTemporaryCollisionShape( &tm );
+		
+		btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
 
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
+		const btCollisionObjectWrapper* tmpWrap = 0;
 
-		if (m_resultOut->getBody0Internal() == m_triBody)
+		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
 		{
+			tmpWrap = m_resultOut->getBody0Wrap();
+			m_resultOut->setBody0Wrap(&triObWrap);
 			m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
 		}
 		else
 		{
+			tmpWrap = m_resultOut->getBody1Wrap();
+			m_resultOut->setBody1Wrap(&triObWrap);
 			m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
 		}
 	
-		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
+
+		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(tmpWrap);
+		} else
+		{
+			m_resultOut->setBody1Wrap(tmpWrap);
+		}
+		
+
+
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		ob->internalSetTemporaryCollisionShape( tmpShape);
 	}
 
-
 }
 
 
 
-void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void	btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
 {
+	m_convexBodyWrap = convexBodyWrap;
+	m_triBodyWrap = triBodyWrap;
+
 	m_dispatchInfoPtr = &dispatchInfo;
 	m_collisionMarginTriangle = collisionMarginTriangle;
 	m_resultOut = resultOut;
 
 	//recalc aabbs
 	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
-	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
+	convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
+	const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
 	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
 	convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
 	btScalar extraMargin = collisionMarginTriangle;
@@ -159,35 +177,34 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
 
 }
 
-void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	
 	
-	btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
+	const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
 
-	if (triBody->getCollisionShape()->isConcave())
+	if (triBodyWrap->getCollisionShape()->isConcave())
 	{
 
 
-		btCollisionObject*	triOb = triBody;
-		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
 		
-		if (convexBody->getCollisionShape()->isConvex())
+		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
+		
+		if (convexBodyWrap->getCollisionShape()->isConvex())
 		{
 			btScalar collisionMarginTriangle = concaveShape->getMargin();
 					
 			resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
-			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
-
-			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
-			//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+			m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
 
-			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
+			m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
 
 			concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
 			
 			resultOut->refreshContactPoints();
+
+			m_btConvexTriangleCallback.clearWrapperData();
 	
 		}
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index f718d1dec25..e90d06eb191 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -28,8 +28,8 @@ class btDispatcher;
 ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
 class btConvexTriangleCallback : public btTriangleCallback
 {
-	btCollisionObject* m_convexBody;
-	btCollisionObject* m_triBody;
+	const btCollisionObjectWrapper* m_convexBodyWrap;
+	const btCollisionObjectWrapper* m_triBodyWrap;
 
 	btVector3	m_aabbMin;
 	btVector3	m_aabbMax ;
@@ -45,10 +45,15 @@ int	m_triangleCount;
 	
 	btPersistentManifold*	m_manifoldPtr;
 
-	btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
 
+	void	clearWrapperData()
+	{
+		m_convexBodyWrap = 0;
+		m_triBodyWrap = 0;
+	}
 	virtual ~btConvexTriangleCallback();
 
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
@@ -81,11 +86,11 @@ class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
 	virtual ~btConvexConcaveCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -95,19 +100,19 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
+			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 		}
 	};
 
 	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
-			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
+			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index dd1f3e2490f..62f98a846f4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -52,7 +52,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 ///////////
 
@@ -191,8 +191,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_simplexSolver(simplexSolver),
 m_pdSolver(pdSolver),
 m_ownManifold (false),
@@ -205,8 +205,8 @@ m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngu
 m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	(void)body0;
-	(void)body1;
+	(void)body0Wrap;
+	(void)body1Wrap;
 }
 
 
@@ -289,13 +289,13 @@ extern btScalar gContactBreakingThreshold;
 //
 // Convex-Convex collision algorithm
 //
-void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 
 	if (!m_manifoldPtr)
 	{
 		//swapped?
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -304,8 +304,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	//resultOut->getPersistentManifold()->clearManifold();
 	
 
-	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
-	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+	const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
+	const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
 
 	btVector3  normalOnB;
 		btVector3  pointOnBWorld;
@@ -314,14 +314,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	{
 		btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
 		btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
-		btVector3 localScalingA = capsuleA->getLocalScaling();
-		btVector3 localScalingB = capsuleB->getLocalScaling();
+	//	btVector3 localScalingA = capsuleA->getLocalScaling();
+	//	btVector3 localScalingB = capsuleB->getLocalScaling();
 		
 		btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
 
 		btScalar dist = capsuleCapsuleDistance(normalOnB,	pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
 			capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
-			body0->getWorldTransform(),body1->getWorldTransform(),threshold);
+			body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
 
 		if (dist<threshold)
 		{
@@ -374,8 +374,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 
 	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
-	input.m_transformA = body0->getWorldTransform();
-	input.m_transformB = body1->getWorldTransform();
+	input.m_transformA = body0Wrap->getWorldTransform();
+	input.m_transformB = body1Wrap->getWorldTransform();
 
 
 
@@ -407,9 +407,51 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			{
 			}
 		};
+
+		
+		struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
+		{
+			btDiscreteCollisionDetectorInterface::Result* m_originalResult;
+			btVector3	m_reportedNormalOnWorld;
+			btScalar m_marginOnA;
+			btScalar m_marginOnB;
+			btScalar	m_reportedDistance;
+			
+			bool		m_foundResult;
+			btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
+			:m_originalResult(result),
+			m_marginOnA(marginOnA),
+			m_marginOnB(marginOnB),
+			m_foundResult(false)
+			{
+			}
+			
+			virtual void setShapeIdentifiersA(int partId0,int index0){}
+			virtual void setShapeIdentifiersB(int partId1,int index1){}
+			virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg) 
+			{
+				m_reportedDistance = depthOrg;
+				m_reportedNormalOnWorld = normalOnBInWorld;
+				
+				btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
+				m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
+				if (m_reportedDistance<0.f)
+				{
+					m_foundResult = true;					
+				}
+				m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
+			}
+		};
+
 		
 		btDummyResult dummy;
 
+///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
+
+		btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
+		btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
+
+		btWithoutMarginResult	withoutMargin(resultOut, min0Margin,min1Margin);
 
 		btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
 		btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
@@ -429,39 +471,42 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			{
 				foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
 					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(),
-					sepNormalWorldSpace);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(),
+					sepNormalWorldSpace,*resultOut);
 			} else
 			{
 #ifdef ZERO_MARGIN
 				gjkPairDetector.setIgnoreMargin(true);
 				gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 #else
-				//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-				gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+
+
+				gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
+				//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
 #endif //ZERO_MARGIN
-				btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
-				if (l2>SIMD_EPSILON)
+				//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
+				//if (l2>SIMD_EPSILON)
 				{
-					sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+					sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
 					//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
-					minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
+					minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
 	
 #ifdef ZERO_MARGIN
 					foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
 #else
-					foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
+					foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
 #endif
 				}
 			}
 			if (foundSepAxis)
 			{
+				
 //				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
 				btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
  				
 			}
 			if (m_ownManifold)
@@ -478,9 +523,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 
 				btVertexArray vertices;
 				btTriangleShape* tri = (btTriangleShape*)polyhedronB;
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[0]);
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[1]);
-				vertices.push_back(	body1->getWorldTransform()*tri->m_vertices1[2]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
+				vertices.push_back(	body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
 				
 				//tri->initializePolyhedralFeatures();
 
@@ -496,9 +541,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 					polyhedronB->initializePolyhedralFeatures();
 					 foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
 					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-					body0->getWorldTransform(), 
-					body1->getWorldTransform(),
-					sepNormalWorldSpace);
+					body0Wrap->getWorldTransform(), 
+					body1Wrap->getWorldTransform(),
+					sepNormalWorldSpace,*resultOut);
 				//	 printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
 				} else
@@ -525,7 +570,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 			if (foundSepAxis)
 			{
 				btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), 
-					body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
+					body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
 			}
 				
 				
@@ -599,15 +644,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 				
 				if (perturbeA)
 				{
-					input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
-					input.m_transformB = body1->getWorldTransform();
+					input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
+					input.m_transformB = body1Wrap->getWorldTransform();
 	#ifdef DEBUG_CONTACTS
 					dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
 	#endif //DEBUG_CONTACTS
 				} else
 				{
-					input.m_transformA = body0->getWorldTransform();
-					input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
+					input.m_transformA = body0Wrap->getWorldTransform();
+					input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
 	#ifdef DEBUG_CONTACTS
 					dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
 	#endif
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index 4380b80eb4d..51db0c6548d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -59,12 +59,11 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexConvexAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -96,10 +95,10 @@ public:
 		
 		virtual ~CreateFunc();
 
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index b2e9bfaf593..cce2d95bcf9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -19,10 +19,11 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
@@ -30,12 +31,12 @@ m_isSwapped(isSwapped),
 m_numPerturbationIterations(numPerturbationIterations),
 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
-	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
-	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
 
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
+		m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -50,25 +51,25 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+    const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
 
     bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
 	
-	btTransform convexWorldTransform = convexObj->getWorldTransform();
+	btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
+	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
 	//now perturbe the convex-world transform
 	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
 	btTransform planeInConvex;
-	planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
+	planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
 	
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 
@@ -76,53 +77,53 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
 	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
-	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
 	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	if (hasCollision)
 	{
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
 }
 
 
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+	const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
 
-	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+	btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
 
 	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
 	btTransform planeInConvex;
-	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
 	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+	convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
 
 	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
 	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
-	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+	btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
 
 	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	if (hasCollision)
 	{
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
@@ -148,7 +149,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 		{
 			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
 			btQuaternion rotq(planeNormal,iterationAngle);
-			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
+			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
 		}
 	}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index b9494f5ad3b..d28c430c4c1 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -36,13 +36,13 @@ class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 
 public:
 
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
 
 	virtual ~btConvexPlaneCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -65,15 +65,15 @@ public:
 		{
 		}
 		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			} else
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index 81ed424a3db..474785bfc7d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -78,10 +78,8 @@ protected:
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
 	btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
-#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
 	btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
-#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
 
 	btCollisionAlgorithmCreateFunc* m_boxBoxCF;
 	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
index 936054387c4..5fa1c8be5e4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
@@ -22,7 +22,7 @@ btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& c
 {
 }
 
-void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
+void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* )
 {
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
index f03c9dc3833..cb0f152183c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -30,7 +30,7 @@ public:
 	
 	btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -40,10 +40,10 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			(void)body0;
-			(void)body1;
+        virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+        {
+			(void)body0Wrap;
+			(void)body1Wrap;
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
 			return new(mem) btEmptyAlgorithm(ci);
 		}
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index 4353cdac0b1..73fa4e87ea4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -6,7 +6,7 @@
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 #include "LinearMath/btIDebugDraw.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 //#define DEBUG_INTERNAL_EDGE
 
@@ -450,18 +450,18 @@ bool	btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b
 
 
 /// Changes a btManifoldPoint collision normal to the normal from the mesh.
-void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
 {
 	//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
-	if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
+	if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
 		return;
 
 	btBvhTriangleMeshShape* trimesh = 0;
 	
-	if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
-	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
+	if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
+	   trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
    else	   
-	   trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
+	   trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
 	   
    	btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
 	if (!triangleInfoMapPtr)
@@ -476,13 +476,13 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 
 	btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
 	
-	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
+	const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
 	btVector3 v0,v1,v2;
 	tri_shape->getVertex(0,v0);
 	tri_shape->getVertex(1,v1);
 	tri_shape->getVertex(2,v2);
 
-	btVector3 center = (v0+v1+v2)*btScalar(1./3.);
+	//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
 
 	btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
 	btVector3 tri_normal;
@@ -505,7 +505,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 	int numConcaveEdgeHits = 0;
 	int numConvexEdgeHits = 0;
 
-	btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+	btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 	localContactNormalOnB.normalize();//is this necessary?
 	
 	// Get closest edge
@@ -613,12 +613,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal. (what about cp.m_distance1?)
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 							
 						}
 					}
@@ -694,19 +694,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 				else
 				{
 					numConvexEdgeHits++;
-					btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 					btVector3 clampedLocalNormal;
 					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
 					if (isClamped)
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal.
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 						}
 					}
 				}
@@ -779,19 +779,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					//				printf("hitting convex edge\n");
 
 
-					btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+					btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
 					btVector3 clampedLocalNormal;
 					bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
 					if (isClamped)
 					{
 						if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
 						{
-							btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+							btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
 							//					cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
 							cp.m_normalWorldOnB = newNormal;
 							// Reproject collision point along normal.
 							cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-							cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+							cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 						}
 					}
 				} 
@@ -820,7 +820,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 				{
 					tri_normal *= -1;
 				}
-				cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
 			} else
 			{
 				btVector3 newNormal = tri_normal *frontFacing;
@@ -831,12 +831,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
 					return;
 				}
 				//modify the normal to be the triangle normal (or backfacing normal)
-				cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
+				cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
 			}
 						
 			// Reproject collision point along normal.
 			cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
-			cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+			cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
 		}
 	}
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
index 9efb0122bb8..7d9aafeee69 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
@@ -12,6 +12,7 @@
 
 class btBvhTriangleMeshShape;
 class btCollisionObject;
+struct btCollisionObjectWrapper;
 class btManifoldPoint;
 class btIDebugDraw;
 
@@ -31,7 +32,7 @@ void	btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangle
 
 ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
 ///If this info map is missing, or the triangle is not store in this map, nothing will be done
-void	btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
+void	btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
 
 ///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
 ///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index bf24246ea2f..4b2986a0087 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -17,13 +17,30 @@ subject to the following restrictions:
 #include "btManifoldResult.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.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 |= btCollisionObject::customMaterialCallback;
+inline btScalar	calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+{
+	btScalar friction = body0->getRollingFriction() * body1->getRollingFriction();
+
+	const btScalar MAX_FRICTION  = btScalar(10.);
+	if (friction < -MAX_FRICTION)
+		friction = -MAX_FRICTION;
+	if (friction > MAX_FRICTION)
+		friction = MAX_FRICTION;
+	return friction;
+
+}
+
+
 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-inline btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar	btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	btScalar friction = body0->getFriction() * body1->getFriction();
 
@@ -36,17 +53,17 @@ inline btScalar	calculateCombinedFriction(const btCollisionObject* body0,const b
 
 }
 
-inline btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar	btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
 {
 	return body0->getRestitution() * body1->getRestitution();
 }
 
 
 
-btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
+btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		:m_manifoldPtr(0),
-		m_body0(body0),
-		m_body1(body1)
+		m_body0Wrap(body0Wrap),
+		m_body1Wrap(body1Wrap)
 #ifdef DEBUG_PART_INDEX
 		,m_partId0(-1),
 	m_partId1(-1),
@@ -54,8 +71,6 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 	m_index1(-1)
 #endif //DEBUG_PART_INDEX
 {
-	m_rootTransA = body0->getWorldTransform();
-	m_rootTransB = body1->getWorldTransform();
 }
 
 
@@ -68,7 +83,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 //	if (depth > m_manifoldPtr->getContactProcessingThreshold())
 		return;
 
-	bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+	bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 
 	btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
 
@@ -77,12 +92,12 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	
 	if (isSwapped)
 	{
-		localA = m_rootTransB.invXform(pointA );
-		localB = m_rootTransA.invXform(pointInWorld);
+		localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 	} else
 	{
-		localA = m_rootTransA.invXform(pointA );
-		localB = m_rootTransB.invXform(pointInWorld);
+		localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+		localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 	}
 
 	btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -91,9 +106,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	
 	int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
 
-	newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
-	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
+	newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
+	btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);
+	
 
+	
    //BP mod, store contact triangles.
 	if (isSwapped)
 	{
@@ -122,13 +141,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	//User can override friction and/or restitution
 	if (gContactAddedCallback &&
 		//and if either of the two bodies requires custom material
-		 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
-		   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+		 ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+		   (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
 	{
 		//experimental feature info, for per-triangle material etc.
-		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
-		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
-		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
+		const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
+		const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
+		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
 	}
 
 }
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index 18199b49752..977b9a02fc5 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -18,14 +18,18 @@ subject to the following restrictions:
 #define BT_MANIFOLD_RESULT_H
 
 class btCollisionObject;
+struct btCollisionObjectWrapper;
+
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 class btManifoldPoint;
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 
 #include "LinearMath/btTransform.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
-typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
+typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
 extern ContactAddedCallback		gContactAddedCallback;
 
 //#define DEBUG_PART_INDEX 1
@@ -38,12 +42,8 @@ protected:
 
 	btPersistentManifold* m_manifoldPtr;
 
-	//we need this for compounds
-	btTransform	m_rootTransA;
-	btTransform	m_rootTransB;
-
-	btCollisionObject* m_body0;
-	btCollisionObject* m_body1;
+	const btCollisionObjectWrapper* m_body0Wrap;
+	const btCollisionObjectWrapper* m_body1Wrap;
 	int	m_partId0;
 	int m_partId1;
 	int m_index0;
@@ -63,7 +63,7 @@ public:
 	{
 	}
 
-	btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
+	btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btManifoldResult() {};
 
@@ -102,27 +102,49 @@ public:
 		if (!m_manifoldPtr->getNumContacts())
 			return;
 
-		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
 
 		if (isSwapped)
 		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
+			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
 		} else
 		{
-			m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
+			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
 		}
 	}
 
+	const btCollisionObjectWrapper* getBody0Wrap() const
+	{
+		return m_body0Wrap;
+	}
+	const btCollisionObjectWrapper* getBody1Wrap() const
+	{
+		return m_body1Wrap;
+	}
+
+	void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
+	{
+		m_body0Wrap = obj0Wrap;
+	}
+
+	void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
+	{
+		m_body1Wrap = obj1Wrap;
+	}
+
 	const btCollisionObject* getBody0Internal() const
 	{
-		return m_body0;
+		return m_body0Wrap->getCollisionObject();
 	}
 
 	const btCollisionObject* getBody1Internal() const
 	{
-		return m_body1;
+		return m_body1Wrap->getCollisionObject();
 	}
-	
+
+	/// in the future we can let the user override the methods to combine restitution and friction
+	static btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
+	static btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
 };
 
 #endif //BT_MANIFOLD_RESULT_H
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 871c64415a2..13447822571 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -319,8 +319,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 	{
 		 btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
 		 
-		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
-		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
+		 const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
+		 const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
 		
 		 ///@todo: check sleeping conditions!
 		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index 8df876928c1..e8b567e0efc 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -18,20 +18,21 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 //#include <stdio.h>
 
-btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
+: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_isSwapped(isSwapped)
 {
-	btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
-	btCollisionObject* boxObj = m_isSwapped? col0 : col1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
 	
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
+		m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -48,36 +49,31 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
 
 
 
-void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
-	btCollisionObject* boxObj = m_isSwapped? body0 : body1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
+	const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
 
-
-	btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
+	btVector3 pOnBox;
 
 	btVector3 normalOnSurfaceB;
-	btVector3 pOnBox,pOnSphere;
-	btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
+	btScalar penetrationDepth;
+	btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
+	const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
 	btScalar radius = sphere0->getRadius();
-	
-	btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
+	btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	if (dist < SIMD_EPSILON)
+	if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
 	{
-		btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
-
 		/// report a contact. internally this will be kept persistent, and contact reduction is done
-
-		resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
-		
+		resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
 	}
 
 	if (m_ownManifold)
@@ -102,159 +98,117 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
-btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius ) 
+bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance ) 
 {
-
-	btScalar margins;
-	btVector3 bounds[2];
-	btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
+	const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
+	btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
+	btScalar boxMargin = boxShape->getMargin();
+	penetrationDepth = 1.0f;
+
+	// convert the sphere position to the box's local space
+	btTransform const &m44T = boxObjWrap->getWorldTransform();
+	btVector3 sphereRelPos = m44T.invXform(sphereCenter);
+
+	// Determine the closest point to the sphere center in the box
+	btVector3 closestPoint = sphereRelPos;
+	closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
+	closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
+	closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
+	closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
 	
-	bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
-	bounds[1] = boxShape->getHalfExtentsWithoutMargin();
-
-	margins = boxShape->getMargin();//also add sphereShape margin?
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	btVector3	boundsVec[2];
-	btScalar	fPenetration;
-
-	boundsVec[0] = bounds[0];
-	boundsVec[1] = bounds[1];
-
-	btVector3	marginsVec( margins, margins, margins );
-
-	// add margins
-	bounds[0] += marginsVec;
-	bounds[1] -= marginsVec;
-
-	/////////////////////////////////////////////////
-
-	btVector3	tmp, prel, n[6], normal, v3P;
-	btScalar   fSep = btScalar(10000000.0), fSepThis;
+	btScalar intersectionDist = fRadius + boxMargin;
+	btScalar contactDist = intersectionDist + maxContactDistance;
+	normal = sphereRelPos - closestPoint;
 
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-	
-	bool	bFound = false;
+	//if there is no penetration, we are done
+	btScalar dist2 = normal.length2();
+	if (dist2 > contactDist * contactDist)
+	{
+		return false;
+	}
 
-	v3P = prel;
+	btScalar distance;
 
-	for (int i=0;i<6;i++)
+	//special case if the sphere center is inside the box
+	if (dist2 <= SIMD_EPSILON)
 	{
-		int j = i<3? 0:1;
-		if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
-		{
-			v3P = v3P - n[i]*fSepThis;		
-			bFound = true;
-		}
+		distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
 	}
-	
-	//
-
-	if ( bFound )
+	else //compute the penetration details
 	{
-		bounds[0] = boundsVec[0];
-		bounds[1] = boundsVec[1];
-
-		normal = (prel - v3P).normalize();
-		pointOnBox = v3P + normal*margins;
-		v3PointOnSphere = prel - normal*fRadius;
-
-		if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
-		{
-			return btScalar(1.0);
-		}
-
-		// transform back in world space
-		tmp = m44T( pointOnBox);
-		pointOnBox    = tmp;
-		tmp  = m44T( v3PointOnSphere);		
-		v3PointOnSphere = tmp;
-		btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
-		
-		//if this fails, fallback into deeper penetration case, below
-		if (fSeps2 > SIMD_EPSILON)
-		{
-			fSep = - btSqrt(fSeps2);
-			normal = (pointOnBox-v3PointOnSphere);
-			normal *= btScalar(1.)/fSep;
-		}
-
-		return fSep;
+		distance = normal.length();
+		normal /= distance;
 	}
 
-	//////////////////////////////////////////////////
-	// Deep penetration case
-
-	fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
+	pointOnBox = closestPoint + normal * boxMargin;
+//	v3PointOnSphere = sphereRelPos - (normal * fRadius);	
+	penetrationDepth = distance - intersectionDist;
 
-	bounds[0] = boundsVec[0];
-	bounds[1] = boundsVec[1];
-
-	if ( fPenetration <= btScalar(0.0) )
-		return (fPenetration-margins);
-	else
-		return btScalar(1.0);
+	// transform back in world space
+	btVector3 tmp = m44T(pointOnBox);
+	pointOnBox = tmp;
+//	tmp = m44T(v3PointOnSphere);
+//	v3PointOnSphere = tmp;
+	tmp = m44T.getBasis() * normal;
+	normal = tmp;
+
+	return true;
 }
 
-btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax) 
+btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) 
 {
+	//project the center of the sphere on the closest face of the box
+	btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
+	btScalar minDist = faceDist;
+	closestPoint.setX( boxHalfExtent.getX() );
+	normal.setValue(btScalar(1.0f),  btScalar(0.0f),  btScalar(0.0f));
+
+	faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setX( -boxHalfExtent.getX() );
+		normal.setValue(btScalar(-1.0f),  btScalar(0.0f),  btScalar(0.0f));
+	}
 
-	btVector3 bounds[2];
-
-	bounds[0] = aabbMin;
-	bounds[1] = aabbMax;
-
-	btVector3	p0, tmp, prel, n[6], normal;
-	btScalar   fSep = btScalar(-10000000.0), fSepThis;
-
-	// set p0 and normal to a default value to shup up GCC
-	p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-	normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
-
-	n[0].setValue( btScalar(-1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[1].setValue(  btScalar(0.0), btScalar(-1.0),  btScalar(0.0) );
-	n[2].setValue(  btScalar(0.0),  btScalar(0.0), btScalar(-1.0) );
-	n[3].setValue(  btScalar(1.0),  btScalar(0.0),  btScalar(0.0) );
-	n[4].setValue(  btScalar(0.0),  btScalar(1.0),  btScalar(0.0) );
-	n[5].setValue(  btScalar(0.0),  btScalar(0.0),  btScalar(1.0) );
-
-	const btTransform&	m44T = boxObj->getWorldTransform();
-
-	// convert  point in local space
-	prel = m44T.invXform( sphereCenter);
-
-	///////////
-
-	for (int i=0;i<6;i++)
+	faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
+	if (faceDist < minDist)
 	{
-		int j = i<3 ? 0:1;
-		if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) )	return btScalar(1.0);
-		if ( fSepThis > fSep )
-		{
-			p0 = bounds[j];	normal = (btVector3&)n[i];
-			fSep = fSepThis;
-		}
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(1.0f),  btScalar(0.0f));
 	}
 
-	pointOnBox = prel - normal*(normal.dot((prel-p0)));
-	v3PointOnSphere = pointOnBox + normal*fSep;
+	faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setY( -boxHalfExtent.getY() );
+		normal.setValue(btScalar(0.0f),  btScalar(-1.0f),  btScalar(0.0f));
+	}
 
-	// transform back in world space
-	tmp  = m44T( pointOnBox);		
-	pointOnBox    = tmp;
-	tmp  = m44T( v3PointOnSphere);		v3PointOnSphere = tmp;
-	normal = (pointOnBox-v3PointOnSphere).normalize();
+	faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(1.0f));
+	}
 
-	return fSep;
+	faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
+	if (faceDist < minDist)
+	{
+		minDist = faceDist;
+		closestPoint = sphereRelPos;
+		closestPoint.setZ( -boxHalfExtent.getZ() );
+		normal.setValue(btScalar(0.0f),  btScalar(0.0f),  btScalar(-1.0f));
+	}
 
+	return minDist;
 }
-
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index 60286ae0aa4..eefaedc9e7e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -34,11 +34,11 @@ class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	
 public:
 
-	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+	btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 
 	virtual ~btSphereBoxCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -50,21 +50,21 @@ public:
 		}
 	}
 
-	btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
+	bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
 
-	btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
+	btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
 	
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
+				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
 			} else
 			{
-				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
+				return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 5c4e78fe518..36ba21f5bb0 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -17,15 +17,16 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
+: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -39,7 +40,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
 	}
 }
 
-void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 
@@ -48,10 +49,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
-	btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
+	btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
+	btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
 
-	btVector3 diff = col0->getWorldTransform().getOrigin()-  col1->getWorldTransform().getOrigin();
+	btVector3 diff = col0Wrap->getWorldTransform().getOrigin()-  col1Wrap->getWorldTransform().getOrigin();
 	btScalar len = diff.length();
 	btScalar radius0 = sphere0->getRadius();
 	btScalar radius1 = sphere1->getRadius();
@@ -80,7 +81,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	///point on A (worldspace)
 	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
-	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
+	btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index e55acf277e6..3517a568a99 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -32,12 +32,12 @@ class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	btPersistentManifold*	m_manifoldPtr;
 	
 public:
-	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap);
 
 	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -53,10 +53,10 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
-			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
+			return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index c327c3ff72a..280a4d355fd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -19,17 +19,17 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "SphereTriangleDetector.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
-
-btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_swapped(swapped)
 {
 	if (!m_manifoldPtr)
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -43,16 +43,16 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
 	}
 }
 
-void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
-	btCollisionObject* sphereObj = m_swapped? col1 : col0;
-	btCollisionObject* triObj = m_swapped? col0 : col1;
+	const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
+	const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
 
-	btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
-	btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
+	btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
+	btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
@@ -60,8 +60,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
-	input.m_transformA = sphereObj->getWorldTransform();
-	input.m_transformB = triObj->getWorldTransform();
+	input.m_transformA = sphereObjWrap->getWorldTransform();
+	input.m_transformB = triObjWrap->getWorldTransform();
 
 	bool swapResults = m_swapped;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index 7c6c4d8f8d5..6b6e39a72b6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -32,12 +32,12 @@ class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
 	bool	m_swapped;
 	
 public:
-	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
+	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped);
 
 	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -54,12 +54,12 @@ public:
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
 
-			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
+			return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_swapped);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
index f4a9ca03e5c..ce333783e44 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBox2dShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
 {
 
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -34,6 +34,8 @@ class btBox2dShape: public btPolyhedralConvexShape
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
index 0c5857dae62..715e3f2ab98 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "LinearMath/btMinMax.h"
 
 ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBoxShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
 {
 
 	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -31,6 +31,8 @@ class btBoxShape: public btPolyhedralConvexShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
index d1c21629873..493d635539e 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -21,7 +21,13 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedAllocator.h"
 #include "btTriangleInfoMap.h"
 
-///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage.
+///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
+///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
+///using HACD, see Bullet/Demos/ConvexDecompositionDemo. 
+///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
+///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and 
+///cache friendly traversal for PlayStation 3 Cell SPU. 
+///It is recommended to enable useQuantizedAabbCompression for better memory usage.
 ///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
 ///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
 ///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index ab763abf808..7578bb258df 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -23,7 +23,7 @@ subject to the following restrictions:
 ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
 ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
-class btCapsuleShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
 {
 protected:
 	int	m_upAxis;
@@ -33,6 +33,9 @@ protected:
 	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCapsuleShape(btScalar radius,btScalar height);
 
 	///CollisionShape Interface
@@ -62,8 +65,8 @@ public:
 			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
 			btVector3 center = t.getOrigin();
-			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
-			
+            btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+        
 			aabbMin = center - extent;
 			aabbMax = center + extent;
 	}
@@ -101,6 +104,14 @@ public:
 
 	}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
index 865c1067744..ff017a20671 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -24,7 +24,7 @@ class btSerializer;
 
 
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
-class btCollisionShape
+ATTRIBUTE_ALIGNED16(class) btCollisionShape
 {
 protected:
 	int m_shapeType;
@@ -32,6 +32,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
 	{
 	}
@@ -107,6 +109,13 @@ public:
 
 	
 	int		getShapeType() const { return m_shapeType; }
+
+	///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
+	///See Bullet/Demos/RollingFrictionDemo for an example
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3(1,1,1);
+	}
 	virtual void	setMargin(btScalar margin) = 0;
 	virtual btScalar	getMargin() const = 0;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
index 4eb860c57f1..12f422f193f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -182,9 +182,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		abs_b[1].dot(localHalfExtents),
-		abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center-extent;
 	aabbMax = center+extent;
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
index 2a03241c9d7..2917cc5b60f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -33,12 +33,14 @@ typedef enum PHY_ScalarType {
 
 ///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
 ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
-class btConcaveShape : public btCollisionShape
+ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape
 {
 protected:
 	btScalar m_collisionMargin;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConcaveShape();
 
 	virtual ~btConcaveShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
index b69b5c5b0c8..5966ae48f11 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
 ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
-class btConeShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
 
 {
 
@@ -32,6 +32,8 @@ class btConeShape : public btConvexInternalShape
 
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConeShape (btScalar radius,btScalar height);
 	
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const;
@@ -82,6 +84,11 @@ public:
 			return m_coneIndices[1];
 		}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,1,0);
+	}
+
 	virtual void	setLocalScaling(const btVector3& scaling);
 
 };
@@ -91,6 +98,12 @@ class btConeShapeX : public btConeShape
 {
 	public:
 		btConeShapeX(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (1,0,0);
+	}
+
 };
 
 ///btConeShapeZ implements a Cone shape, around the Z axis
@@ -98,6 +111,12 @@ class btConeShapeZ : public btConeShape
 {
 	public:
 		btConeShapeZ(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,0,1);
+	}
+
 };
 #endif //BT_CONE_MINKOWSKI_H
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
index caf54329da9..bbd1caf42fb 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h
@@ -21,12 +21,14 @@ subject to the following restrictions:
 
 ///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
 ///For 2d boxes, the btBox2dShape is recommended.
-class btConvex2dShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape
 {
 	btConvexShape*	m_childConvexShape;
 
 	public:
 	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConvex2dShape(	btConvexShape* convexChildShape);
 	
 	virtual ~btConvex2dShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index 226245979ab..0623e351a97 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -13,6 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
 #include "btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
@@ -45,30 +49,28 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
 	recalcLocalAabb();
 }
 
-void btConvexHullShape::addPoint(const btVector3& point)
+void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
 {
 	m_unscaledPoints.push_back(point);
-	recalcLocalAabb();
+	if (recalculateLocalAabb)
+		recalcLocalAabb();
 
 }
 
 btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
-	for (int i=0;i<m_unscaledPoints.size();i++)
-	{
-		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+    // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically. 
+    if( 0 < m_unscaledPoints.size() )
+    {
+        btVector3 scaled = vec * m_localScaling;
+        int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
+        return m_unscaledPoints[index] * m_localScaling;
+    }
 
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return supVec;
+    return supVec;
 }
 
 void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
@@ -81,23 +83,19 @@ void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
 			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
 		}
 	}
-	for (int i=0;i<m_unscaledPoints.size();i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
 
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& 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;
-			}
-		}
-	}
+    for (int j=0;j<numVectors;j++)
+    {
+        btVector3 vec = vectors[j] * m_localScaling;        // dot(a*b,c) = dot(a,b*c)
+        if( 0 <  m_unscaledPoints.size() )
+        {
+            int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
+            supportVerticesOut[j] = getScaledPoint(i);
+            supportVerticesOut[j][3] = newDot;        
+        }
+        else
+            supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
+    }
 
 
 
@@ -208,13 +206,11 @@ const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
 	return "btConvexHullShapeData";
 }
 
-void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
 #if 1
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	btVector3 witnesPtMin;
-	btVector3 witnesPtMax;
+	minProj = FLT_MAX;
+	maxProj = -FLT_MAX;
 
 	int numVerts = m_unscaledPoints.size();
 	for(int i=0;i<numVerts;i++)
@@ -222,31 +218,30 @@ void btConvexHullShape::project(const btTransform& trans, const btVector3& dir,
 		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
 		btVector3 pt = trans * vtx;
 		btScalar dp = pt.dot(dir);
-		if(dp < min)	
+		if(dp < minProj)	
 		{
-			min = dp;
+			minProj = dp;
 			witnesPtMin = pt;
 		}
-		if(dp > max)	
+		if(dp > maxProj)	
 		{
-			max = dp;
+			maxProj = dp;
 			witnesPtMax=pt;
 		}
 	}
 #else
 	btVector3 localAxis = dir*trans.getBasis();
-	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
-	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+	witnesPtMin  = trans(localGetSupportingVertex(localAxis));
+	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
 
-	min = vtx1.dot(dir);
-	max = vtx2.dot(dir);
+	minProj = witnesPtMin.dot(dir);
+	maxProj = witnesPtMax.dot(dir);
 #endif
 
-	if(min>max)
+	if(minProj>maxProj)
 	{
-		btScalar tmp = min;
-		min = max;
-		max = tmp;
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
 	}
 
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index 95a2af6a3a0..3bd598ec4e9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -36,7 +36,7 @@ public:
 	///btConvexHullShape make an internal copy of the points.
 	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
 
-	void addPoint(const btVector3& point);
+	void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
 
 	
 	btVector3* getUnscaledPoints()
@@ -73,7 +73,7 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
 
-	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
 
 
 	//debugging
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 85cd9ef90c7..37e04f5fc81 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -26,7 +26,7 @@ subject to the following restrictions:
 ///Note that when creating small shapes (derived from btConvexInternalShape), 
 ///you need to make sure to set a smaller collision margin, using the 'setMargin' API
 ///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
-class btConvexInternalShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
 {
 
 	protected:
@@ -44,7 +44,7 @@ class btConvexInternalShape : public btConvexShape
 
 public:
 
-	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	virtual ~btConvexInternalShape()
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
index c1b155aef45..ad1d1bf78f8 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
 btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
 	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
 
 	btVector3 vec = vec0;
 	btScalar lenSqr = vec.length2();
@@ -40,51 +40,33 @@ btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
 		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
 		vec *= rlen;
 	}
+    
+    if( m_numPoints > 0 )
+    {
+        // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
+    //    btVector3 scaled = vec * m_localScaling;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
+        return getScaledPoint(index);
+    }
 
-
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
 	return supVec;
 }
 
 void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
-		}
-	}
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& 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;
-			}
-		}
-	}
-
-
+    for( int j = 0; j < numVectors; j++ )
+    {
+        const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
+        btScalar maxDot;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
+        supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
+        if( 0 <= index )
+        {
+            //WARNING: don't swap next lines, the w component would get overwritten!
+            supportVerticesOut[j] = getScaledPoint(index);
+            supportVerticesOut[j][3] = maxDot;
+        }
+    }
 
 }
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
index 1e26be531c2..f4324c1f401 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -274,23 +274,29 @@ void	btConvexPolyhedron::initialize()
 #endif
 }
 
-
-void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
-	min = FLT_MAX;
-	max = -FLT_MAX;
+	minProj = FLT_MAX;
+	maxProj = -FLT_MAX;
 	int numVerts = m_vertices.size();
 	for(int i=0;i<numVerts;i++)
 	{
 		btVector3 pt = trans * m_vertices[i];
 		btScalar dp = pt.dot(dir);
-		if(dp < min)	min = dp;
-		if(dp > max)	max = dp;
+		if(dp < minProj)
+		{
+			minProj = dp;
+			witnesPtMin = pt;
+		}
+		if(dp > maxProj)
+		{
+			maxProj = dp;
+			witnesPtMax = pt;
+		}
 	}
-	if(min>max)
+	if(minProj>maxProj)
 	{
-		btScalar tmp = min;
-		min = max;
-		max = tmp;
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
 	}
-}
\ No newline at end of file
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
index 08db39a33c8..d3cd066ac8d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -34,9 +34,12 @@ struct btFace
 };
 
 
-class btConvexPolyhedron
+ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
 {
 	public:
+		
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+		
 	btConvexPolyhedron();
 	virtual	~btConvexPolyhedron();
 
@@ -53,7 +56,7 @@ class btConvexPolyhedron
 	void	initialize();
 	bool testContainment() const;
 
-	void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
 };
 
 	
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8c67d8ebef1..4b16130211f 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -13,6 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
 #include "btConvexShape.h"
 #include "btTriangleShape.h"
 #include "btSphereShape.h"
@@ -109,19 +113,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
 	return supVec;
 #else
 
-	btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
-	int ptIndex = -1;
-
-	for (int i=0;i<numPoints;i++)
-	{
-
-		newDot = vec.dot(points[i]);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			ptIndex = i;
-		}
-	}
+    btScalar maxDot;
+    long ptIndex = vec.maxDot( points, numPoints, maxDot);
 	btAssert(ptIndex >= 0);
 	btVector3 supVec = points[ptIndex] * localScaling;
 	return supVec;
@@ -141,16 +134,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		btBoxShape* convexShape = (btBoxShape*)this;
 		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
 
+#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
+    #if defined( BT_USE_SSE )
+            return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
+    #elif defined( BT_USE_NEON )
+            return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
+    #else
+        #error unknown vector arch
+    #endif
+#else
 		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
 			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
 			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
+#endif
 	}
 	case TRIANGLE_SHAPE_PROXYTYPE:
 	{
 		btTriangleShape* triangleShape = (btTriangleShape*)this;
 		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
 		btVector3* vertices = &triangleShape->m_vertices1[0];
-		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
+        btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
 		btVector3 sup = vertices[dots.maxAxis()];
 		return btVector3(sup.getX(),sup.getY(),sup.getZ());
 	}
@@ -383,8 +386,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 		halfExtents += btVector3(margin,margin,margin);
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
 		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
-		
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
+        
 		aabbMin = center - extent;
 		aabbMax = center + extent;
 		break;
@@ -417,7 +420,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
 		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  	
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
 		aabbMin = center - extent;
 		aabbMax = center + extent;
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
index af5d00388e8..f338865ca13 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -22,12 +22,14 @@ subject to the following restrictions:
 
 /// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
 /// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
-class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
 {
 
 	class btStridingMeshInterface*	m_stridingMesh;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
 
 	class btStridingMeshInterface*	getMeshInterface()
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
index 125bfc78a77..6f796950e1d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 
 /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
-class btCylinderShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
 
 {
 
@@ -31,6 +31,8 @@ protected:
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3 getHalfExtentsWithMargin() const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -95,6 +97,13 @@ public:
 		return m_upAxis;
 	}
 
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
 	virtual btScalar getRadius() const
 	{
 		return getHalfExtentsWithMargin().getX();
@@ -128,6 +137,8 @@ public:
 class btCylinderShapeX : public btCylinderShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCylinderShapeX (const btVector3& halfExtents);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -149,6 +160,8 @@ public:
 class btCylinderShapeZ : public btCylinderShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btCylinderShapeZ (const btVector3& halfExtents);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
index 87b7b66d1e1..069a79402bf 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -28,9 +28,11 @@ subject to the following restrictions:
 
 /// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
 /// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
-class btEmptyShape	: public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btEmptyShape	: public btConcaveShape
 {
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btEmptyShape();
 
 	virtual ~btEmptyShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 95631c30190..8d4080a63a6 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -38,7 +38,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
 	// legacy constructor: support only float or unsigned char,
 	// 	and min height is zero
 	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
-	btScalar minHeight = 0.0;
+	btScalar minHeight = 0.0f;
 
 	// previously, height = uchar * maxHeight / 65535.
 	// So to preserve legacy behavior, heightScale = maxHeight / 65535
@@ -82,6 +82,7 @@ PHY_ScalarType hdt, bool flipQuadEdges
 	m_heightDataType = hdt;
 	m_flipQuadEdges = flipQuadEdges;
 	m_useDiamondSubdivision = false;
+	m_useZigzagSubdivision = false;
 	m_upAxis = upAxis;
 	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
 
@@ -135,9 +136,7 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,
 
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
 	btVector3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
-		   abs_b[1].dot(halfExtents),
-		  abs_b[2].dot(halfExtents));
+    btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	extent += btVector3(getMargin(),getMargin(),getMargin());
 
 	aabbMin = center - extent;
@@ -362,7 +361,7 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		for(int x=startX; x<endX; x++)
 		{
 			btVector3 vertices[3];
-			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
+			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision  && !(j & 1)))
 			{
         //first triangle
         getVertex(x,j,vertices[0]);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 78e231e08e6..4a7a4a4bda4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -68,7 +68,7 @@ subject to the following restrictions:
 
   For usage and testing see the TerrainDemo.
  */
-class btHeightfieldTerrainShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
@@ -93,7 +93,8 @@ protected:
 
 	PHY_ScalarType	m_heightDataType;	
 	bool	m_flipQuadEdges;
-  bool  m_useDiamondSubdivision;
+  	bool  m_useDiamondSubdivision;
+	bool m_useZigzagSubdivision;
 
 	int	m_upAxis;
 	
@@ -116,6 +117,9 @@ protected:
 	                PHY_ScalarType heightDataType, bool flipQuadEdges);
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	/// preferred constructor
 	/**
 	  This constructor supports a range of heightfield
@@ -142,6 +146,8 @@ public:
 
 	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
 
+	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625	
+	void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index 6c844e8c0af..a3f9a472394 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
 /// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
-class btMinkowskiSumShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
 {
 
 	btTransform	m_transA;
@@ -30,6 +30,8 @@ class btMinkowskiSumShape : public btConvexInternalShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index c996bfcdaba..a7362ea01f4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -13,7 +13,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
 
 #include "btMultiSphereShape.h"
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -39,10 +41,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 
 }
 
- 
+#ifndef MIN
+	#define MIN( _a, _b)    ((_a) < (_b) ? (_a) : (_b))
+#endif
  btVector3	btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
-	int i;
 	btVector3 supVec(0,0,0);
 
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -66,18 +69,23 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 	const btScalar* rad = &m_radiArray[0];
 	int numSpheres = m_localPositionArray.size();
 
-	for (i=0;i<numSpheres;i++)
+	for( int k = 0; k < numSpheres; k+= 128 )
 	{
-		vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
-		pos++;
-		rad++;
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
+		btVector3 temp[128];
+		int inner_count = MIN( numSpheres - k, 128 );
+        for( long i = 0; i < inner_count; i++ )
+        {
+            temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
+            pos++;
+            rad++;
+        }
+        long i = vec.maxDot( temp, inner_count, newDot);
+        if( newDot > maxDot )
 		{
 			maxDot = newDot;
-			supVec = vtx;
+			supVec = temp[i];
 		}
-	}
+    }
 
 	return supVec;
 
@@ -98,18 +106,25 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
 		const btVector3* pos = &m_localPositionArray[0];
 		const btScalar* rad = &m_radiArray[0];
 		int numSpheres = m_localPositionArray.size();
-		for (int i=0;i<numSpheres;i++)
-		{
-			vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
-			pos++;
-			rad++;
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supportVerticesOut[j] = vtx;
-			}
-		}
+
+        for( int k = 0; k < numSpheres; k+= 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN( numSpheres - k, 128 );
+            for( long i = 0; i < inner_count; i++ )
+            {
+                temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
+                pos++;
+                rad++;
+            }
+            long i = vec.maxDot( temp, inner_count, newDot);
+            if( newDot > maxDot )
+            {
+                maxDot = newDot;
+                supportVerticesOut[j] = temp[i];
+            }
+        }
+        
 	}
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 06c5d16d941..5d3b4026848 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -25,13 +25,15 @@ subject to the following restrictions:
 
 ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
 ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
-class btMultiSphereShape : public btConvexInternalAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
 {
 	
 	btAlignedObjectArray<btVector3> m_localPositionArray;
 	btAlignedObjectArray<btScalar>  m_radiArray;
 	
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
 
 	///CollisionShape Interface
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 82def79cf55..4854f370f73 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -12,6 +12,9 @@ subject to the following restrictions:
 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.
 */
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 #include "btConvexPolyhedron.h"
@@ -31,51 +34,58 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
 {
 	if (m_polyhedron)
 	{
+		m_polyhedron->~btConvexPolyhedron();
 		btAlignedFree(m_polyhedron);
 	}
 }
 
 
-bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
+bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
 {
 
 	if (m_polyhedron)
+	{
+		m_polyhedron->~btConvexPolyhedron();
 		btAlignedFree(m_polyhedron);
+	}
 	
 	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
 	m_polyhedron = new (mem) btConvexPolyhedron;
 
-		btAlignedObjectArray<btVector3> orgVertices;
+	btAlignedObjectArray<btVector3> orgVertices;
 
 	for (int i=0;i<getNumVertices();i++)
 	{
 		btVector3& newVertex = orgVertices.expand();
 		getVertex(i,newVertex);
 	}
-
-#if 0
-	btAlignedObjectArray<btVector3> planeEquations;
-	btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
-
-	btAlignedObjectArray<btVector3> shiftedPlaneEquations;
-	for (int p=0;p<planeEquations.size();p++)
+	
+	btConvexHullComputer conv;
+	
+	if (shiftVerticesByMargin)
 	{
-		   btVector3 plane = planeEquations[p];
-		   plane[3] -= getMargin();
-		   shiftedPlaneEquations.push_back(plane);
-	}
+		btAlignedObjectArray<btVector3> planeEquations;
+		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
 
-	btAlignedObjectArray<btVector3> tmpVertices;
+		btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+		for (int p=0;p<planeEquations.size();p++)
+		{
+			   btVector3 plane = planeEquations[p];
+		//	   btScalar margin = getMargin();
+			   plane[3] -= getMargin();
+			   shiftedPlaneEquations.push_back(plane);
+		}
 
-	btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
-	btConvexHullComputer conv;
-	conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+		btAlignedObjectArray<btVector3> tmpVertices;
 
-#else
-	btConvexHullComputer conv;
-	conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
-
-#endif
+		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
+	
+		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+	} else
+	{
+		
+		conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+	}
 
 
 
@@ -107,9 +117,6 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 		int numEdges = 0;
 		//compute face normals
 
-		btScalar maxCross2 = 0.f;
-		int chosenEdge = -1;
-
 		do
 		{
 			
@@ -192,7 +199,8 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 		{
 			//do the merge: use Graham Scan 2d convex hull
 
-			btAlignedObjectArray<GrahamVector2> orgpoints;
+			btAlignedObjectArray<GrahamVector3> orgpoints;
+			btVector3 averageFaceNormal(0,0,0);
 
 			for (int i=0;i<coplanarFaceGroup.size();i++)
 			{
@@ -200,16 +208,12 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 
 				btFace& face = tmpFaces[coplanarFaceGroup[i]];
 				btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
-				btVector3 xyPlaneNormal(0,0,1);
-
-				btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
-				
+				averageFaceNormal+=faceNormal;
 				for (int f=0;f<face.m_indices.size();f++)
 				{
 					int orgIndex = face.m_indices[f];
 					btVector3 pt = m_polyhedron->m_vertices[orgIndex];
-					btVector3 rotatedPt =  quatRotate(rotationArc,pt);
-					rotatedPt.setZ(0);
+					
 					bool found = false;
 
 					for (int i=0;i<orgpoints.size();i++)
@@ -222,34 +226,45 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 						}
 					}
 					if (!found)
-						orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
+						orgpoints.push_back(GrahamVector3(pt,orgIndex));
 				}
 			}
 
+			
+
 			btFace combinedFace;
 			for (int i=0;i<4;i++)
 				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
 
-			btAlignedObjectArray<GrahamVector2> hull;
-			GrahamScanConvexHull2D(orgpoints,hull);
+			btAlignedObjectArray<GrahamVector3> hull;
+
+			averageFaceNormal.normalize();
+			GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
 
 			for (int i=0;i<hull.size();i++)
 			{
 				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
-				for(int k = 0; k < orgpoints.size(); k++) {
-					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) {
+				for(int k = 0; k < orgpoints.size(); k++) 
+				{
+					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) 
+					{
 						orgpoints[k].m_orgIndex = -1; // invalidate...
 						break;
-			}
+					}
 				}
 			}
+
 			// are there rejected vertices?
 			bool reject_merge = false;
+			
+
+
 			for(int i = 0; i < orgpoints.size(); i++) {
 				if(orgpoints[i].m_orgIndex == -1)
 					continue; // this is in the hull...
 				// this vertex is rejected -- is anybody else using this vertex?
 				for(int j = 0; j < tmpFaces.size(); j++) {
+					
 					btFace& face = tmpFaces[j];
 					// is this a face of the current coplanar group?
 					bool is_in_current_group = false;
@@ -275,20 +290,23 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 				if(reject_merge)
 					break;
 			}
-			if(!reject_merge) {
+
+			if (!reject_merge)
+			{
 				// do this merge!
 				did_merge = true;
-			m_polyhedron->m_faces.push_back(combinedFace);
+				m_polyhedron->m_faces.push_back(combinedFace);
 			}
 		}
 		if(!did_merge)
 		{
 			for (int i=0;i<coplanarFaceGroup.size();i++)
 			{
-				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+				btFace face = tmpFaces[coplanarFaceGroup[i]];
+				m_polyhedron->m_faces.push_back(face);
 			}
 
-		}
+		} 
 
 
 
@@ -299,6 +317,9 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 	return true;
 }
 
+#ifndef MIN
+    #define MIN(_a, _b)     ((_a) < (_b) ? (_a) : (_b))
+#endif
 
 btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
@@ -323,17 +344,19 @@ btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
 	btVector3 vtx;
 	btScalar newDot;
 
-	for (i=0;i<getNumVertices();i++)
-	{
-		getVertex(i,vtx);
-		newDot = vec.dot(vtx);
+    for( int k = 0; k < getNumVertices(); k += 128 )
+    {
+        btVector3 temp[128];
+        int inner_count = MIN(getNumVertices() - k, 128);
+        for( i = 0; i < inner_count; i++ )
+            getVertex(i,temp[i]); 
+        i = (int) vec.maxDot( temp, inner_count, newDot);
 		if (newDot > maxDot)
 		{
 			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-
+			supVec = temp[i];
+		}        
+    }
 	
 #endif //__SPU__
 	return supVec;
@@ -356,21 +379,23 @@ void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
 
 	for (int j=0;j<numVectors;j++)
 	{
-	
-		const btVector3& vec = vectors[j];
-
-		for (i=0;i<getNumVertices();i++)
-		{
-			getVertex(i,vtx);
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
+        const btVector3& vec = vectors[j];
+        
+        for( int k = 0; k < getNumVertices(); k += 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN(getNumVertices() - k, 128);
+            for( i = 0; i < inner_count; i++ )
+                getVertex(i,temp[i]); 
+            i = (int) vec.maxDot( temp, inner_count, newDot);
+            if (newDot > supportVerticesOut[j][3])
+            {
+				supportVerticesOut[j] = temp[i];
 				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
+            }        
+        }
+    }
+
 #endif //__SPU__
 }
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index ee2e1e28277..961d001a9dd 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -22,7 +22,7 @@ class btConvexPolyhedron;
 
 
 ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
-class btPolyhedralConvexShape : public btConvexInternalShape
+ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
 {
 	
 
@@ -31,13 +31,17 @@ protected:
 	btConvexPolyhedron* m_polyhedron;
 
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 
 	btPolyhedralConvexShape();
 
 	virtual ~btPolyhedralConvexShape();
 
 	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
-	virtual bool	initializePolyhedralFeatures();
+	///experimental/work-in-progress
+	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
 
 	const btConvexPolyhedron*	getConvexPolyhedron() const
 	{
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
index 25d58d61bb1..6a337c786c4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@@ -98,9 +98,7 @@ void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
index ff86ef319e9..39049eaf083 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -31,6 +31,8 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 
 	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
index 642a2887435..e959f198b69 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 ///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
 ///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
 ///It approximates the convex hull using the supporting vertex of 42 directions.
-class btShapeHull
+ATTRIBUTE_ALIGNED16(class) btShapeHull
 {
 protected:
 
@@ -37,6 +37,8 @@ protected:
 	static btVector3* getUnitSpherePoints();
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btShapeHull (const btConvexShape* shape);
 	~btShapeHull ();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index b13825e610d..e6e32883959 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -31,6 +31,8 @@ protected:
 	btVector3	m_localScaling;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
 
 	virtual ~btStaticPlaneShape();
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index dd22fc5635a..b3d449676b9 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -242,7 +242,7 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 		int gfxindex;
 	//	btVector3 triangle[3];
 
-		btVector3 meshScaling = getScaling();
+	//	btVector3 meshScaling = getScaling();
 
 		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
 		for (part=0;part<graphicssubparts ;part++,memPtr++)
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
index f2b27ade8e8..9fbe139768d 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -27,13 +27,15 @@ subject to the following restrictions:
 ///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
 /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
-class  btStridingMeshInterface
+ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
 {
 	protected:
 	
 		btVector3 m_scaling;
 
 	public:
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+		
 		btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
 		{
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
index 6b7128efc8e..b69209835ef 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 
 ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
-class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
+ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
 {
 protected:
 
@@ -30,6 +30,8 @@ protected:
 	btVector3	m_vertices[4];
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btBU_Simplex1to4();
 
 	btBU_Simplex1to4(const btVector3& pt0);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 1cea7045f20..17deef89d37 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -123,11 +123,11 @@ SIMD_FORCE_INLINE	int	btTriangleInfoMap::calculateSerializeBufferSize() const
 SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
-	tmapData->m_convexEpsilon = m_convexEpsilon;
-	tmapData->m_planarEpsilon = m_planarEpsilon;
-	tmapData->m_equalVertexThreshold = m_equalVertexThreshold;
-	tmapData->m_edgeDistanceThreshold = m_edgeDistanceThreshold;
-	tmapData->m_zeroAreaThreshold = m_zeroAreaThreshold;
+	tmapData->m_convexEpsilon = (float)m_convexEpsilon;
+	tmapData->m_planarEpsilon = (float)m_planarEpsilon;
+	tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
+	tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
+	tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
 	
 	tmapData->m_hashTableSize = m_hashTable.size();
 
@@ -172,9 +172,9 @@ SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btS
 		btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
 		for (int i=0;i<numElem;i++,memPtr++)
 		{
-			memPtr->m_edgeV0V1Angle = m_valueArray[i].m_edgeV0V1Angle;
-			memPtr->m_edgeV1V2Angle = m_valueArray[i].m_edgeV1V2Angle;
-			memPtr->m_edgeV2V0Angle = m_valueArray[i].m_edgeV2V0Angle;
+			memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
+			memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
+			memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
 			memPtr->m_flags = m_valueArray[i].m_flags;
 		}
 		serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
index b29e0f71e62..51a2f8a0739 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -138,3 +138,25 @@ int btTriangleMesh::getNumTriangles() const
 	}
 	return m_16bitIndices.size() / 3;
 }
+
+void btTriangleMesh::preallocateVertices(int numverts)
+{
+	if (m_use4componentVertices)
+	{
+		m_4componentVertices.reserve(numverts);
+	} else
+	{
+		m_3componentVertices.reserve(numverts);
+	}
+}
+
+void btTriangleMesh::preallocateIndices(int numindices)
+{
+	if (m_use32bitIndices)
+	{
+		m_32bitIndices.reserve(numindices);
+	} else
+	{
+		m_16bitIndices.reserve(numindices);
+	}
+}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
index f623157fac1..29d1b5cdaa4 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -55,8 +55,8 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 		
 		int getNumTriangles() const;
 
-		virtual void	preallocateVertices(int numverts){(void) numverts;}
-		virtual void	preallocateIndices(int numindices){(void) numindices;}
+		virtual void	preallocateVertices(int numverts);
+		virtual void	preallocateIndices(int numindices);
 
 		///findOrAddVertex is an internal method, use addTriangle instead
 		int		findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
index 683684da770..0e17951405c 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -55,13 +55,9 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 
 	btVector3 center = trans(localCenter);
 
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
 	aabbMin = center - extent;
 	aabbMax = center + extent;
-
-
 }
 
 void	btTriangleMeshShape::recalcLocalAabb()
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
index c8caf8fe696..453e58005a4 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:
 
 
 ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
-class btTriangleMeshShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;
@@ -33,6 +33,7 @@ protected:
 	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	virtual ~btTriangleMeshShape();
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
index 71b0557384e..a8a80f82fe2 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
 
 public:
 
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btVector3	m_vertices1[3];
 
 	virtual int getNumVertices() const
@@ -66,7 +68,7 @@ public:
 
 	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const 
 	{
-		btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+        btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
 	  	return m_vertices1[dots.maxAxis()];
 
 	}
@@ -76,7 +78,7 @@ public:
 		for (int i=0;i<numVectors;i++)
 		{
 			const btVector3& dir = vectors[i];
-			btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+            btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
   			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
 		}
 
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
index cbf7e6fd3ed..a10f58d2429 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
 ///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
-class btUniformScalingShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
 {
 	btConvexShape*	m_childConvexShape;
 
@@ -29,6 +29,8 @@ class btUniformScalingShape : public btConvexShape
 	
 	public:
 	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btUniformScalingShape(	btConvexShape* convexChildShape, btScalar uniformScalingFactor);
 	
 	virtual ~btUniformScalingShape();
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
index d5676aaa80e..0a0357e5a81 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h
@@ -218,9 +218,7 @@ public:
 
 	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
 	{
-		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
-			m_R1to0[1].dot(point) + m_T1to0.y(),
-			m_R1to0[2].dot(point) + m_T1to0.z());
+        return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0;
 	}
 };
 
@@ -364,9 +362,9 @@ public:
 		// Compute new center
 		center = trans(center);
 
-		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
- 				 extends.dot(trans.getBasis().getRow(1).absolute()),
-				 extends.dot(trans.getBasis().getRow(2).absolute()));
+        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
+                                          trans.getBasis().getRow(1).absolute(), 
+                                          trans.getBasis().getRow(2).absolute());
 
 		m_min = center - textends;
 		m_max = center + textends;
@@ -381,10 +379,10 @@ public:
 		// Compute new center
 		center = trans.transform(center);
 
-		btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()),
- 				 extends.dot(trans.m_R1to0.getRow(1).absolute()),
-				 extends.dot(trans.m_R1to0.getRow(2).absolute()));
-
+        btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(), 
+                                          trans.m_R1to0.getRow(1).absolute(), 
+                                          trans.m_R1to0.getRow(2).absolute());
+        
 		m_min = center - textends;
 		m_max = center + textends;
 	}
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
index 8d4c35515b1..02f8b678a45 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
@@ -67,13 +67,8 @@ struct MyCallback : public btTriangleRaycastCallback
 				}
 				
 
-
 				
-				btConvexHullShape* tet = new btConvexHullShape();
-				tet->addPoint(v0);
-				tet->addPoint(v1);
-				tet->addPoint(v2);
-				tet->addPoint(rayTo);
+				btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
 				btTransform ident;
 				ident.setIdentity();
 				m_colShape->addChildShape(ident,tet);
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
index 2f2c09ffc03..2e87475e393 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
@@ -51,7 +51,7 @@ public:
 	}
 
 
-	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
+	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const 
 	{
 		equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
 		equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
@@ -89,7 +89,7 @@ Declared here due of insuficent space on Pool allocators
 class GIM_ShapeRetriever
 {
 public:
-	btGImpactShapeInterface * m_gim_shape;
+	const btGImpactShapeInterface * m_gim_shape;
 	btTriangleShapeEx m_trishape;
 	btTetrahedronShapeEx m_tetrashape;
 
@@ -98,7 +98,7 @@ public:
 	{
 	public:
 		GIM_ShapeRetriever * m_parent;
-		virtual btCollisionShape * getChildShape(int index)
+		virtual const btCollisionShape * getChildShape(int index)
 		{
 			return m_parent->m_gim_shape->getChildShape(index);
 		}
@@ -133,7 +133,7 @@ public:
 	TetraShapeRetriever  m_tetra_retriever;
 	ChildShapeRetriever * m_current_retriever;
 
-	GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
+	GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape)
 	{
 		m_gim_shape = gim_shape;
 		//select retriever
@@ -153,7 +153,7 @@ public:
 		m_current_retriever->m_parent = this;
 	}
 
-	btCollisionShape * getChildShape(int index)
+	const btCollisionShape * getChildShape(int index)
 	{
 		return m_current_retriever->getChildShape(index);
 	}
@@ -193,8 +193,8 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
 
 
 
-btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-: btActivatingCollisionAlgorithm(ci,body0,body1)
+btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap)
 {
 	m_manifoldPtr = NULL;
 	m_convex_algorithm = NULL;
@@ -209,71 +209,58 @@ btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
 
 
 
-void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
-				btCollisionObject * body1,
+void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap,
+				const btCollisionObjectWrapper * body1Wrap,
 				const btVector3 & point,
 				const btVector3 & normal,
 				btScalar distance)
 {
 	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-	checkManifold(body0,body1);
+	checkManifold(body0Wrap,body1Wrap);
 	m_resultOut->addContactPoint(normal,point,distance);
 }
 
 
 void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1)
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape * shape0,
+					  const btCollisionShape * shape1)
 {
 
-	btCollisionShape* tmpShape0 = body0->getCollisionShape();
-	btCollisionShape* tmpShape1 = body1->getCollisionShape();
-	
-	body0->internalSetTemporaryCollisionShape(shape0);
-	body1->internalSetTemporaryCollisionShape(shape1);
 
 	{
-		btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
+		
+		btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap);
 		// post :	checkManifold is called
 
 		m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 		m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
-
-		algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
-
+		
+		algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut);
+		
 		algor->~btCollisionAlgorithm();
 		m_dispatcher->freeCollisionAlgorithm(algor);
 	}
 
-	body0->internalSetTemporaryCollisionShape(tmpShape0);
-	body1->internalSetTemporaryCollisionShape(tmpShape1);
 }
 
 void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1)
+					  const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape* shape0,
+					  const btCollisionShape* shape1)
 {
 
-	btCollisionShape* tmpShape0 = body0->getCollisionShape();
-	btCollisionShape* tmpShape1 = body1->getCollisionShape();
-	
-	body0->internalSetTemporaryCollisionShape(shape0);
-	body1->internalSetTemporaryCollisionShape(shape1);
-
-
 	m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
 	m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
 
-	checkConvexAlgorithm(body0,body1);
-	m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
+	btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
+	btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1);
+	checkConvexAlgorithm(&ob0,&ob1);
+	m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
 
-	body0->internalSetTemporaryCollisionShape(tmpShape0);
-	body1->internalSetTemporaryCollisionShape(tmpShape1);
 
 }
 
@@ -283,8 +270,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1,btPairSet & pairset)
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1,btPairSet & pairset)
 {
 	if(shape0->hasBoxSet() && shape1->hasBoxSet())
 	{
@@ -320,8 +307,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
 void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,
 					  btAlignedObjectArray<int> & collided_primitives)
 {
 
@@ -359,10 +346,10 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
 }
 
 
-void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactMeshShapePart * shape0,
-				  btGImpactMeshShapePart * shape1,
+void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactMeshShapePart * shape0,
+				  const btGImpactMeshShapePart * shape1,
 				  const int * pairs, int pair_count)
 {
 	btTriangleShapeEx tri0;
@@ -389,7 +376,7 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
 		//collide two convex shapes
 		if(tri0.overlap_test_conservative(tri1))
 		{
-			convex_vs_convex_collision(body0,body1,&tri0,&tri1);
+			convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1);
 		}
 
 	}
@@ -398,14 +385,14 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
 	shape1->unlockChildShapes();
 }
 
-void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btGImpactMeshShapePart * shape1,
+void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btGImpactMeshShapePart * shape1,
 					  const int * pairs, int pair_count)
 {
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btPrimitiveTriangle ptri0;
 	btPrimitiveTriangle ptri1;
@@ -451,7 +438,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 				while(j--)
 				{
 
-					addContactPoint(body0, body1,
+					addContactPoint(body0Wrap, body1Wrap,
 								contact_data.m_points[j],
 								contact_data.m_separating_normal,
 								-contact_data.m_penetration_depth);
@@ -472,20 +459,20 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 
 
 void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
-						btCollisionObject * body0,
-					   	btCollisionObject * body1,
-					  	btGImpactShapeInterface * shape0,
-					  	btGImpactShapeInterface * shape1)
+						const btCollisionObjectWrapper* body0Wrap,
+					   	const btCollisionObjectWrapper * body1Wrap,
+					  	const btGImpactShapeInterface * shape0,
+					  	const btGImpactShapeInterface * shape1)
 {
 
 	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
 		m_part0 = meshshape0->getMeshPartCount();
 
 		while(m_part0--)
 		{
-			gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1);
 		}
 
 		return;
@@ -493,13 +480,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 
 	if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
+		const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1);
 		m_part1 = meshshape1->getMeshPartCount();
 
 		while(m_part1--)
 		{
 
-			gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1));
 
 		}
 
@@ -507,8 +494,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	}
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btPairSet pairset;
 
@@ -519,13 +506,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
 	{
-		btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
-		btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
+		const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0);
+		const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1);
 		//specialized function
 		#ifdef BULLET_TRIANGLE_COLLISION
-		collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
 		#else
-		collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
 		#endif
 
 		return;
@@ -548,55 +535,49 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 		GIM_PAIR * pair = &pairset[i];
 		m_triface0 = pair->m_index1;
 		m_triface1 = pair->m_index2;
-		btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
-		btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
-
-		if(child_has_transform0)
-		{
-			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
-		}
-
-		if(child_has_transform1)
-		{
-			body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
-		}
-
-		//collide two convex shapes
-		convex_vs_convex_collision(body0,body1,colshape0,colshape1);
+		const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
+		const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
 
+		btTransform tr0 = body0Wrap->getWorldTransform();
+		btTransform tr1 = body1Wrap->getWorldTransform();
 
 		if(child_has_transform0)
 		{
-			body0->setWorldTransform(orgtrans0);
+			tr0 = orgtrans0*shape0->getChildTransform(m_triface0);
 		}
 
 		if(child_has_transform1)
 		{
-			body1->setWorldTransform(orgtrans1);
+			tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
 		}
 
+		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0);
+		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1);
+
+		//collide two convex shapes
+		convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1);
 	}
 
 	shape0->unlockChildShapes();
 	shape1->unlockChildShapes();
 }
 
-void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btCollisionShape * shape1,bool swapped)
+void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btCollisionShape * shape1,bool swapped)
 {
 	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
 	{
-		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
 		int& part = swapped ? m_part1 : m_part0;
 		part = meshshape0->getMeshPartCount();
 
 		while(part--)
 		{
 
-			gimpact_vs_shape(body0,
-				  body1,
+			gimpact_vs_shape(body0Wrap,
+				  body1Wrap,
 				  meshshape0->getMeshPart(part),
 				  shape1,swapped);
 
@@ -609,9 +590,9 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
 		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
 	{
-		btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
-		btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
-		gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
+		const btGImpactMeshShapePart * shapepart = static_cast<const btGImpactMeshShapePart *>(shape0);
+		const btStaticPlaneShape * planeshape = static_cast<const btStaticPlaneShape * >(shape1);
+		gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped);
 		return;
 	}
 
@@ -621,21 +602,21 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 
 	if(shape1->isCompound())
 	{
-		btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
-		gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
+		const btCompoundShape * compoundshape = static_cast<const btCompoundShape *>(shape1);
+		gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped);
 		return;
 	}
 	else if(shape1->isConcave())
 	{
-		btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
-		gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
+		const btConcaveShape * concaveshape = static_cast<const btConcaveShape *>(shape1);
+		gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped);
 		return;
 	}
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
 
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	btAlignedObjectArray<int> collided_results;
 
@@ -662,28 +643,38 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
         else
             m_triface0 = child_index;
 
-		btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+		const btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+
+		btTransform tr0 = body0Wrap->getWorldTransform();
 
 		if(child_has_transform0)
 		{
-			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
+			tr0 = orgtrans0*shape0->getChildTransform(child_index);
+		}
+
+		btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
+		const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap();
+		
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(&ob0);
+		} else
+		{
+			m_resultOut->setBody1Wrap(&ob0);
 		}
 
 		//collide two shapes
 		if(swapped)
 		{
-			shape_vs_shape_collision(body1,body0,shape1,colshape0);
+			
+			shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0);
 		}
 		else
 		{
-			shape_vs_shape_collision(body0,body1,colshape0,shape1);
-		}
-
-		//restore transforms
-		if(child_has_transform0)
-		{
-			body0->setWorldTransform(orgtrans0);
+			
+			shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1);
 		}
+		m_resultOut->setBody0Wrap(prevObj0);
 
 	}
 
@@ -691,44 +682,58 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
 
 }
 
-void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btCompoundShape * shape1,bool swapped)
+void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper* body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btCompoundShape * shape1,bool swapped)
 {
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
 	int i = shape1->getNumChildShapes();
 	while(i--)
 	{
 
-		btCollisionShape * colshape1 = shape1->getChildShape(i);
+		const btCollisionShape * colshape1 = shape1->getChildShape(i);
 		btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
 
-		body1->setWorldTransform(childtrans1);
-
+		btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i);
+		
+		const btCollisionObjectWrapper* tmp = 0;
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		{
+			tmp = m_resultOut->getBody0Wrap();
+			m_resultOut->setBody0Wrap(&ob1);
+		} else
+		{
+			tmp = m_resultOut->getBody1Wrap();
+			m_resultOut->setBody1Wrap(&ob1);
+		}
 		//collide child shape
-		gimpact_vs_shape(body0, body1,
+		gimpact_vs_shape(body0Wrap, &ob1,
 					  shape0,colshape1,swapped);
 
-
-		//restore transforms
-		body1->setWorldTransform(orgtrans1);
+		if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
+		{
+			m_resultOut->setBody0Wrap(tmp);
+		} else
+		{
+			m_resultOut->setBody1Wrap(tmp);
+		}
 	}
 }
 
 void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btStaticPlaneShape * shape1,bool swapped)
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btStaticPlaneShape * shape1,bool swapped)
 {
 
 
-	btTransform orgtrans0 = body0->getWorldTransform();
-	btTransform orgtrans1 = body1->getWorldTransform();
+	btTransform orgtrans0 = body0Wrap->getWorldTransform();
+	btTransform orgtrans1 = body1Wrap->getWorldTransform();
 
-	btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
+	const btPlaneShape * planeshape = static_cast<const btPlaneShape *>(shape1);
 	btVector4 plane;
 	planeshape->get_plane_equation_transformed(orgtrans1,plane);
 
@@ -757,14 +762,14 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
 		{
 			if(swapped)
 			{
-				addContactPoint(body1, body0,
+				addContactPoint(body1Wrap, body0Wrap,
 					vertex,
 					-plane,
 					distance);
 			}
 			else
 			{
-				addContactPoint(body0, body1,
+				addContactPoint(body0Wrap, body1Wrap,
 					vertex,
 					plane,
 					distance);
@@ -782,9 +787,9 @@ class btGImpactTriangleCallback: public btTriangleCallback
 {
 public:
 	btGImpactCollisionAlgorithm * algorithm;
-	btCollisionObject * body0;
-	btCollisionObject * body1;
-	btGImpactShapeInterface * gimpactshape0;
+	const btCollisionObjectWrapper * body0Wrap;
+	const btCollisionObjectWrapper * body1Wrap;
+	const btGImpactShapeInterface * gimpactshape0;
 	bool swapped;
 	btScalar margin;
 
@@ -802,8 +807,31 @@ public:
             algorithm->setPart1(partId);
             algorithm->setFace1(triangleIndex);
         }
+
+		btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex);
+		const btCollisionObjectWrapper * tmp = 0;
+
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		{
+			tmp = algorithm->internalGetResultOut()->getBody0Wrap();
+			algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
+		} else
+		{
+			tmp = algorithm->internalGetResultOut()->getBody1Wrap();
+			algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
+		}
+		
 		algorithm->gimpact_vs_shape(
-							body0,body1,gimpactshape0,&tri1,swapped);
+							body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped);
+
+		if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
+		{
+			algorithm->internalGetResultOut()->setBody0Wrap(tmp);
+		} else
+		{
+			algorithm->internalGetResultOut()->setBody1Wrap(tmp);
+		}
+
 	}
 };
 
@@ -811,16 +839,16 @@ public:
 
 
 void btGImpactCollisionAlgorithm::gimpact_vs_concave(
-				  btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactShapeInterface * shape0,
-				  btConcaveShape * shape1,bool swapped)
+				  const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper * body1Wrap,
+				  const btGImpactShapeInterface * shape0,
+				  const btConcaveShape * shape1,bool swapped)
 {
 	//create the callback
 	btGImpactTriangleCallback tricallback;
 	tricallback.algorithm = this;
-	tricallback.body0 = body0;
-	tricallback.body1 = body1;
+	tricallback.body0Wrap = body0Wrap;
+	tricallback.body1Wrap = body1Wrap;
 	tricallback.gimpactshape0 = shape0;
 	tricallback.swapped = swapped;
 	tricallback.margin = shape1->getMargin();
@@ -828,7 +856,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
 	//getting the trimesh AABB
 	btTransform gimpactInConcaveSpace;
 
-	gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
+	gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
 
 	btVector3 minAABB,maxAABB;
 	shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
@@ -839,36 +867,36 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
 
 
 
-void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
     clearCache();
 
     m_resultOut = resultOut;
 	m_dispatchInfo = &dispatchInfo;
-    btGImpactShapeInterface * gimpactshape0;
-    btGImpactShapeInterface * gimpactshape1;
+    const btGImpactShapeInterface * gimpactshape0;
+    const btGImpactShapeInterface * gimpactshape1;
 
-	if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
+	if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
 	{
-		gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
+		gimpactshape0 = static_cast<const btGImpactShapeInterface *>(body0Wrap->getCollisionShape());
 
-		if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+		if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
 		{
-			gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+			gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
 
-			gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
+			gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1);
 		}
 		else
 		{
-			gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
+			gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false);
 		}
 
 	}
-	else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+	else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
 	{
-		gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+		gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
 
-		gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
+		gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true);
 	}
 }
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
index 6b6e07c983d..f85a94cb4c7 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
@@ -40,7 +40,7 @@ class btDispatcher;
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
 #include "LinearMath/btIDebugDraw.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 
 //! Collision Algorithm for GImpact Shapes
@@ -65,7 +65,7 @@ protected:
 
 
 	//! Creates a new contact point
-	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
 	{
 		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
 		return m_manifoldPtr;
@@ -106,38 +106,38 @@ protected:
 
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		if(getLastManifold() == 0)
 		{
-			newContactManifold(body0,body1);
+			newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		}
 
 		m_resultOut->setPersistentManifold(getLastManifold());
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
-		checkManifold(body0,body1);
+		checkManifold(body0Wrap,body1Wrap);
 
 		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
-				body0,body1,getLastManifold());
+				body0Wrap,body1Wrap,getLastManifold());
 		return convex_algorithm ;
 	}
 
 	// Call before process collision
-	SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 	{
 		if(m_convex_algorithm) return;
-		m_convex_algorithm = newAlgorithm(body0,body1);
+		m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
 	}
 
 
 
 
-	void addContactPoint(btCollisionObject * body0,
-					btCollisionObject * body1,
+	void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
+					const btCollisionObjectWrapper * body1Wrap,
 					const btVector3 & point,
 					const btVector3 & normal,
 					btScalar distance);
@@ -145,62 +145,62 @@ protected:
 //! Collision routines
 //!@{
 
-	void collide_gjk_triangles(btCollisionObject * body0,
-				  btCollisionObject * body1,
-				  btGImpactMeshShapePart * shape0,
-				  btGImpactMeshShapePart * shape1,
+	void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
+				  const btCollisionObjectWrapper* body1Wrap,
+				  const btGImpactMeshShapePart * shape0,
+				  const btGImpactMeshShapePart * shape1,
 				  const int * pairs, int pair_count);
 
-	void collide_sat_triangles(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btGImpactMeshShapePart * shape1,
+	void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btGImpactMeshShapePart * shape1,
 					  const int * pairs, int pair_count);
 
 
 
 
 	void shape_vs_shape_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1);
+					  const btCollisionObjectWrapper* body0,
+					  const btCollisionObjectWrapper* body1,
+					  const btCollisionShape * shape0,
+					  const btCollisionShape * shape1);
 
-	void convex_vs_convex_collision(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btCollisionShape * shape0,
-					  btCollisionShape * shape1);
+	void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btCollisionShape* shape0,
+					  const btCollisionShape* shape1);
 
 
 
 	void gimpact_vs_gimpact_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1,btPairSet & pairset);
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1,btPairSet & pairset);
 
 	void gimpact_vs_shape_find_pairs(
 					  const btTransform & trans0,
 					  const btTransform & trans1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,
 					  btAlignedObjectArray<int> & collided_primitives);
 
 
 	void gimpacttrimeshpart_vs_plane_collision(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactMeshShapePart * shape0,
-					  btStaticPlaneShape * shape1,bool swapped);
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactMeshShapePart * shape0,
+					  const btStaticPlaneShape * shape1,bool swapped);
 
 
 public:
 
-	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btGImpactCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -210,13 +210,17 @@ public:
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
+	btManifoldResult*	internalGetResultOut()
+	{
+		return m_resultOut;
+	}
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
-			return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1);
+			return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
 		}
 	};
 
@@ -236,26 +240,26 @@ public:
 	*/
 
 
-	void gimpact_vs_gimpact(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btGImpactShapeInterface * shape1);
+	void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btGImpactShapeInterface * shape1);
 
-	void gimpact_vs_shape(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btCollisionShape * shape1,bool swapped);
+	void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
+					  const btCollisionObjectWrapper* body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btCollisionShape * shape1,bool swapped);
 
-	void gimpact_vs_compoundshape(btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btCompoundShape * shape1,bool swapped);
+	void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btCompoundShape * shape1,bool swapped);
 
 	void gimpact_vs_concave(
-					  btCollisionObject * body0,
-					  btCollisionObject * body1,
-					  btGImpactShapeInterface * shape0,
-					  btConcaveShape * shape1,bool swapped);
+					  const btCollisionObjectWrapper * body0Wrap,
+					  const btCollisionObjectWrapper * body1Wrap,
+					  const btGImpactShapeInterface * shape0,
+					  const btConcaveShape * shape1,bool swapped);
 
 
 
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
index cfd5da8f49a..27e6f32fc8b 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h
@@ -285,18 +285,16 @@ public:
 	    m_data[index] = obj;
 	}
 
-	inline void resize(GUINT size, bool call_constructor = true)
+	inline void resize(GUINT size, bool call_constructor = true, const T& fillData=T())
 	{
-
 	    if(size>m_size)
 	    {
             reserve(size);
             if(call_constructor)
             {
-            	T obj;
                 while(m_size<size)
                 {
-                    m_data[m_size] = obj;
+                    m_data[m_size] = fillData;
                     m_size++;
                 }
             }
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
index b360dd47038..9c572638acd 100644
--- a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
+++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h
@@ -186,9 +186,7 @@ public:
 
 	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
 	{
-		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
-			m_R1to0[1].dot(point) + m_T1to0.y(),
-			m_R1to0[2].dot(point) + m_T1to0.z());
+        return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
 	}
 };
 
@@ -332,10 +330,10 @@ public:
 		// Compute new center
 		center = trans(center);
 
-		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
- 				 extends.dot(trans.getBasis().getRow(1).absolute()),
-				 extends.dot(trans.getBasis().getRow(2).absolute()));
-
+        btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), 
+                                          trans.getBasis().getRow(1).absolute(), 
+                                          trans.getBasis().getRow(2).absolute());
+        
 		m_min = center - textends;
 		m_max = center + textends;
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 91fcea57a3c..940282f5762 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -62,7 +62,6 @@ void btContinuousConvexCollision::computeClosestPoints( const btTransform& trans
 		const btConvexShape* convexShape = m_convexA;
 		const btStaticPlaneShape* planeShape = m_planeShape;
 		
-		bool hasCollision = false;
 		const btVector3& planeNormal = planeShape->getPlaneNormal();
 		const btScalar& planeConstant = planeShape->getPlaneConstant();
 		
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index 2277a19d981..f0043b8b9f2 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -63,12 +63,12 @@ public:
 	void	getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
 	
 
-	void setMinkowskiA(btConvexShape* minkA)
+	void setMinkowskiA(const btConvexShape* minkA)
 	{
 		m_minkowskiA = minkA;
 	}
 
-	void setMinkowskiB(btConvexShape* minkB)
+	void setMinkowskiB(const btConvexShape* minkB)
 	{
 		m_minkowskiB = minkB;
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 0ce9dd25926..e40fb1d3db6 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -44,9 +44,9 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
-				m_appliedImpulse(0.f),
 				m_lateralFrictionInitialized(false),
-				m_appliedImpulseLateral1(0.f),
+                m_appliedImpulse(0.f),
+                m_appliedImpulseLateral1(0.f),
 				m_appliedImpulseLateral2(0.f),
 				m_contactMotion1(0.f),
 				m_contactMotion2(0.f),
@@ -64,11 +64,12 @@ class btManifoldPoint
 					m_normalWorldOnB( normal ), 
 					m_distance1( distance ),
 					m_combinedFriction(btScalar(0.)),
+					m_combinedRollingFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
 					m_userPersistentData(0),
-					m_appliedImpulse(0.f),
 					m_lateralFrictionInitialized(false),
-					m_appliedImpulseLateral1(0.f),
+                    m_appliedImpulse(0.f),
+                    m_appliedImpulseLateral1(0.f),
 					m_appliedImpulseLateral2(0.f),
 					m_contactMotion1(0.f),
 					m_contactMotion2(0.f),
@@ -76,9 +77,7 @@ class btManifoldPoint
 					m_contactCFM2(0.f),
 					m_lifeTime(0)
 			{
-				mConstraintRow[0].m_accumImpulse = 0.f;
-				mConstraintRow[1].m_accumImpulse = 0.f;
-				mConstraintRow[2].m_accumImpulse = 0.f;
+				
 			}
 
 			
@@ -92,18 +91,19 @@ class btManifoldPoint
 		
 			btScalar	m_distance1;
 			btScalar	m_combinedFriction;
+			btScalar	m_combinedRollingFriction;
 			btScalar	m_combinedRestitution;
 
-         //BP mod, store contact triangles.
-         int	   m_partId0;
-         int      m_partId1;
-         int      m_index0;
-         int      m_index1;
+			//BP mod, store contact triangles.
+			int			m_partId0;
+			int			m_partId1;
+			int			m_index0;
+			int			m_index1;
 				
 			mutable void*	m_userPersistentData;
-			btScalar		m_appliedImpulse;
-
 			bool			m_lateralFrictionInitialized;
+
+			btScalar		m_appliedImpulse;
 			btScalar		m_appliedImpulseLateral1;
 			btScalar		m_appliedImpulseLateral2;
 			btScalar		m_contactMotion1;
@@ -118,8 +118,6 @@ class btManifoldPoint
 
 
 
-			btConstraintRow mConstraintRow[3];
-
 
 			btScalar getDistance() const
 			{
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index 954b8395299..4d92e853d3f 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -205,10 +205,13 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
 	return nearestPoint;
 }
 
-int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
+int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
 {
-	btAssert(validContactDistance(newPoint));
-
+	if (!isPredictive)
+	{
+		btAssert(validContactDistance(newPoint));
+	}
+	
 	int insertIndex = getNumContacts();
 	if (insertIndex == MANIFOLD_CACHE_SIZE)
 	{
@@ -287,7 +290,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
 			{
 				//contact point processed callback
 				if (gContactProcessedCallback)
-					(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
+					(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
 			}
 		}
 	}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index d877f09944f..2ceaab750fa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btManifoldPoint.h"
+class btCollisionObject;
 #include "LinearMath/btAlignedAllocator.h"
 
 struct btCollisionResult;
@@ -57,9 +58,8 @@ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
 	btManifoldPoint 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;
+	const btCollisionObject* m_body0;
+	const btCollisionObject* m_body1;
 
 	int	m_cachedPoints;
 
@@ -83,7 +83,7 @@ public:
 
 	btPersistentManifold();
 
-	btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
+	btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
 		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
 	m_body0(body0),m_body1(body1),m_cachedPoints(0),
 		m_contactBreakingThreshold(contactBreakingThreshold),
@@ -91,13 +91,10 @@ public:
 	{
 	}
 
-	SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
-	SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
+	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
 
-	SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
-	SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
-
-	void	setBodies(void* body0,void* body1)
+	void	setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
 	{
 		m_body0 = body0;
 		m_body1 = body1;
@@ -110,6 +107,12 @@ public:
 #endif //
 	
 	SIMD_FORCE_INLINE int	getNumContacts() const { return m_cachedPoints;}
+	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
+	void setNumContacts(int cachedPoints)
+	{
+		m_cachedPoints = cachedPoints;
+	}
+
 
 	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
 	{
@@ -131,9 +134,22 @@ public:
 		return m_contactProcessingThreshold;
 	}
 	
+	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
+	{
+		m_contactBreakingThreshold = contactBreakingThreshold;
+	}
+
+	void setContactProcessingThreshold(btScalar	contactProcessingThreshold)
+	{
+		m_contactProcessingThreshold = contactProcessingThreshold;
+	}
+	
+	
+
+
 	int getCacheEntry(const btManifoldPoint& newPoint) const;
 
-	int addManifoldPoint( const btManifoldPoint& newPoint);
+	int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false);
 
 	void removeContactPoint (int index)
 	{
@@ -146,10 +162,6 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-			m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
-			m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
-
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
 			m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
@@ -167,9 +179,9 @@ public:
 #define MAINTAIN_PERSISTENCY 1
 #ifdef MAINTAIN_PERSISTENCY
 		int	lifeTime = m_pointCache[insertIndex].getLifeTime();
-		btScalar	appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
-		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
-		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
+		btScalar	appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
+		btScalar	appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
+		btScalar	appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
 //		bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
 		
 		
@@ -184,9 +196,9 @@ public:
 		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		
-		m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse =  appliedImpulse;
-		m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
-		m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
+		m_pointCache[insertIndex].m_appliedImpulse =  appliedImpulse;
+		m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
+		m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 
 
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
index db1909113b3..b08205e84aa 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
@@ -77,21 +77,36 @@ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertex
 }
 
 
-static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
+static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB)
 {
 	btScalar Min0,Max0;
 	btScalar Min1,Max1;
-	hullA.project(transA,sep_axis, Min0, Max0);
-	hullB.project(transB, sep_axis, Min1, Max1);
+	btVector3 witnesPtMinA,witnesPtMaxA;
+	btVector3 witnesPtMinB,witnesPtMaxB;
+
+	hullA.project(transA,sep_axis, Min0, Max0,witnesPtMinA,witnesPtMaxA);
+	hullB.project(transB, sep_axis, Min1, Max1,witnesPtMinB,witnesPtMaxB);
 
 	if(Max0<Min1 || Max1<Min0)
 		return false;
 
 	btScalar d0 = Max0 - Min1;
-	assert(d0>=0.0f);
+	btAssert(d0>=0.0f);
 	btScalar d1 = Max1 - Min0;
-	assert(d1>=0.0f);
-	depth = d0<d1 ? d0:d1;
+	btAssert(d1>=0.0f);
+	if (d0<d1)
+	{
+		depth = d0;
+		witnessPointA = witnesPtMaxA;
+		witnessPointB = witnesPtMinB;
+
+	} else
+	{
+		depth = d1;
+		witnessPointA = witnesPtMinA;
+		witnessPointB = witnesPtMaxB;
+	}
+	
 	return true;
 }
 
@@ -163,8 +178,66 @@ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTrans
 }
 #endif //TEST_INTERNAL_OBJECTS
 
+ 
+ 
+ SIMD_FORCE_INLINE void btSegmentsClosestPoints(
+	btVector3& ptsVector,
+	btVector3& offsetA,
+	btVector3& offsetB,
+	btScalar& tA, btScalar& tB,
+	const btVector3& translation,
+	const btVector3& dirA, btScalar hlenA,
+	const btVector3& dirB, btScalar hlenB )
+{
+	// compute the parameters of the closest points on each line segment
+
+	btScalar dirA_dot_dirB = btDot(dirA,dirB);
+	btScalar dirA_dot_trans = btDot(dirA,translation);
+	btScalar dirB_dot_trans = btDot(dirB,translation);
+
+	btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
+
+	if ( denom == 0.0f ) {
+		tA = 0.0f;
+	} else {
+		tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	}
+
+	tB = tA * dirA_dot_dirB - dirB_dot_trans;
 
-bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
+	if ( tB < -hlenB ) {
+		tB = -hlenB;
+		tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	} else if ( tB > hlenB ) {
+		tB = hlenB;
+		tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+		if ( tA < -hlenA )
+			tA = -hlenA;
+		else if ( tA > hlenA )
+			tA = hlenA;
+	}
+
+	// compute the closest points relative to segment centers.
+
+	offsetA = dirA * tA;
+	offsetB = dirB * tB;
+
+	ptsVector = translation - offsetA + offsetB;
+}
+
+
+
+bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 	gActualSATPairTests++;
 
@@ -182,9 +255,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	for(int i=0;i<numFacesA;i++)
 	{
 		const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
-		const btVector3 faceANormalWS = transA.getBasis() * Normal;
+		btVector3 faceANormalWS = transA.getBasis() * Normal;
 		if (DeltaC2.dot(faceANormalWS)<0)
-			continue;
+			faceANormalWS*=-1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
@@ -195,7 +268,8 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 		btScalar d;
-		if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
+		btVector3 wA,wB;
+		if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d,wA,wB))
 			return false;
 
 		if(d<dmin)
@@ -210,9 +284,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	for(int i=0;i<numFacesB;i++)
 	{
 		const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
-		const btVector3 WorldNormal = transB.getBasis() * Normal;
+		btVector3 WorldNormal = transB.getBasis() * Normal;
 		if (DeltaC2.dot(WorldNormal)<0)
-			continue;
+			WorldNormal *=-1.f;
 
 		curPlaneTests++;
 #ifdef TEST_INTERNAL_OBJECTS
@@ -223,7 +297,8 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 		btScalar d;
-		if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
+		btVector3 wA,wB;
+		if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d,wA,wB))
 			return false;
 
 		if(d<dmin)
@@ -234,6 +309,12 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	}
 
 	btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
+	int edgeA=-1;
+	int edgeB=-1;
+	btVector3 worldEdgeA;
+	btVector3 worldEdgeB;
+	btVector3 witnessPointA,witnessPointB;
+	
 
 	int curEdgeEdge = 0;
 	// Test edges
@@ -252,7 +333,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 			{
 				Cross = Cross.normalize();
 				if (DeltaC2.dot(Cross)<0)
-					continue;
+					Cross *= -1.f;
 
 
 #ifdef TEST_INTERNAL_OBJECTS
@@ -263,21 +344,68 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 #endif
 
 				btScalar dist;
-				if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
+				btVector3 wA,wB;
+				if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist,wA,wB))
 					return false;
 
 				if(dist<dmin)
 				{
 					dmin = dist;
 					sep = Cross;
+					edgeA=e0;
+					edgeB=e1;
+					worldEdgeA = WorldEdge0;
+					worldEdgeB = WorldEdge1;
+					witnessPointA=wA;
+					witnessPointB=wB;
 				}
 			}
 		}
 
 	}
 
-	const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
-	if((deltaC.dot(sep))>0.0f)
+	if (edgeA>=0&&edgeB>=0)
+	{
+//		printf("edge-edge\n");
+		//add an edge-edge contact
+
+		btVector3 ptsVector;
+		btVector3 offsetA;
+		btVector3 offsetB;
+		btScalar tA;
+		btScalar tB;
+
+		btVector3 translation = witnessPointB-witnessPointA;
+
+		btVector3 dirA = worldEdgeA;
+		btVector3 dirB = worldEdgeB;
+		
+		btScalar hlenB = 1e30f;
+		btScalar hlenA = 1e30f;
+
+		btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB,
+			translation,
+			dirA, hlenA,
+			dirB,hlenB);
+
+		btScalar nlSqrt = ptsVector.length2();
+		if (nlSqrt>SIMD_EPSILON)
+		{
+			btScalar nl = btSqrt(nlSqrt);
+			ptsVector *= 1.f/nl;
+			if (ptsVector.dot(DeltaC2)<0.f)
+			{
+				ptsVector*=-1.f;
+			}
+			btVector3 ptOnB = witnessPointB + offsetB;
+			btScalar distance = nl;
+			resultOut.addContactPoint(ptsVector, ptOnB,-distance);
+		}
+
+	}
+
+
+	if((DeltaC2.dot(sep))<0.0f)
 		sep = -sep;
 
 	return true;
@@ -312,7 +440,6 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 	const btFace& polyA = hullA.m_faces[closestFaceA];
 
 		// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
-	int numContacts = pVtxIn->size();
 	int numVerticesA = polyA.m_indices.size();
 	for(int e0=0;e0<numVerticesA;e0++)
 	{
@@ -361,8 +488,8 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 		btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
 		for (int i=0;i<pVtxIn->size();i++)
 		{
-			
-			btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
+			btVector3 vtx = pVtxIn->at(i);
+			btScalar depth = planeNormalWS.dot(vtx)+planeEqWS;
 			if (depth <=minDist)
 			{
 //				printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
@@ -397,16 +524,19 @@ void	btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
 }
 
 
+
+
+
 void	btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
 {
 
 	btVector3 separatingNormal = separatingNormal1.normalized();
-	const btVector3 c0 = transA * hullA.m_localCenter;
-	const btVector3 c1 = transB * hullB.m_localCenter;
-	const btVector3 DeltaC2 = c0 - c1;
+//	const btVector3 c0 = transA * hullA.m_localCenter;
+//	const btVector3 c1 = transB * hullB.m_localCenter;
+	//const btVector3 DeltaC2 = c0 - c1;
+
 
 
-	btScalar curMaxDist=maxDist;
 	int closestFaceB=-1;
 	btScalar dmax = -FLT_MAX;
 	{
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
index 99103df2027..b87bd4f3245 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
@@ -35,7 +35,7 @@ struct btPolyhedralContactClipping
 	static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
 	static void	clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA,  const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
 
-	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
+	static bool findSeparatingAxis(	const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);
 
 	///the clipFace method is used internally
 	static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index fbe579ce1e5..786efd18200 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -57,12 +57,13 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 	{
 		return ; // same sign
 	}
-   //@BP Mod - Backface filtering
-   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
-   {
-      // Backface, skip check
-      return;
-   }
+
+	if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
+	{
+		// Backface, skip check
+		return;
+	}
+
 	
 	const btScalar proj_length=dist_a-dist_b;
 	const btScalar distance = (dist_a)/(proj_length);
@@ -97,18 +98,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 					
 					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
 					{
-                  //@BP Mod
-                  // Triangle normal isn't normalized
+					  //@BP Mod
+					  // Triangle normal isn't normalized
 				      triangleNormal.normalize();
 
-                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
-                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
+					 //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+						if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
 						{
 							m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
 						}
 						else
 						{
-                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
 						}
 					}
 				}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index f1c7613efa1..2f389e27e3f 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -92,13 +92,15 @@ struct	btSubSimplexClosestResult
 /// btVoronoiSimplexSolver 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 btVoronoiSimplexSolver
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
 #else
-class btVoronoiSimplexSolver : public btSimplexSolverInterface
+ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
 #endif
 {
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	int	m_numVertices;
 
 	btVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
index 5fd4ee28511..9db909a5469 100644
--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
@@ -79,7 +79,7 @@ public:
 
 		if (!convexResult.m_hitCollisionObject->hasContactResponse())
 			return btScalar(1.0);
-
+		
 		btVector3 hitNormalWorld;
 		if (normalInWorldSpace)
 		{
@@ -163,7 +163,21 @@ btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
 
 bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
 {
-
+	// Here we must refresh the overlapping paircache as the penetrating movement itself or the
+	// previous recovery iteration might have used setWorldTransform and pushed us into an object
+	// that is not in the previous cache contents from the last timestep, as will happen if we
+	// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
+	//
+	// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
+	// paircache and the ghostobject's internal paircache at the same time.    /BW
+
+	btVector3 minAabb, maxAabb;
+	m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb);
+	collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(), 
+						 minAabb, 
+						 maxAabb, 
+						 collisionWorld->getDispatcher());
+						 
 	bool penetration = false;
 
 	collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
@@ -178,10 +192,10 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
 		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
 		btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
 		btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
-
+		
 		if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
 			continue;
-
+		
 		if (collisionPair->m_algorithm)
 			collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
 
diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h
index ef01f8a3e60..8ec63735cd8 100644
--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h
+++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h
@@ -34,7 +34,7 @@ class btPairCachingGhostObject;
 ///btKinematicCharacterController is an object that supports a sliding motion in a world.
 ///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
 ///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-class btKinematicCharacterController : public btCharacterControllerInterface
+ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface
 {
 protected:
 
@@ -92,6 +92,9 @@ protected:
 	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
 	void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
 public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
 	~btKinematicCharacterController ();
 	
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 755544f0dee..15a4c92de20 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -53,6 +53,7 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform&
 											 m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
 {
 	m_rbBFrame = m_rbAFrame;
+	m_rbBFrame.setOrigin(btVector3(0., 0., 0.));
 	init();	
 }
 
@@ -136,6 +137,9 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
 		btVector3 a1neg = -a1;
 		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
 	}
+    info->m_J2linearAxis[0] = -1;
+    info->m_J2linearAxis[info->rowskip+1] = -1;
+    info->m_J2linearAxis[2*info->rowskip+2] = -1;
 	btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
@@ -304,7 +308,7 @@ void	btConeTwistConstraint::buildJacobian()
 
 
 
-void	btConeTwistConstraint::solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep)
+void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 {
 	#ifndef __SPU__
 	if (m_useSolveConstraintObsolete)
@@ -506,7 +510,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btRigidBody& bodyA,btRigidBo
 				m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) );
 				impulseMag = m_accTwistLimitImpulse - temp;
 
-				btVector3 impulse = m_twistAxis * impulseMag;
+		//		btVector3 impulse = m_twistAxis * impulseMag;
 
 				bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
 				bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
@@ -725,7 +729,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 			{
 				if(m_swingSpan1 < m_fixThresh)
 				{ // hinge around Y axis
-					if(!(btFuzzyZero(y)))
+//					if(!(btFuzzyZero(y)))
+					if((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
 					{
 						m_solveSwingLimit = true;
 						if(m_swingSpan2 >= m_fixThresh)
@@ -747,7 +752,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				}
 				else
 				{ // hinge around Z axis
-					if(!btFuzzyZero(z))
+//					if(!btFuzzyZero(z))
+					if((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
 					{
 						m_solveSwingLimit = true;
 						if(m_swingSpan1 >= m_fixThresh)
@@ -828,12 +834,11 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 	{
 		vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z());
 		vSwingAxis.normalize();
-		if (fabs(vSwingAxis.x()) > SIMD_EPSILON)
-		{
-			// non-zero twist?! this should never happen.
-			int wtf = 0; wtf = wtf;
-		}
-
+#if 0
+        // non-zero twist?! this should never happen.
+       btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON));
+#endif
+        
 		// Compute limit for given swing. tricky:
 		// Given a swing axis, we're looking for the intersection with the bounding cone ellipse.
 		// (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.)
@@ -877,8 +882,10 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
 	else if (swingAngle < 0)
 	{
 		// this should never happen!
-		int wtf = 0; wtf = wtf;
-	}
+#if 0
+        btAssert(0);
+#endif
+ 	}
 }
 
 btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const
@@ -929,7 +936,9 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist,
 	if (twistAngle < 0)
 	{
 		// this should never happen
-		int wtf = 0; wtf = wtf;			
+#if 0
+        btAssert(0);
+#endif
 	}
 
 	vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
@@ -976,10 +985,10 @@ void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
 {
 	btTransform trACur = m_rbA.getCenterOfMassTransform();
 	btTransform trBCur = m_rbB.getCenterOfMassTransform();
-	btTransform trABCur = trBCur.inverse() * trACur;
-	btQuaternion qABCur = trABCur.getRotation();
-	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
-	btQuaternion qConstraintCur = trConstraintCur.getRotation();
+//	btTransform trABCur = trBCur.inverse() * trACur;
+//	btQuaternion qABCur = trABCur.getRotation();
+//	btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
+	//btQuaternion qConstraintCur = trConstraintCur.getRotation();
 
 	btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation();
 	setMotorTargetInConstraintSpace(qConstraint);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index 868e62f063e..09c048beda8 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -50,7 +50,7 @@ enum btConeTwistFlags
 };
 
 ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
-class btConeTwistConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btConeTwistConstraint : public btTypedConstraint
 {
 #ifdef IN_PARALLELL_SOLVER
 public:
@@ -126,6 +126,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
 	
 	btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
@@ -140,8 +142,9 @@ public:
 	
 	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
 
-	virtual	void	solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep);
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);
 
+    
 	void	updateRHS(btScalar	timeStep);
 
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 88859182925..9d60d9957a5 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -70,7 +70,7 @@ void	btContactConstraint::buildJacobian()
 
 
 
-//response  between two dynamic objects without friction, assuming 0 penetration depth
+//response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
 btScalar resolveSingleCollision(
         btRigidBody* body1,
         btCollisionObject* colObj2,
@@ -93,7 +93,7 @@ btScalar resolveSingleCollision(
     btScalar rel_vel;
     rel_vel = normal.dot(vel);
     
-    btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
+    btScalar combinedRestitution = 0.f;
     btScalar restitution = combinedRestitution* -rel_vel;
 
     btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 6204cb3d16c..c07e9bbd806 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -16,18 +16,20 @@ subject to the following restrictions:
 #ifndef BT_CONTACT_SOLVER_INFO
 #define BT_CONTACT_SOLVER_INFO
 
+#include "LinearMath/btScalar.h"
+
 enum	btSolverMode
 {
 	SOLVER_RANDMIZE_ORDER = 1,
 	SOLVER_FRICTION_SEPARATE = 2,
 	SOLVER_USE_WARMSTARTING = 4,
-	SOLVER_USE_FRICTION_WARMSTARTING = 8,
 	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
 	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
 	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
 	SOLVER_CACHE_FRIENDLY = 128,
-	SOLVER_SIMD = 256,	//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
-	SOLVER_CUDA = 512	//will be open sourced during Game Developers Conference 2009. Much faster.
+	SOLVER_SIMD = 256,
+	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
+	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
 };
 
 struct btContactSolverInfoData
@@ -47,12 +49,15 @@ struct btContactSolverInfoData
 	btScalar	m_globalCfm;//constraint force mixing
 	int			m_splitImpulse;
 	btScalar	m_splitImpulsePenetrationThreshold;
+	btScalar	m_splitImpulseTurnErp;
 	btScalar	m_linearSlop;
 	btScalar	m_warmstartingFactor;
 
 	int			m_solverMode;
 	int	m_restingContactRestitutionThreshold;
 	int			m_minimumSolverBatchSize;
+	btScalar	m_maxGyroscopicForce;
+	btScalar	m_singleAxisRollingFrictionThreshold;
 
 
 };
@@ -67,21 +72,88 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_tau = btScalar(0.6);
 		m_damping = btScalar(1.0);
 		m_friction = btScalar(0.3);
+		m_timeStep = btScalar(1.f/60.f);
 		m_restitution = btScalar(0.);
 		m_maxErrorReduction = btScalar(20.);
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
-		m_erp2 = btScalar(0.1);
+		m_erp2 = btScalar(0.8);
 		m_globalCfm = btScalar(0.);
 		m_sor = btScalar(1.);
-		m_splitImpulse = false;
-		m_splitImpulsePenetrationThreshold = -0.02f;
+		m_splitImpulse = true;
+		m_splitImpulsePenetrationThreshold = -.04f;
+		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = btScalar(0.0);
 		m_warmstartingFactor=btScalar(0.85);
+		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
 		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
-		m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
+		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
 		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
+		m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
+		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 	}
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btContactSolverInfoDoubleData
+{
+	double		m_tau;
+	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	double		m_friction;
+	double		m_timeStep;
+	double		m_restitution;
+	double		m_maxErrorReduction;
+	double		m_sor;
+	double		m_erp;//used as Baumgarte factor
+	double		m_erp2;//used in Split Impulse
+	double		m_globalCfm;//constraint force mixing
+	double		m_splitImpulsePenetrationThreshold;
+	double		m_splitImpulseTurnErp;
+	double		m_linearSlop;
+	double		m_warmstartingFactor;
+	double		m_maxGyroscopicForce;
+	double		m_singleAxisRollingFrictionThreshold;
+
+	int			m_numIterations;
+	int			m_solverMode;
+	int			m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+	int			m_splitImpulse;
+	char		m_padding[4];
+
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btContactSolverInfoFloatData
+{
+	float		m_tau;
+	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	float		m_friction;
+	float		m_timeStep;
+
+	float		m_restitution;
+	float		m_maxErrorReduction;
+	float		m_sor;
+	float		m_erp;//used as Baumgarte factor
+
+	float		m_erp2;//used in Split Impulse
+	float		m_globalCfm;//constraint force mixing
+	float		m_splitImpulsePenetrationThreshold;
+	float		m_splitImpulseTurnErp;
+
+	float		m_linearSlop;
+	float		m_warmstartingFactor;
+	float		m_maxGyroscopicForce;
+	float		m_singleAxisRollingFrictionThreshold;
+
+	int			m_numIterations;
+	int			m_solverMode;
+	int			m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+
+	int			m_splitImpulse;
+	char		m_padding[4];
+};
+
+
+
 #endif //BT_CONTACT_SOLVER_INFO
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
new file mode 100644
index 00000000000..bcd457b6731
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
@@ -0,0 +1,54 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2012 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+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.
+*/
+
+/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
+
+#include "btGearConstraint.h"
+
+btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
+:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB),
+m_axisInA(axisInA),
+m_axisInB(axisInB),
+m_ratio(ratio)
+{
+}
+
+btGearConstraint::~btGearConstraint ()
+{
+}
+
+void btGearConstraint::getInfo1 (btConstraintInfo1* info)
+{
+	info->m_numConstraintRows = 1;
+	info->nub = 1;
+}
+
+void btGearConstraint::getInfo2 (btConstraintInfo2* info)
+{
+	btVector3 globalAxisA, globalAxisB;
+
+	globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA;
+	globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB;
+
+	info->m_J1angularAxis[0] = globalAxisA[0];
+	info->m_J1angularAxis[1] = globalAxisA[1];
+	info->m_J1angularAxis[2] = globalAxisA[2];
+
+	info->m_J2angularAxis[0] = m_ratio*globalAxisB[0];
+	info->m_J2angularAxis[1] = m_ratio*globalAxisB[1];
+	info->m_J2angularAxis[2] = m_ratio*globalAxisB[2];
+
+}
+
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
new file mode 100644
index 00000000000..60f60094843
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
@@ -0,0 +1,56 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2012 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#ifndef BT_GEAR_CONSTRAINT_H
+#define BT_GEAR_CONSTRAINT_H
+
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
+///See Bullet/Demos/ConstraintDemo for an example use.
+class btGearConstraint : public btTypedConstraint
+{
+protected:
+	btVector3	m_axisInA;
+	btVector3	m_axisInB;
+	bool		m_useFrameA;
+	btScalar	m_ratio;
+
+public:
+	btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
+	virtual ~btGearConstraint ();
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	{
+		btAssert(0);
+	};
+
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const 
+	{ 
+		btAssert(0);
+		return 0.f;
+	}
+
+};
+
+#endif //BT_GEAR_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 8ff9940bba3..bc2b5a85df9 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -174,10 +174,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 
 	// current velocity difference
 
-	btVector3 angVelA;
-	body0->internalGetAngularVelocity(angVelA);
-	btVector3 angVelB;
-	body1->internalGetAngularVelocity(angVelB);
+	btVector3 angVelA = body0->getAngularVelocity();
+	btVector3 angVelB = body1->getAngularVelocity();
 
 	btVector3 vel_diff;
 	vel_diff = angVelA-angVelB;
@@ -225,12 +223,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 
 	btVector3 motorImp = clippedMotorImpulse * axis;
 
-	//body0->applyTorqueImpulse(motorImp);
-	//body1->applyTorqueImpulse(-motorImp);
-
-	body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
-	body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
-
+	body0->applyTorqueImpulse(motorImp);
+	body1->applyTorqueImpulse(-motorImp);
 
 	return clippedMotorImpulse;
 
@@ -292,10 +286,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 	btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition();
 	btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
 
-	btVector3 vel1;
-	body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
-	btVector3 vel2;
-	body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
+	btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
 	btVector3 vel = vel1 - vel2;
 
 	btScalar rel_vel = axis_normal_on_a.dot(vel);
@@ -348,16 +340,10 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
 	btVector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	//body1.applyImpulse( impulse_vector, rel_pos1);
-	//body2.applyImpulse(-impulse_vector, rel_pos2);
-
-	btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
-	btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
-	body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
-	body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
-
-
+	body1.applyImpulse( impulse_vector, rel_pos1);
+	body2.applyImpulse(-impulse_vector, rel_pos2);
 
+	
 
 	return normalImpulse;
 }
@@ -795,17 +781,16 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
     if (powered || limit)
     {   // if the joint is powered, or has joint limits, add in the extra row
         btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
-        btScalar *J2 = rotational ? info->m_J2angularAxis : 0;
+        btScalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
         J1[srow+0] = ax1[0];
         J1[srow+1] = ax1[1];
         J1[srow+2] = ax1[2];
-        if(rotational)
-        {
-            J2[srow+0] = -ax1[0];
-            J2[srow+1] = -ax1[1];
-            J2[srow+2] = -ax1[2];
-        }
-        if((!rotational))
+
+        J2[srow+0] = -ax1[0];
+        J2[srow+1] = -ax1[1];
+        J2[srow+2] = -ax1[2];
+
+		if((!rotational))
         {
 			if (m_useOffsetForConstraintFrame)
 			{
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index a8e7bc22902..0409f95379b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -268,7 +268,7 @@ This brings support for limit parameters and motors. </li>
 </ul>
 
 */
-class btGeneric6DofConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btGeneric6DofConstraint : public btTypedConstraint
 {
 protected:
 
@@ -346,6 +346,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
 	bool		m_useSolveConstraintObsolete;
 
@@ -354,7 +356,7 @@ public:
     
 	//! Calcs global transform of the offsets
 	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies.
+	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
 	\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
 	*/
     void calculateTransforms(const btTransform& transA,const btTransform& transB);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index 2b38714987b..6f765884ec0 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -118,7 +118,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
 {
 	// it is assumed that calculateTransforms() have been called before this call
 	int i;
-	btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
+	//btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
 	for(i = 0; i < 3; i++)
 	{
 		if(m_springEnabled[i])
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
index 31e0cd531ae..6fabb30369b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
@@ -32,7 +32,7 @@ subject to the following restrictions:
 /// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
 /// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
 
-class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
 {
 protected:
 	bool		m_springEnabled[6];
@@ -42,6 +42,9 @@ protected:
 	void init();
 	void internalUpdateSprings(btConstraintInfo2* info);
 public: 
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
     btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
     btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
 	void enableSpring(int index, bool onOff);
@@ -87,12 +90,12 @@ SIMD_FORCE_INLINE	const char*	btGeneric6DofSpringConstraint::serialize(void* dat
 	int i;
 	for (i=0;i<6;i++)
 	{
-		dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
-		dof->m_springDamping[i] = m_springDamping[i];
+		dof->m_equilibriumPoint[i] = (float)m_equilibriumPoint[i];
+		dof->m_springDamping[i] = (float)m_springDamping[i];
 		dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
-		dof->m_springStiffness[i] = m_springStiffness[i];
+		dof->m_springStiffness[i] = (float)m_springStiffness[i];
 	}
-	return "btGeneric6DofConstraintData";
+	return "btGeneric6DofSpringConstraintData";
 }
 
 #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
index a76452ddb64..9a004986911 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
@@ -29,13 +29,15 @@ subject to the following restrictions:
 // 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
 // 1 translational (along axis Z) with suspension spring
 
-class btHinge2Constraint : public btGeneric6DofSpringConstraint
+ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint
 {
 protected:
 	btVector3	m_anchor;
 	btVector3	m_axis1;
 	btVector3	m_axis2;
 public:
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+		
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 9e3a2baeed9..c1897413078 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -369,6 +369,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 			info->m_J1angularAxis[i*skip+1]=0;
 			info->m_J1angularAxis[i*skip+2]=0;
 
+			info->m_J2linearAxis[i*skip]=0;
+			info->m_J2linearAxis[i*skip+1]=0;
+			info->m_J2linearAxis[i*skip+2]=0;
+
 			info->m_J2angularAxis[i*skip]=0;
 			info->m_J2angularAxis[i*skip+1]=0;
 			info->m_J2angularAxis[i*skip+2]=0;
@@ -384,6 +388,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
 		info->m_J1linearAxis[0] = 1;
 		info->m_J1linearAxis[skip + 1] = 1;
 		info->m_J1linearAxis[2 * skip + 2] = 1;
+
+		info->m_J2linearAxis[0] = -1;
+		info->m_J2linearAxis[skip + 1] = -1;
+		info->m_J2linearAxis[2 * skip + 2] = -1;
 	}	
 
 
@@ -702,8 +710,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 	btTransform trA = transA*m_rbAFrame;
 	btTransform trB = transB*m_rbBFrame;
 	// pivot point
-	btVector3 pivotAInW = trA.getOrigin();
-	btVector3 pivotBInW = trB.getOrigin();
+//	btVector3 pivotAInW = trA.getOrigin();
+//	btVector3 pivotBInW = trB.getOrigin();
 #if 1
 	// difference between frames in WCS
 	btVector3 ofs = trB.getOrigin() - trA.getOrigin();
@@ -797,7 +805,11 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
 		for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
 		for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
 		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
-	
+
+		for (i=0; i<3; i++) info->m_J2linearAxis[s0+i] = -p[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s1+i] = -q[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -ax1[i];
+
 	// compute three elements of right hand side
 	
 		btScalar rhs = k * p.dot(ofs);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index cb2973e1d1d..a7f2cca5500 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -100,6 +100,8 @@ public:
 	
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
 
 	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index f1994a2dfd8..125580d1998 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -16,8 +16,7 @@ subject to the following restrictions:
 #ifndef BT_JACOBIAN_ENTRY_H
 #define BT_JACOBIAN_ENTRY_H
 
-#include "LinearMath/btVector3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btMatrix3x3.h"
 
 
 //notes:
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
index 7e0d93b9765..3c0430b903f 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -116,15 +116,14 @@ void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
 		a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
 	}
     
-	/*info->m_J2linearAxis[0] = -1;
-    info->m_J2linearAxis[s+1] = -1;
-    info->m_J2linearAxis[2*s+2] = -1;
-	*/
+	info->m_J2linearAxis[0] = -1;
+    info->m_J2linearAxis[info->rowskip+1] = -1;
+    info->m_J2linearAxis[2*info->rowskip+2] = -1;
 	
 	btVector3 a2 = body1_trans.getBasis()*getPivotInB();
    
 	{
-		btVector3 a2n = -a2;
+	//	btVector3 a2n = -a2;
 		btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
 		btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
 		btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index b3bda03eec1..1e13416dfeb 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -67,6 +67,8 @@ public:
 	
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
 	bool		m_useSolveConstraintObsolete;
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index ab074224028..0ccadea7ab8 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -14,28 +14,29 @@ subject to the following restrictions:
 */
 
 //#define COMPUTE_IMPULSE_DENOM 1
+//#define BT_ADDITIONAL_DEBUG
+
 //It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
 
 #include "btSequentialImpulseConstraintSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "btContactConstraint.h"
-#include "btSolve2LinearConstraint.h"
-#include "btContactSolverInfo.h"
+
 #include "LinearMath/btIDebugDraw.h"
-#include "btJacobianEntry.h"
+//#include "btJacobianEntry.h"
 #include "LinearMath/btMinMax.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
 #include <new>
 #include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btQuickprof.h"
-#include "btSolverBody.h"
-#include "btSolverConstraint.h"
+//#include "btSolverBody.h"
+//#include "btSolverConstraint.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include <string.h> //for memset
 
 int		gNumSplitImpulseRecoveries = 0;
 
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
 btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
 :m_btSeed2(0)
 {
@@ -57,15 +58,15 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
 #endif//USE_SIMD
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
-void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 #ifdef USE_SIMD
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
 	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
 	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
 	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
+	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -78,12 +79,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
 	deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
 	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
+	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128,body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
 	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
 	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
 	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
 #else
 	resolveSingleConstraintRowGeneric(body1,body2,c);
@@ -91,11 +92,11 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel1Dotn	=	c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel2Dotn	=	c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity())  + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
 
 //	const btScalar delta_rel_vel	=	deltaVel1Dotn-deltaVel2Dotn;
 	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
@@ -116,19 +117,20 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	{
 		c.m_appliedImpulse = sum;
 	}
-		body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-		body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+
+	body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+	body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
 }
 
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 #ifdef USE_SIMD
 	__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
 	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
 	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
 	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
+	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
+	__m128 deltaVel2Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -138,12 +140,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
 	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
 	c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
+	__m128	linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
 	body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
 	body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+	body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
 	body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
 #else
 	resolveSingleConstraintRowLowerLimit(body1,body2,c);
@@ -151,11 +153,11 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 	btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
-	const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
-	const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel1Dotn	=	c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+	const btScalar deltaVel2Dotn	=	c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
 
 	deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
 	deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
@@ -169,22 +171,22 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	{
 		c.m_appliedImpulse = sum;
 	}
-	body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-	body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+	body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+	body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
 }
 
 
 void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
-        btRigidBody& body1,
-        btRigidBody& body2,
+        btSolverBody& body1,
+        btSolverBody& body2,
         const btSolverConstraint& c)
 {
 		if (c.m_rhsPenetration)
         {
 			gNumSplitImpulseRecoveries++;
 			btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
-			const btScalar deltaVel1Dotn	=	c.m_contactNormal.dot(body1.internalGetPushVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
-			const btScalar deltaVel2Dotn	=	-c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
+			const btScalar deltaVel1Dotn	=	c.m_contactNormal1.dot(body1.internalGetPushVelocity()) 	+ c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
+			const btScalar deltaVel2Dotn	=	c.m_contactNormal2.dot(body2.internalGetPushVelocity())		+ c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
 
 			deltaImpulse	-=	deltaVel1Dotn*c.m_jacDiagABInv;
 			deltaImpulse	-=	deltaVel2Dotn*c.m_jacDiagABInv;
@@ -198,12 +200,12 @@ void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
 			{
 				c.m_appliedPushImpulse = sum;
 			}
-			body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
-			body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+			body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+			body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
         }
 }
 
- void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 #ifdef USE_SIMD
 	if (!c.m_rhsPenetration)
@@ -215,8 +217,8 @@ void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
 	__m128	lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
 	__m128	upperLimit1 = _mm_set1_ps(c.m_upperLimit);
 	__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
-	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
-	__m128 deltaVel2Dotn	=	_mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
+	__m128 deltaVel1Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
+	__m128 deltaVel2Dotn	=	_mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	deltaImpulse	=	_mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
 	btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -226,12 +228,12 @@ void	btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
 	__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
 	deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
 	c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
-	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
+	__m128	linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
 	body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
 	body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
-	body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+	body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
 	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
 #else
 	resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
@@ -277,9 +279,10 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
 }
 
 
-#if 0
+
 void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
 {
+
 	btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
 
 	solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
@@ -289,17 +292,27 @@ void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
 
 	if (rb)
 	{
-		solverBody->internalGetInvMass() = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
+		solverBody->m_worldTransform = rb->getWorldTransform();
+		solverBody->internalSetInvMass(btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor());
 		solverBody->m_originalBody = rb;
 		solverBody->m_angularFactor = rb->getAngularFactor();
+		solverBody->m_linearFactor = rb->getLinearFactor();
+		solverBody->m_linearVelocity = rb->getLinearVelocity();
+		solverBody->m_angularVelocity = rb->getAngularVelocity();
 	} else
 	{
-		solverBody->internalGetInvMass().setValue(0,0,0);
+		solverBody->m_worldTransform.setIdentity();
+		solverBody->internalSetInvMass(btVector3(0,0,0));
 		solverBody->m_originalBody = 0;
 		solverBody->m_angularFactor.setValue(1,1,1);
+		solverBody->m_linearFactor.setValue(1,1,1);
+		solverBody->m_linearVelocity.setValue(0,0,0);
+		solverBody->m_angularVelocity.setValue(0,0,0);
 	}
+
+
 }
-#endif
+
 
 
 
@@ -313,10 +326,12 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
 
 
 
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
-void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
+static void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
+static void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
 {
-	if (colObj && colObj->hasAnisotropicFriction())
+	
+
+	if (colObj && colObj->hasAnisotropicFriction(frictionMode))
 	{
 		// transform to local coordinates
 		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
@@ -326,20 +341,26 @@ void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirec
 		// ... and transform it back to global coordinates
 		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
 	}
+
 }
 
 
-void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
-{
 
 
-	btRigidBody* body0=btRigidBody::upcast(colObj0);
-	btRigidBody* body1=btRigidBody::upcast(colObj1);
+void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,int  solverBodyIdA,int solverBodyIdB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
+{
+
+	
+	solverConstraint.m_contactNormal1 = normalAxis;
+	solverConstraint.m_contactNormal2 = -normalAxis;
+	btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
 
-	solverConstraint.m_contactNormal = normalAxis;
+	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
+	btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
 
-	solverConstraint.m_solverBodyA = body0 ? body0 : &getFixedBody();
-	solverConstraint.m_solverBodyB = body1 ? body1 : &getFixedBody();
+	solverConstraint.m_solverBodyIdA = solverBodyIdA;
+	solverConstraint.m_solverBodyIdB = solverBodyIdB;
 
 	solverConstraint.m_friction = cp.m_combinedFriction;
 	solverConstraint.m_originalContactPoint = 0;
@@ -348,55 +369,122 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 	solverConstraint.m_appliedPushImpulse = 0.f;
 
 	{
-		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
+		btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
 		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
 		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
 	}
 	{
-		btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
+		btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
 		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
 		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
 	}
 
-#ifdef COMPUTE_IMPULSE_DENOM
-	btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
-	btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
-#else
-	btVector3 vec;
-	btScalar denom0 = 0.f;
-	btScalar denom1 = 0.f;
-	if (body0)
 	{
-		vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-		denom0 = body0->getInvMass() + normalAxis.dot(vec);
+		btVector3 vec;
+		btScalar denom0 = 0.f;
+		btScalar denom1 = 0.f;
+		if (body0)
+		{
+			vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
+			denom0 = body0->getInvMass() + normalAxis.dot(vec);
+		}
+		if (body1)
+		{
+			vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
+			denom1 = body1->getInvMass() + normalAxis.dot(vec);
+		}
+		btScalar denom = relaxation/(denom0+denom1);
+		solverConstraint.m_jacDiagABInv = denom;
 	}
-	if (body1)
+
 	{
-		vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-		denom1 = body1->getInvMass() + normalAxis.dot(vec);
+		
+
+		btScalar rel_vel;
+		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
+		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
+
+		rel_vel = vel1Dotn+vel2Dotn;
+
+//		btScalar positionalError = 0.f;
+
+		btSimdScalar velocityError =  desiredVelocity - rel_vel;
+		btSimdScalar	velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
+		solverConstraint.m_rhs = velocityImpulse;
+		solverConstraint.m_cfm = cfmSlip;
+		solverConstraint.m_lowerLimit = 0;
+		solverConstraint.m_upperLimit = 1e10f;
+		
 	}
+}
 
+btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
+{
+	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
+	solverConstraint.m_frictionIndex = frictionIndex;
+	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, 
+							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
+	return solverConstraint;
+}
 
-#endif //COMPUTE_IMPULSE_DENOM
-	btScalar denom = relaxation/(denom0+denom1);
-	solverConstraint.m_jacDiagABInv = denom;
 
-#ifdef _USE_JACOBIAN
-	solverConstraint.m_jac =  btJacobianEntry (
-		rel_pos1,rel_pos2,solverConstraint.m_contactNormal,
-		body0->getInvInertiaDiagLocal(),
-		body0->getInvMass(),
-		body1->getInvInertiaDiagLocal(),
-		body1->getInvMass());
-#endif //_USE_JACOBIAN
+void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis1,int solverBodyIdA,int  solverBodyIdB,
+									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btScalar desiredVelocity, btScalar cfmSlip)
 
+{
+	btVector3 normalAxis(0,0,0);
+
+
+	solverConstraint.m_contactNormal1 = normalAxis;
+	solverConstraint.m_contactNormal2 = -normalAxis;
+	btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
+
+	btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
+	btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
+
+	solverConstraint.m_solverBodyIdA = solverBodyIdA;
+	solverConstraint.m_solverBodyIdB = solverBodyIdB;
+
+	solverConstraint.m_friction = cp.m_combinedRollingFriction;
+	solverConstraint.m_originalContactPoint = 0;
+
+	solverConstraint.m_appliedImpulse = 0.f;
+	solverConstraint.m_appliedPushImpulse = 0.f;
+
+	{
+		btVector3 ftorqueAxis1 = -normalAxis1;
+		solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
+		solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
+	}
+	{
+		btVector3 ftorqueAxis1 = normalAxis1;
+		solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
+		solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
+	}
+
+
+	{
+		btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
+		btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
+		btScalar sum = 0;
+		sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
+		sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
+		solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
+	}
 
 	{
+		
+
 		btScalar rel_vel;
-		btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?body0->getLinearVelocity():btVector3(0,0,0)) 
-			+ solverConstraint.m_relpos1CrossNormal.dot(body0?body0->getAngularVelocity():btVector3(0,0,0));
-		btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?body1->getLinearVelocity():btVector3(0,0,0)) 
-			+ solverConstraint.m_relpos2CrossNormal.dot(body1?body1->getAngularVelocity():btVector3(0,0,0));
+		btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
+		btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0)) 
+			+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
 
 		rel_vel = vel1Dotn+vel2Dotn;
 
@@ -408,33 +496,42 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
 		solverConstraint.m_cfm = cfmSlip;
 		solverConstraint.m_lowerLimit = 0;
 		solverConstraint.m_upperLimit = 1e10f;
+		
 	}
 }
 
 
 
-btSolverConstraint&	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
+
+
+
+
+
+btSolverConstraint&	btSequentialImpulseConstraintSolver::addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
 {
-	btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
+	btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
 	solverConstraint.m_frictionIndex = frictionIndex;
-	setupFrictionConstraint(solverConstraint, normalAxis, solverBodyA, solverBodyB, cp, rel_pos1, rel_pos2, 
+	setupRollingFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, 
 							colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
+
 int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
 {
-#if 0
+
 	int solverBodyIdA = -1;
 
 	if (body.getCompanionId() >= 0)
 	{
 		//body has already been converted
 		solverBodyIdA = body.getCompanionId();
+        btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
 	} else
 	{
 		btRigidBody* rb = btRigidBody::upcast(&body);
-		if (rb && rb->getInvMass())
+		//convert both active and kinematic objects (for their velocity)
+		if (rb && (rb->getInvMass() || rb->isKinematicObject()))
 		{
 			solverBodyIdA = m_tmpSolverBodyPool.size();
 			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
@@ -445,29 +542,33 @@ int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
 			return 0;//assume first one is a fixed solver body
 		}
 	}
+
 	return solverBodyIdA;
-#endif
-	return 0;
+
 }
 #include <stdio.h>
 
 
 void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, 
-																 btCollisionObject* colObj0, btCollisionObject* colObj1,
+																 int solverBodyIdA, int solverBodyIdB,
 																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
 																 btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
 																 btVector3& rel_pos1, btVector3& rel_pos2)
 {
-			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-
+			
 			const btVector3& pos1 = cp.getPositionWorldOnA();
 			const btVector3& pos2 = cp.getPositionWorldOnB();
 
+			btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+			btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+
+			btRigidBody* rb0 = bodyA->m_originalBody;
+			btRigidBody* rb1 = bodyB->m_originalBody;
+
 //			btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
 //			btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-			rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); 
-			rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
+			rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); 
+			rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
 
 			relaxation = 1.f;
 
@@ -500,30 +601,29 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 					solverConstraint.m_jacDiagABInv = denom;
 				}
 
-				solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
-				solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB);
-				solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB);
-
+				solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
+				solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
+				solverConstraint.m_relpos1CrossNormal = torqueAxis0;
+				solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
 
+				btScalar restitution = 0.f;
+				btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
 
+				{
+					btVector3 vel1,vel2;
 
-			btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
-			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
-			vel  = vel1 - vel2;
-			rel_vel = cp.m_normalWorldOnB.dot(vel);
+					vel1 = rb0? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
+					vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
 
-				btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
+	//			btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
+					vel  = vel1 - vel2;
+					rel_vel = cp.m_normalWorldOnB.dot(vel);
 
+					
 
-				solverConstraint.m_friction = cp.m_combinedFriction;
+					solverConstraint.m_friction = cp.m_combinedFriction;
 
-				btScalar restitution = 0.f;
 				
-				if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold)
-				{
-					restitution = 0.f;
-				} else
-				{
 					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
 					if (restitution <= btScalar(0.))
 					{
@@ -537,9 +637,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 				{
 					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
 					if (rb0)
-						rb0->internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
+						bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
 					if (rb1)
-						rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
+						bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
 				} else
 				{
 					solverConstraint.m_appliedImpulse = 0.f;
@@ -548,33 +648,41 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 				solverConstraint.m_appliedPushImpulse = 0.f;
 
 				{
-					btScalar rel_vel;
-					btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?rb0->getLinearVelocity():btVector3(0,0,0)) 
-						+ solverConstraint.m_relpos1CrossNormal.dot(rb0?rb0->getAngularVelocity():btVector3(0,0,0));
-					btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?rb1->getLinearVelocity():btVector3(0,0,0)) 
-						+ solverConstraint.m_relpos2CrossNormal.dot(rb1?rb1->getAngularVelocity():btVector3(0,0,0));
-
-					rel_vel = vel1Dotn+vel2Dotn;
+					btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rb0?bodyA->m_linearVelocity:btVector3(0,0,0)) 
+						+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:btVector3(0,0,0));
+					btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rb1?bodyB->m_linearVelocity:btVector3(0,0,0)) 
+						+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:btVector3(0,0,0));
+					btScalar rel_vel = vel1Dotn+vel2Dotn;
 
 					btScalar positionalError = 0.f;
 					btScalar	velocityError = restitution - rel_vel;// * damping;
+					
+
+					btScalar erp = infoGlobal.m_erp2;
+					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+					{
+						erp = infoGlobal.m_erp;
+					}
 
 					if (penetration>0)
 					{
 						positionalError = 0;
+
 						velocityError -= penetration / infoGlobal.m_timeStep;
 					} else
 					{
-						positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep;
+						positionalError = -penetration * erp/infoGlobal.m_timeStep;
 					}
 
 					btScalar  penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
 					btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+
 					if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
 					{
 						//combine position and velocity into rhs
 						solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
 						solverConstraint.m_rhsPenetration = 0.f;
+
 					} else
 					{
 						//split position and velocity into rhs and m_rhsPenetration
@@ -594,51 +702,46 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 
 
 void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, 
-																		btRigidBody* rb0, btRigidBody* rb1, 
+																		int solverBodyIdA, int solverBodyIdB,
 																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
 {
-					if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
-					{
-						{
-							btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-							{
-								frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
-								if (rb0)
-									rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
-								if (rb1)
-									rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
-							} else
-							{
-								frictionConstraint1.m_appliedImpulse = 0.f;
-							}
-						}
 
-						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-						{
-							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
-							if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-							{
-								frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
-								if (rb0)
-									rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
-								if (rb1)
-									rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
-							} else
-							{
-								frictionConstraint2.m_appliedImpulse = 0.f;
-							}
-						}
-					} else
-					{
-						btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
-						frictionConstraint1.m_appliedImpulse = 0.f;
-						if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-						{
-							btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
-							frictionConstraint2.m_appliedImpulse = 0.f;
-						}
-					}
+	btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+
+	btRigidBody* rb0 = bodyA->m_originalBody;
+	btRigidBody* rb1 = bodyB->m_originalBody;
+
+	{
+		btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
+		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+		{
+			frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
+			if (rb0)
+				bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+			if (rb1)
+				bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
+		} else
+		{
+			frictionConstraint1.m_appliedImpulse = 0.f;
+		}
+	}
+
+	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+	{
+		btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
+		if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+		{
+			frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2  * infoGlobal.m_warmstartingFactor;
+			if (rb0)
+				bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
+			if (rb1)
+				bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
+		} else
+		{
+			frictionConstraint2.m_appliedImpulse = 0.f;
+		}
+	}
 }
 
 
@@ -651,14 +754,22 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 	colObj0 = (btCollisionObject*)manifold->getBody0();
 	colObj1 = (btCollisionObject*)manifold->getBody1();
 
+	int solverBodyIdA = getOrInitSolverBody(*colObj0);
+	int solverBodyIdB = getOrInitSolverBody(*colObj1);
+
+//	btRigidBody* bodyA = btRigidBody::upcast(colObj0);
+//	btRigidBody* bodyB = btRigidBody::upcast(colObj1);
+
+	btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
+	btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
+
 
-	btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
-	btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
 
 	///avoid collision response between two static objects
-	if ((!solverBodyA || !solverBodyA->getInvMass()) && (!solverBodyB || !solverBodyB->getInvMass()))
+	if (!solverBodyA || (!solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody)))
 		return;
 
+	int rollingFriction=1;
 	for (int j=0;j<manifold->getNumContacts();j++)
 	{
 
@@ -674,13 +785,14 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 			int frictionIndex = m_tmpSolverContactConstraintPool.size();
 			btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
-			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
-			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-			solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody();
-			solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody();
+//			btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+//			btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+			solverConstraint.m_solverBodyIdA = solverBodyIdA;
+			solverConstraint.m_solverBodyIdB = solverBodyIdB;
+
 			solverConstraint.m_originalContactPoint = &cp;
 
-			setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
+			setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
 
 //			const btVector3& pos1 = cp.getPositionWorldOnA();
 //			const btVector3& pos2 = cp.getPositionWorldOnB();
@@ -689,52 +801,109 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 			solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
 
+			btVector3 angVelA,angVelB;
+			solverBodyA->getAngularVelocity(angVelA);
+			solverBodyB->getAngularVelocity(angVelB);			
+			btVector3 relAngVel = angVelB-angVelA;
+
+			if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
+			{
+				//only a single rollingFriction per manifold
+				rollingFriction--;
+				if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold)
+				{
+					relAngVel.normalize();
+					applyAnisotropicFriction(colObj0,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					if (relAngVel.length()>0.001)
+						addRollingFrictionConstraint(relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
+				} else
+				{
+					addRollingFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+					btVector3 axis0,axis1;
+					btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1);
+					applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					if (axis0.length()>0.001)
+						addRollingFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+					if (axis1.length()>0.001)
+						addRollingFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+		
+				}
+			}
+
+			///Bullet has several options to set the friction directions
+			///By default, each contact has only a single friction direction that is recomputed automatically very frame 
+			///based on the relative linear velocity.
+			///If the relative velocity it zero, it will automatically compute a friction direction.
+			
+			///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
+			///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
+			///
+			///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
+			///
+			///The user can manually override the friction directions for certain contacts using a contact callback, 
+			///and set the cp.m_lateralFrictionInitialized to true
+			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
+			///this will give a conveyor belt effect
+			///
 			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
 			{
 				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
 				btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
 				if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 				{
-					cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
+					cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
 					if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
 						cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
 						cp.m_lateralFrictionDir2.normalize();//??
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
 					}
 
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
-					cp.m_lateralFrictionInitialized = true;
+					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
 				} else
 				{
-					//re-calculate friction direction every frame, todo: check if this is really needed
 					btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
-						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
-						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
-						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+						applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+						addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 					}
 
-					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
+					addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 
-					cp.m_lateralFrictionInitialized = true;
+					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
+					{
+						cp.m_lateralFrictionInitialized = true;
+					}
 				}
 
 			} else
 			{
-				addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1);
+				addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1);
+
 				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
+					addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
+
+				setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
 			}
+		
+
 			
-			setFrictionConstraintImpulse( solverConstraint, rb0, rb1, cp, infoGlobal);
 
 		}
 	}
@@ -748,39 +917,107 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 	m_maxOverrideNumSolverIterations = 0;
 
-	if (!(numConstraints + numManifolds))
-	{
-		//		printf("empty\n");
-		return 0.f;
-	}
-
-	if (infoGlobal.m_splitImpulse)
+#ifdef BT_ADDITIONAL_DEBUG
+	 //make sure that dynamic bodies exist for all (enabled) constraints
+	for (int i=0;i<numConstraints;i++)
 	{
-		for (int i = 0; i < numBodies; i++)
+		btTypedConstraint* constraint = constraints[i];
+		if (constraint->isEnabled())
 		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-			{	
-				body->internalGetDeltaLinearVelocity().setZero();
-				body->internalGetDeltaAngularVelocity().setZero();
-				body->internalGetPushVelocity().setZero();
-				body->internalGetTurnVelocity().setZero();
+			if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
+			{
+				bool found=false;
+				for (int b=0;b<numBodies;b++)
+				{
+                
+					if (&constraint->getRigidBodyA()==bodies[b])
+					{
+						found = true;
+						break;
+					}
+				}
+				btAssert(found);
+			}
+			if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
+			{
+				bool found=false;
+				for (int b=0;b<numBodies;b++)
+				{
+					if (&constraint->getRigidBodyB()==bodies[b])
+					{
+						found = true;
+						break;
+					}
+				}
+				btAssert(found);
 			}
 		}
 	}
-	else
+    //make sure that dynamic bodies exist for all contact manifolds
+    for (int i=0;i<numManifolds;i++)
+    {
+        if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
+        {
+            bool found=false;
+            for (int b=0;b<numBodies;b++)
+            {
+                
+                if (manifoldPtr[i]->getBody0()==bodies[b])
+                {
+                    found = true;
+                    break;
+                }
+            }
+            btAssert(found);
+        }
+        if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
+        {
+            bool found=false;
+            for (int b=0;b<numBodies;b++)
+            {
+                if (manifoldPtr[i]->getBody1()==bodies[b])
+                {
+                    found = true;
+                    break;
+                }
+            }
+            btAssert(found);
+        }
+    }
+#endif //BT_ADDITIONAL_DEBUG
+	
+	
+	for (int i = 0; i < numBodies; i++)
 	{
-		for (int i = 0; i < numBodies; i++)
+		bodies[i]->setCompanionId(-1);
+	}
+
+
+	m_tmpSolverBodyPool.reserve(numBodies+1);
+	m_tmpSolverBodyPool.resize(0);
+
+	btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+    initSolverBody(&fixedBody,0);
+
+	//convert all bodies
+
+	for (int i=0;i<numBodies;i++)
+	{
+		int bodyId = getOrInitSolverBody(*bodies[i]);
+		btRigidBody* body = btRigidBody::upcast(bodies[i]);
+		if (body && body->getInvMass())
 		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-			{	
-				body->internalGetDeltaLinearVelocity().setZero();
-				body->internalGetDeltaAngularVelocity().setZero();
+			btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
+			btVector3 gyroForce (0,0,0);
+			if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE)
+			{
+				gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
 			}
+			solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep;
+			solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
 		}
 	}
-
+	
 	if (1)
 	{
 		int j;
@@ -791,6 +1028,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 			constraint->internalSetAppliedImpulse(0.0f);
 		}
 	}
+
 	//btRigidBody* rb0=0,*rb1=0;
 
 	//if (1)
@@ -800,11 +1038,23 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 			int totalNumRows = 0;
 			int i;
 			
-			m_tmpConstraintSizesPool.resize(numConstraints);
+			m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
 			//calculate the total number of contraint rows
 			for (i=0;i<numConstraints;i++)
 			{
 				btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+				btJointFeedback* fb = constraints[i]->getJointFeedback();
+				if (fb)
+				{
+					fb->m_appliedForceBodyA.setZero();
+					fb->m_appliedTorqueBodyA.setZero();
+					fb->m_appliedForceBodyB.setZero();
+					fb->m_appliedTorqueBodyB.setZero();
+				}
+
+				if (constraints[i]->isEnabled())
+				{
+				}
 				if (constraints[i]->isEnabled())
 				{
 					constraints[i]->getInfo1(&info1);
@@ -815,7 +1065,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 				}
 				totalNumRows += info1.m_numConstraintRows;
 			}
-			m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
+			m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
 
 			
 			///setup the btSolverConstraints
@@ -834,6 +1084,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					btRigidBody& rbA = constraint->getRigidBodyA();
 					btRigidBody& rbB = constraint->getRigidBodyB();
 
+                    int solverBodyIdA = getOrInitSolverBody(rbA);
+                    int solverBodyIdB = getOrInitSolverBody(rbB);
+
+                    btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
+                    btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
+
+
+
 
 					int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
 					if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
@@ -848,28 +1106,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
 						currentConstraintRow[j].m_appliedImpulse = 0.f;
 						currentConstraintRow[j].m_appliedPushImpulse = 0.f;
-						currentConstraintRow[j].m_solverBodyA = &rbA;
-						currentConstraintRow[j].m_solverBodyB = &rbB;
+						currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
+						currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
 						currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
 					}
 
-					rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					rbA.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-					rbB.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
-					rbB.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
-
+					bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+					bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+					bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
+					bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
+					bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+					bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+					bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f);
+					bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
 
 
 					btTypedConstraint::btConstraintInfo2 info2;
 					info2.fps = 1.f/infoGlobal.m_timeStep;
 					info2.erp = infoGlobal.m_erp;
-					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
+					info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
 					info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
-					info2.m_J2linearAxis = 0;
+					info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
 					info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
 					info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
 					///the size of btSolverConstraint needs be a multiple of btScalar
-					btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
+		            btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
 					info2.m_constraintError = &currentConstraintRow->m_rhs;
 					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
 					info2.m_damping = infoGlobal.m_damping;
@@ -906,17 +1167,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						}
 
 						{
-							btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
+							btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
 							btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
-							btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
+							btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
 							btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
 
-							btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
+							btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
 							sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
-							sum += iMJlB.dot(solverConstraint.m_contactNormal);
+							sum += iMJlB.dot(solverConstraint.m_contactNormal2);
 							sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
-
-							solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
+							btScalar fsum = btFabs(sum);
+							btAssert(fsum > SIMD_EPSILON);
+							solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?btScalar(1.)/sum : 0.f;
 						}
 
 
@@ -924,8 +1186,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						///todo: add force/torque accelerators
 						{
 							btScalar rel_vel;
-							btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
-							btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
+							btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
+							btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
 
 							rel_vel = vel1Dotn+vel2Dotn;
 
@@ -958,7 +1220,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 		}
 	}
 
-	btContactSolverInfo info = infoGlobal;
+//	btContactSolverInfo info = infoGlobal;
 
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -966,9 +1228,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
 
 	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
-	m_orderNonContactConstraintPool.resize(numNonContactPool);
-	m_orderTmpConstraintPool.resize(numConstraintPool);
-	m_orderFrictionConstraintPool.resize(numFrictionPool);
+	m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
+	if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool*2);
+	else
+		m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
+
+	m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
 	{
 		int i;
 		for (i=0;i<numNonContactPool;i++)
@@ -989,19 +1255,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 }
 
+
 btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
 {
 
 	int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
 	int numConstraintPool = m_tmpSolverContactConstraintPool.size();
 	int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
-
-	int j;
-
+	
 	if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
 	{
-		if ((iteration & 7) == 0) {
-			for (j=0; j<numNonContactPool; ++j) {
+		if (1)			// uncomment this for a bit less random ((iteration & 7) == 0)
+		{
+
+			for (int j=0; j<numNonContactPool; ++j) {
 				int tmp = m_orderNonContactConstraintPool[j];
 				int swapi = btRandInt2(j+1);
 				m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
@@ -1011,14 +1278,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 			//contact/friction constraints are not solved more than 
 			if (iteration< infoGlobal.m_numIterations)
 			{
-				for (j=0; j<numConstraintPool; ++j) {
+				for (int j=0; j<numConstraintPool; ++j) {
 					int tmp = m_orderTmpConstraintPool[j];
 					int swapi = btRandInt2(j+1);
 					m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
 					m_orderTmpConstraintPool[swapi] = tmp;
 				}
 
-				for (j=0; j<numFrictionPool; ++j) {
+				for (int j=0; j<numFrictionPool; ++j) {
 					int tmp = m_orderFrictionConstraintPool[j];
 					int swapi = btRandInt2(j+1);
 					m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
@@ -1031,72 +1298,164 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 	if (infoGlobal.m_solverMode & SOLVER_SIMD)
 	{
 		///solve all joint constraints, using SIMD, if available
-		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
 			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
 			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+				resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
 		}
 
 		if (iteration< infoGlobal.m_numIterations)
 		{
-			for (j=0;j<numConstraints;j++)
+			for (int j=0;j<numConstraints;j++)
 			{
-				constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+                if (constraints[j]->isEnabled())
+                {
+                    int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
+                    int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
+                    btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+                    btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
+                    constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
+                }
 			}
 
 			///solve all contact constraints using SIMD, if available
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (j=0;j<numPoolConstraints;j++)
+			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 			{
-				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
+
+				for (int c=0;c<numPoolConstraints;c++)
+				{
+					btScalar totalImpulse =0;
+
+					{
+						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
+						resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						totalImpulse = solveManifold.m_appliedImpulse;
+					}
+					bool applyFriction = true;
+					if (applyFriction)
+					{
+						{
+
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
+
+							if (totalImpulse>btScalar(0))
+							{
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+							}
+						}
+
+						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
+						{
+
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
+				
+							if (totalImpulse>btScalar(0))
+							{
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+								resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+							}
+						}
+					}
+				}
 
 			}
-		
-			///solve all friction constraints, using SIMD, if available
-			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (j=0;j<numFrictionPoolConstraints;j++)
+			else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
 			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+				//solve the friction constraints after all contact constraints, don't interleave them
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				int j;
 
-				if (totalImpulse>btScalar(0))
+				for (j=0;j<numPoolConstraints;j++)
 				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+					resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 
-					resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA,	*solveManifold.m_solverBodyB,solveManifold);
 				}
-			}
+		
+				
+
+				///solve all friction constraints, using SIMD, if available
+
+				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+				for (j=0;j<numFrictionPoolConstraints;j++)
+				{
+					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+					if (totalImpulse>btScalar(0))
+					{
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+					}
+				}
+
+				
+				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+				for (j=0;j<numRollingFrictionPoolConstraints;j++)
+				{
+
+					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
+					if (totalImpulse>btScalar(0))
+					{
+						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+
+						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+						resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+					}
+				}
+				
+
+			}			
 		}
 	} else
 	{
-
+		//non-SIMD version
 		///solve all joint constraints
-		for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
 			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
 			if (iteration < constraint.m_overrideNumSolverIterations)
-				resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+				resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
 		}
 
 		if (iteration< infoGlobal.m_numIterations)
 		{
-			for (j=0;j<numConstraints;j++)
+			for (int j=0;j<numConstraints;j++)
 			{
-				constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+                if (constraints[j]->isEnabled())
+                {
+                    int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
+                    int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
+                    btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
+                    btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
+                    constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
+                }
 			}
 			///solve all contact constraints
 			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (j=0;j<numPoolConstraints;j++)
+			for (int j=0;j<numPoolConstraints;j++)
 			{
 				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+				resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 			}
 			///solve all friction constraints
 			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (j=0;j<numFrictionPoolConstraints;j++)
+			for (int j=0;j<numFrictionPoolConstraints;j++)
 			{
 				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
 				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
@@ -1106,7 +1465,25 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
 					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
 
-					resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+				}
+			}
+
+			int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+			for (int j=0;j<numRollingFrictionPoolConstraints;j++)
+			{
+				btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
+				btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
+				if (totalImpulse>btScalar(0))
+				{
+					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+					if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+
+					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+					resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
 				}
 			}
 		}
@@ -1131,7 +1508,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						resolveSplitPenetrationSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+						resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					}
 				}
 			}
@@ -1147,7 +1524,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						resolveSplitPenetrationImpulseCacheFriendly(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+						resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					}
 				}
 			}
@@ -1175,25 +1552,29 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
 	return 0.f;
 }
 
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** /*constraints*/,int /* numConstraints*/,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
 {
 	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 	int i,j;
 
-	for (j=0;j<numPoolConstraints;j++)
+	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 	{
-
-		const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
-		btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
-		btAssert(pt);
-		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
-		if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
+		for (j=0;j<numPoolConstraints;j++)
 		{
+			const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
+			btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
+			btAssert(pt);
+			pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
+		//	float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+			//	printf("pt->m_appliedImpulseLateral1 = %f\n", f);
 			pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-			pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
+			if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+			{
+				pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+			}
+			//do a callback here?
 		}
-
-		//do a callback here?
 	}
 
 	numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
@@ -1201,6 +1582,16 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 	{
 		const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
 		btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
+		btJointFeedback* fb = constr->getJointFeedback();
+		if (fb)
+		{
+			fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
+			fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
+			fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
+			
+		}
+
 		constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
 		if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold())
 		{
@@ -1209,29 +1600,32 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 	}
 
 
-	if (infoGlobal.m_splitImpulse)
-	{		
-		for ( i=0;i<numBodies;i++)
-		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-				body->internalWritebackVelocity(infoGlobal.m_timeStep);
-		}
-	} else
+
+	for ( i=0;i<m_tmpSolverBodyPool.size();i++)
 	{
-		for ( i=0;i<numBodies;i++)
+		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
+		if (body)
 		{
-			btRigidBody* body = btRigidBody::upcast(bodies[i]);
-			if (body)
-				body->internalWritebackVelocity();
+			if (infoGlobal.m_splitImpulse)
+				m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
+			else
+				m_tmpSolverBodyPool[i].writebackVelocity();
+
+			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
+			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
+			if (infoGlobal.m_splitImpulse)
+				m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
+
+			m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
 		}
 	}
 
+	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
+	m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
 
-	m_tmpSolverContactConstraintPool.resize(0);
-	m_tmpSolverNonContactConstraintPool.resize(0);
-	m_tmpSolverContactFrictionConstraintPool.resize(0);
-
+	m_tmpSolverBodyPool.resizeNoInitialize(0);
 	return 0.f;
 }
 
@@ -1243,14 +1637,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 
 	BT_PROFILE("solveGroup");
 	//you need to provide at least some bodies
-	btAssert(bodies);
-	btAssert(numBodies);
-
+	
 	solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 
 	solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
 
-	solveGroupCacheFriendlyFinish(bodies, numBodies, manifoldPtr,  numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+	solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
 	
 	return 0.f;
 }
@@ -1260,10 +1652,4 @@ void	btSequentialImpulseConstraintSolver::reset()
 	m_btSeed2 = 0;
 }
 
-btRigidBody& btSequentialImpulseConstraintSolver::getFixedBody()
-{
-	static btRigidBody s_fixed(0, 0,0);
-	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-	return s_fixed;
-}
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index bb377db8db9..2eea6be0db2 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -16,77 +16,89 @@ subject to the following restrictions:
 #ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 #define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 
-#include "btConstraintSolver.h"
 class btIDebugDraw;
-#include "btContactConstraint.h"
-#include "btSolverBody.h"
-#include "btSolverConstraint.h"
-#include "btTypedConstraint.h"
+class btPersistentManifold;
+class btStackAlloc;
+class btDispatcher;
+class btCollisionObject;
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
+#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
-class btSequentialImpulseConstraintSolver : public btConstraintSolver
+ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 protected:
-
+	btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
 	btConstraintArray			m_tmpSolverContactConstraintPool;
 	btConstraintArray			m_tmpSolverNonContactConstraintPool;
 	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
+	btConstraintArray			m_tmpSolverContactRollingFrictionConstraintPool;
+
 	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
 	btAlignedObjectArray<int>	m_orderNonContactConstraintPool;
 	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
 	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
 	int							m_maxOverrideNumSolverIterations;
 
-	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
+	void setupFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
 									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
 									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
 									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
-	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
-	
-	void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, 
+	void setupRollingFrictionConstraint(	btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
+									btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
+									btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+									btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+
+	btSolverConstraint&	addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+	btSolverConstraint&	addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
+
+
+	void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 
 								const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, 
 								btVector3& rel_pos1, btVector3& rel_pos2);
 
-	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, 
+	void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
 										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
-//	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+	
 	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
 
 	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
 
 	void	resolveSplitPenetrationSIMD(
-        btRigidBody& body1,
-        btRigidBody& body2,
+     btSolverBody& bodyA,btSolverBody& bodyB,
         const btSolverConstraint& contactConstraint);
 
 	void	resolveSplitPenetrationImpulseCacheFriendly(
-        btRigidBody& body1,
-        btRigidBody& body2,
+       btSolverBody& bodyA,btSolverBody& bodyB,
         const btSolverConstraint& contactConstraint);
 
 	//internal method
-	int	getOrInitSolverBody(btCollisionObject& body);
+	int		getOrInitSolverBody(btCollisionObject& body);
+	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
 
-	void	resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	void	resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 
-	void	resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	void	resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 	
-	void	resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	void	resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 	
-	void	resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+	void	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 		
 protected:
-	static btRigidBody& getFixedBody();
+	
 	
 	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
 	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
 
 	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
@@ -95,6 +107,7 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 	
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();
@@ -121,9 +134,7 @@ public:
 
 };
 
-#ifndef BT_PREFER_SIMD
-typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
-#endif
+
 
 
 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index b69f46da1b4..aff9f27f594 100644..100755
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -426,6 +426,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
 		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
 		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
 	}
 	else
 	{	// old way - maybe incorrect if bodies are not on the slider axis
@@ -440,6 +442,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 
 		for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
 		for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
+		for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
 	}
 	// compute two elements of right hand side
 
@@ -479,6 +483,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
 		info->m_J1linearAxis[srow+0] = ax1[0];
 		info->m_J1linearAxis[srow+1] = ax1[1];
 		info->m_J1linearAxis[srow+2] = ax1[2];
+		info->m_J2linearAxis[srow+0] = -ax1[0];
+		info->m_J2linearAxis[srow+1] = -ax1[1];
+		info->m_J2linearAxis[srow+2] = -ax1[2];
 		// linear torque decoupling step:
 		//
 		// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 2edc8d2b2e1..ca8e715bc47 100644..100755
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -60,7 +60,7 @@ enum btSliderFlags
 };
 
 
-class btSliderConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
 {
 protected:
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'
@@ -155,6 +155,8 @@ protected:
 	//------------------------    
 	void initParams();
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	// constructors
     btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
     btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index 8de515812ee..ccc45996c8b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 class	btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
+
 #include "LinearMath/btAlignedAllocator.h"
 #include "LinearMath/btTransformUtil.h"
 
@@ -105,22 +105,35 @@ operator+(const btSimdScalar& v1, const btSimdScalar& v2)
 #endif
 
 ///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
+ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
+	btTransform		m_worldTransform;
 	btVector3		m_deltaLinearVelocity;
 	btVector3		m_deltaAngularVelocity;
 	btVector3		m_angularFactor;
+	btVector3		m_linearFactor;
 	btVector3		m_invMass;
-	btRigidBody*	m_originalBody;
 	btVector3		m_pushVelocity;
 	btVector3		m_turnVelocity;
+	btVector3		m_linearVelocity;
+	btVector3		m_angularVelocity;
+
+	btRigidBody*	m_originalBody;
+	void	setWorldTransform(const btTransform& worldTransform)
+	{
+		m_worldTransform = worldTransform;
+	}
 
+	const btTransform& getWorldTransform() const
+	{
+		return m_worldTransform;
+	}
 	
 	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
 	{
 		if (m_originalBody)
-			velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
+			velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
 		else
 			velocity.setValue(0,0,0);
 	}
@@ -128,7 +141,7 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
 	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
 	{
 		if (m_originalBody)
-			angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
+			angVel =m_angularVelocity+m_deltaAngularVelocity;
 		else
 			angVel.setValue(0,0,0);
 	}
@@ -137,9 +150,9 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
 	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
 	{
-		//if (m_invMass)
+		if (m_originalBody)
 		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
+			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
 			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
 		}
 	}
@@ -148,36 +161,125 @@ ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
 	{
 		if (m_originalBody)
 		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
+			m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor;
 			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
 		}
 	}
+
+
+
+	const btVector3& getDeltaLinearVelocity() const
+	{
+		return m_deltaLinearVelocity;
+	}
+
+	const btVector3& getDeltaAngularVelocity() const
+	{
+		return m_deltaAngularVelocity;
+	}
+
+	const btVector3& getPushVelocity() const 
+	{
+		return m_pushVelocity;
+	}
+
+	const btVector3& getTurnVelocity() const 
+	{
+		return m_turnVelocity;
+	}
+
+
+	////////////////////////////////////////////////
+	///some internal methods, don't use them
+		
+	btVector3& internalGetDeltaLinearVelocity()
+	{
+		return m_deltaLinearVelocity;
+	}
+
+	btVector3& internalGetDeltaAngularVelocity()
+	{
+		return m_deltaAngularVelocity;
+	}
+
+	const btVector3& internalGetAngularFactor() const
+	{
+		return m_angularFactor;
+	}
+
+	const btVector3& internalGetInvMass() const
+	{
+		return m_invMass;
+	}
+
+	void internalSetInvMass(const btVector3& invMass)
+	{
+		m_invMass = invMass;
+	}
 	
+	btVector3& internalGetPushVelocity()
+	{
+		return m_pushVelocity;
+	}
+
+	btVector3& internalGetTurnVelocity()
+	{
+		return m_turnVelocity;
+	}
+
+	SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
+	{
+		velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos);
+	}
+
+	SIMD_FORCE_INLINE void	internalGetAngularVelocity(btVector3& angVel) const
+	{
+		angVel = m_angularVelocity+m_deltaAngularVelocity;
+	}
+
+
+	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
+	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
+	{
+		if (m_originalBody)
+		{
+			m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
+			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+		}
+	}
+		
+	
+	
+
 	void	writebackVelocity()
 	{
 		if (m_originalBody)
 		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+			m_linearVelocity +=m_deltaLinearVelocity;
+			m_angularVelocity += m_deltaAngularVelocity;
 			
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
 
 
-	void	writebackVelocity(btScalar timeStep)
+	void	writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
 	{
         (void) timeStep;
 		if (m_originalBody)
 		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+			m_linearVelocity += m_deltaLinearVelocity;
+			m_angularVelocity += m_deltaAngularVelocity;
 			
 			//correct the position/orientation based on push/turn recovery
 			btTransform newTransform;
-			btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-			m_originalBody->setWorldTransform(newTransform);
-			
+			if (m_pushVelocity[0]!=0.f || m_pushVelocity[1]!=0 || m_pushVelocity[2]!=0 || m_turnVelocity[0]!=0.f || m_turnVelocity[1]!=0 || m_turnVelocity[2]!=0)
+			{
+			//	btQuaternion orn = m_worldTransform.getRotation();
+				btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform);
+				m_worldTransform = newTransform;
+			}
+			//m_worldTransform.setRotation(orn);
 			//m_originalBody->setCompanionId(-1);
 		}
 	}
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index 179e79d7911..2ade61b2f69 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -20,68 +20,49 @@ class	btRigidBody;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "btJacobianEntry.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 //#define NO_FRICTION_TANGENTIALS 1
 #include "btSolverBody.h"
 
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
+ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal;
+	btVector3		m_contactNormal1;
 
 	btVector3		m_relpos2CrossNormal;
-	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
+	btVector3		m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
 
 	btVector3		m_angularComponentA;
 	btVector3		m_angularComponentB;
 	
 	mutable btSimdScalar	m_appliedPushImpulse;
 	mutable btSimdScalar	m_appliedImpulse;
-	
-	
+
 	btScalar	m_friction;
 	btScalar	m_jacDiagABInv;
-	union
-	{
-		int	m_numConsecutiveRowsPerKernel;
-		btScalar	m_unusedPadding0;
-	};
-
-	int	m_overrideNumSolverIterations;
-
-	union
-	{
-		int			m_frictionIndex;
-		btScalar	m_unusedPadding1;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyA;
-		int				m_companionIdA;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyB;
-		int				m_companionIdB;
-	};
+	btScalar		m_rhs;
+	btScalar		m_cfm;
 	
-	union
+    btScalar		m_lowerLimit;
+	btScalar		m_upperLimit;
+	btScalar		m_rhsPenetration;
+    union
 	{
 		void*		m_originalContactPoint;
 		btScalar	m_unusedPadding4;
 	};
 
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-
-	btScalar		m_rhsPenetration;
+	int	m_overrideNumSolverIterations;
+    int			m_frictionIndex;
+	int m_solverBodyIdA;
+	int m_solverBodyIdB;
 
+    
 	enum		btSolverConstraintType
 	{
 		BT_SOLVER_CONTACT_1D = 0,
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index 06bde5e7eec..465c0746c58 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -32,7 +32,8 @@ m_overrideNumSolverIterations(-1),
 m_rbA(rbA),
 m_rbB(getFixedBody()),
 m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+m_jointFeedback(0)
 {
 }
 
@@ -48,7 +49,8 @@ m_overrideNumSolverIterations(-1),
 m_rbA(rbA),
 m_rbB(rbB),
 m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
+m_jointFeedback(0)
 {
 }
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index a16e869a973..441fa375050 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -16,9 +16,10 @@ subject to the following restrictions:
 #ifndef BT_TYPED_CONSTRAINT_H
 #define BT_TYPED_CONSTRAINT_H
 
-class btRigidBody;
+
 #include "LinearMath/btScalar.h"
 #include "btSolverConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
 
 class btSerializer;
 
@@ -32,6 +33,7 @@ enum btTypedConstraintType
 	SLIDER_CONSTRAINT_TYPE,
 	CONTACT_CONSTRAINT_TYPE,
 	D6_SPRING_CONSTRAINT_TYPE,
+	GEAR_CONSTRAINT_TYPE,
 	MAX_CONSTRAINT_TYPE
 };
 
@@ -51,8 +53,17 @@ enum btConstraintParams
 #endif
 
 
+ATTRIBUTE_ALIGNED16(struct)	btJointFeedback
+{
+	btVector3	m_appliedForceBodyA;
+	btVector3	m_appliedTorqueBodyA;
+	btVector3	m_appliedForceBodyB;
+	btVector3	m_appliedTorqueBodyB;
+};
+
+
 ///TypedConstraint is the baseclass for Bullet constraints and vehicles
-class btTypedConstraint : public btTypedObject
+ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject
 {
 	int	m_userConstraintType;
 
@@ -80,6 +91,7 @@ protected:
 	btRigidBody&	m_rbB;
 	btScalar	m_appliedImpulse;
 	btScalar	m_dbgDrawSize;
+	btJointFeedback*	m_jointFeedback;
 
 	///internal method used by the constraint solver, don't use them directly
 	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
@@ -87,6 +99,8 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	virtual ~btTypedConstraint() {};
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
 	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
@@ -195,7 +209,7 @@ public:
 
 
 	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar	/*timeStep*/) {};
+	virtual	void	solveConstraintObsolete(btSolverBody& /*bodyA*/,btSolverBody& /*bodyB*/,btScalar	/*timeStep*/) {};
 
 	
 	const btRigidBody& getRigidBodyA() const
@@ -246,6 +260,22 @@ public:
 		return m_userConstraintPtr;
 	}
 
+	void	setJointFeedback(btJointFeedback* jointFeedback)
+	{
+		m_jointFeedback = jointFeedback;
+	}
+
+	const btJointFeedback* getJointFeedback() const
+	{
+		return m_jointFeedback;
+	}
+
+	btJointFeedback* getJointFeedback()
+	{
+		return m_jointFeedback;
+	}
+
+
 	int getUid() const
 	{
 		return m_userConstraintId;   
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
index a86939164ec..9e708410430 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
@@ -31,13 +31,16 @@ subject to the following restrictions:
 /// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
 /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
 
-class btUniversalConstraint : public btGeneric6DofConstraint
+ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint
 {
 protected:
 	btVector3	m_anchor;
 	btVector3	m_axis1;
 	btVector3	m_axis2;
 public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	// constructor
 	// anchor, axis1 and axis2 are in world coordinate system
 	// axis1 must be orthogonal to axis2
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 954ef241adc..9ff2d9f1173 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -134,11 +134,8 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 	{
 		if (islandId<0)
 		{
-			if (numManifolds + m_numConstraints)
-			{
-				///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
-				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-			}
+			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
+			m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
 		} else
 		{
 				//also add all non-contact constraints/joints for this island
@@ -166,11 +163,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 
 			if (m_solverInfo->m_minimumSolverBatchSize<=1)
 			{
-				///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
-				if (numManifolds + numCurConstraints)
-				{
-					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-				}
+				m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
 			} else
 			{
 				
@@ -192,15 +185,12 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 	}
 	void	processConstraints()
 	{
-		if (m_manifolds.size() + m_constraints.size()>0)
-		{
 
-			btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
-			btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
-			btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
+		btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
+		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
+		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
 			
-			m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
-		}
+		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
 		m_bodies.resize(0);
 		m_manifolds.resize(0);
 		m_constraints.resize(0);
@@ -213,13 +203,15 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
 
 btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
+m_sortedConstraints	(),
+m_solverIslandCallback ( NULL ),
 m_constraintSolver(constraintSolver),
 m_gravity(0,-10,0),
 m_localTime(0),
 m_synchronizeAllMotionStates(false),
-m_profileTimings(0),
-m_sortedConstraints	(),
-m_solverIslandCallback ( NULL )
+m_applySpeculativeContactRestitution(false),
+m_profileTimings(0)
+
 {
 	if (!m_constraintSolver)
 	{
@@ -240,7 +232,7 @@ m_solverIslandCallback ( NULL )
 
 	{
 		void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
-		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (constraintSolver, m_stackAlloc, dispatcher);
+		m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
 	}
 }
 
@@ -490,10 +482,11 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
 
+    createPredictiveContacts(timeStep);
+    
 	///perform collision detection
 	performDiscreteCollisionDetection();
 
-
 	calculateSimulationIslands();
 
 	
@@ -507,6 +500,7 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	///CallbackTriggers();
 
 	///integrate transforms
+
 	integrateTransforms(timeStep);
 
 	///update vehicle simulation
@@ -740,6 +734,28 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 
 	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
 
+    {
+        //merge islands based on speculative contact manifolds too
+        for (int i=0;i<this->m_predictiveManifolds.size();i++)
+        {
+            btPersistentManifold* manifold = m_predictiveManifolds[i];
+            
+            const btCollisionObject* colObj0 = manifold->getBody0();
+            const btCollisionObject* colObj1 = manifold->getBody1();
+            
+            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
+            {
+                if (colObj0->isActive() || colObj1->isActive())
+                {
+                    
+                    getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
+                                                                       (colObj1)->getIslandTag());
+                }
+            }
+        }
+    }
+    
 	{
 		int i;
 		int numConstraints = int(m_constraints.size());
@@ -860,6 +876,103 @@ public:
 ///internal debugging variable. this value shouldn't be too high
 int gNumClampedCcdMotions=0;
 
+
+void	btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
+{
+	BT_PROFILE("createPredictiveContacts");
+	
+	{
+		BT_PROFILE("release predictive contact manifolds");
+
+		for (int i=0;i<m_predictiveManifolds.size();i++)
+		{
+			btPersistentManifold* manifold = m_predictiveManifolds[i];
+			this->m_dispatcher1->releaseManifold(manifold);
+		}
+		m_predictiveManifolds.clear();
+	}
+
+	btTransform predictedTrans;
+	for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
+	{
+		btRigidBody* body = m_nonStaticRigidBodies[i];
+		body->setHitFraction(1.f);
+
+		if (body->isActive() && (!body->isStaticOrKinematicObject()))
+		{
+
+			body->predictIntegratedTransform(timeStep, predictedTrans);
+			
+			btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
+
+			if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
+			{
+				BT_PROFILE("predictive convexSweepTest");
+				if (body->getCollisionShape()->isConvex())
+				{
+					gNumClampedCcdMotions++;
+#ifdef PREDICTIVE_CONTACT_USE_STATIC_ONLY
+					class StaticOnlyCallback : public btClosestNotMeConvexResultCallback
+					{
+					public:
+
+						StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
+						  btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher)
+						{
+						}
+
+					  	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+						{
+							btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+							if (!otherObj->isStaticOrKinematicObject())
+								return false;
+							return btClosestNotMeConvexResultCallback::needsCollision(proxy0);
+						}
+					};
+
+					StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+#else
+					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+#endif
+					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
+
+					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
+					sweepResults.m_collisionFilterMask  = body->getBroadphaseProxy()->m_collisionFilterMask;
+					btTransform modifiedPredictedTrans = predictedTrans;
+					modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis());
+
+					convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults);
+					if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
+					{
+					
+						btVector3 distVec = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin())*sweepResults.m_closestHitFraction;
+						btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
+
+						
+						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject);
+						m_predictiveManifolds.push_back(manifold);
+						
+						btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec;
+						btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB;
+
+						btManifoldPoint newPoint(btVector3(0,0,0), localPointB,sweepResults.m_hitNormalWorld,distance);
+
+						bool isPredictive = true;
+						int index = manifold->addManifoldPoint(newPoint, isPredictive);
+						btManifoldPoint& pt = manifold->getContactPoint(index);
+						pt.m_combinedRestitution = 0;
+						pt.m_combinedFriction = btManifoldResult::calculateCombinedFriction(body,sweepResults.m_hitCollisionObject);
+						pt.m_positionWorldOnA = body->getWorldTransform().getOrigin();
+						pt.m_positionWorldOnB = worldPointB;
+
+					}
+				}
+			}
+		}
+	}
+}
 void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 {
 	BT_PROFILE("integrateTransforms");
@@ -944,10 +1057,12 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 							printf("sm2=%f\n",sm2);
 						}
 #else
-						//response  between two dynamic objects without friction, assuming 0 penetration depth
-						btScalar appliedImpulse = 0.f;
-						btScalar depth = 0.f;
-						appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
+						
+						//don't apply the collision response right now, it will happen next frame
+						//if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution.
+						//btScalar appliedImpulse = 0.f;
+						//btScalar depth = 0.f;
+						//appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
 						
 
 #endif
@@ -959,8 +1074,46 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 			
 
 			body->proceedToTransform( predictedTrans);
+		
+		}
+
+	}
+
+	///this should probably be switched on by default, but it is not well tested yet
+	if (m_applySpeculativeContactRestitution)
+	{
+		BT_PROFILE("apply speculative contact restitution");
+		for (int i=0;i<m_predictiveManifolds.size();i++)
+		{
+			btPersistentManifold* manifold = m_predictiveManifolds[i];
+			btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0());
+			btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1());
+			
+			for (int p=0;p<manifold->getNumContacts();p++)
+			{
+				const btManifoldPoint& pt = manifold->getContactPoint(p);
+				btScalar combinedRestitution = btManifoldResult::calculateCombinedRestitution(body0, body1);
+
+				if (combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
+				//if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f)
+				{
+					btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse* combinedRestitution;
+				
+					const btVector3& pos1 = pt.getPositionWorldOnA();
+					const btVector3& pos2 = pt.getPositionWorldOnB();
+
+					btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin(); 
+					btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin();
+
+					if (body0)
+						body0->applyImpulse(imp,rel_pos0);
+					if (body1)
+						body1->applyImpulse(-imp,rel_pos1);
+				}
+			}
 		}
 	}
+	
 }
 
 
@@ -976,7 +1129,8 @@ void	btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 		btRigidBody* body = m_nonStaticRigidBodies[i];
 		if (!body->isStaticOrKinematicObject())
 		{
-			body->integrateVelocities( timeStep);
+			//don't integrate/update velocities here, it happens in the constraint solver
+
 			//damping
 			body->applyDamping(timeStep);
 
@@ -1193,6 +1347,7 @@ void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 	}
 	m_ownsConstraintSolver = false;
 	m_constraintSolver = solver;
+	m_solverIslandCallback->m_solver = solver;
 }
 
 btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
@@ -1243,11 +1398,65 @@ void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
 }
 
 
+
+
+void	btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
+{
+#ifdef BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldDoubleData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
+#else//BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldFloatData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
+#endif//BT_USE_DOUBLE_PRECISION
+
+		memset(worldInfo ,0x00,len);
+
+		m_gravity.serialize(worldInfo->m_gravity);
+		worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
+		worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
+		worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
+		worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
+
+		worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
+		worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
+		worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
+		worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
+
+		worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
+		worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
+		worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
+		worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
+		
+		worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
+		worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
+		worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
+		worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
+		
+		worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
+		worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
+		worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
+		worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
+		
+		worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
+	
+#ifdef BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldDoubleData";
+#else//BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldFloatData";
+#endif//BT_USE_DOUBLE_PRECISION
+		serializer->finalizeChunk(chunk,structType,BT_DYNAMICSWORLD_CODE,worldInfo);
+}
+
 void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 {
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo(serializer);
+
 	serializeRigidBodies(serializer);
 
 	serializeCollisionObjects(serializer);
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index 23a38dd2a12..fa934c49d2b 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -25,7 +25,7 @@ class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
 class btActionInterface;
-
+class btPersistentManifold;
 class btIDebugDraw;
 struct InplaceSolverIslandCallback;
 
@@ -34,7 +34,7 @@ struct InplaceSolverIslandCallback;
 
 ///btDiscreteDynamicsWorld provides discrete rigid body simulation
 ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-class btDiscreteDynamicsWorld : public btDynamicsWorld
+ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
 {
 protected:
 	
@@ -58,11 +58,14 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 	bool	m_synchronizeAllMotionStates;
+	bool	m_applySpeculativeContactRestitution;
 
 	btAlignedObjectArray<btActionInterface*>	m_actions;
 	
 	int	m_profileTimings;
 
+	btAlignedObjectArray<btPersistentManifold*>	m_predictiveManifolds;
+
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
 	
 	virtual void	integrateTransforms(btScalar timeStep);
@@ -79,14 +82,19 @@ protected:
 
 	virtual void	internalSingleStepSimulation( btScalar timeStep);
 
+	void	createPredictiveContacts(btScalar timeStep);
 
 	virtual void	saveKinematicState(btScalar timeStep);
 
 	void	serializeRigidBodies(btSerializer* serializer);
 
+	void	serializeDynamicsWorldInfo(btSerializer* serializer);
+
 public:
 
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
 	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 
@@ -195,6 +203,16 @@ public:
 		return m_synchronizeAllMotionStates;
 	}
 
+	void setApplySpeculativeContactRestitution(bool enable)
+	{
+		m_applySpeculativeContactRestitution = enable;
+	}
+	
+	bool getApplySpeculativeContactRestitution() const
+	{
+		return m_applySpeculativeContactRestitution;
+	}
+
 	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
 	virtual	void	serialize(btSerializer* serializer);
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 6b0093371b8..7d5c621f850 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -146,6 +146,21 @@ public:
 
 };
 
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btDynamicsWorldDoubleData
+{
+	btContactSolverInfoDoubleData	m_solverInfo;
+	btVector3DoubleData	m_gravity;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btDynamicsWorldFloatData
+{
+	btContactSolverInfoFloatData	m_solverInfo;
+	btVector3FloatData	m_gravity;
+};
+
+
 #endif //BT_DYNAMICS_WORLD_H
 
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 911b5072394..222f9006687 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -78,6 +78,7 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 	
 	//moved to btCollisionObject
 	m_friction = constructionInfo.m_friction;
+	m_rollingFriction = constructionInfo.m_rollingFriction;
 	m_restitution = constructionInfo.m_restitution;
 
 	setCollisionShape( constructionInfo.m_collisionShape );
@@ -250,13 +251,29 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
 }
 
 	
-
 void btRigidBody::updateInertiaTensor() 
 {
 	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
 }
 
 
+btVector3 btRigidBody::computeGyroscopicForce(btScalar maxGyroscopicForce) const
+{
+	btVector3 inertiaLocal;
+	inertiaLocal[0] = 1.f/getInvInertiaDiagLocal()[0];
+	inertiaLocal[1] = 1.f/getInvInertiaDiagLocal()[1];
+	inertiaLocal[2] = 1.f/getInvInertiaDiagLocal()[2];
+	btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
+	btVector3 tmp = inertiaTensorWorld*getAngularVelocity();
+	btVector3 gf = getAngularVelocity().cross(tmp);
+	btScalar l2 = gf.length2();
+	if (l2>maxGyroscopicForce*maxGyroscopicForce)
+	{
+		gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce;
+	}
+	return gf;
+}
+
 void btRigidBody::integrateVelocities(btScalar step) 
 {
 	if (isStaticOrKinematicObject())
@@ -300,15 +317,15 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
 }
 
 
-bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
+bool btRigidBody::checkCollideWithOverride(const  btCollisionObject* co) const
 {
-	btRigidBody* otherRb = btRigidBody::upcast(co);
+	const btRigidBody* otherRb = btRigidBody::upcast(co);
 	if (!otherRb)
 		return true;
 
 	for (int i = 0; i < m_constraintRefs.size(); ++i)
 	{
-		btTypedConstraint* c = m_constraintRefs[i];
+		const btTypedConstraint* c = m_constraintRefs[i];
 		if (c->isEnabled())
 			if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
 				return false;
@@ -317,26 +334,6 @@ bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
 	return true;
 }
 
-void	btRigidBody::internalWritebackVelocity(btScalar timeStep)
-{
-    (void) timeStep;
-	if (m_inverseMass)
-	{
-		setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
-		setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-		
-		//correct the position/orientation based on push/turn recovery
-		btTransform newTransform;
-		btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-		setWorldTransform(newTransform);
-		//m_originalBody->setCompanionId(-1);
-	}
-//	m_deltaLinearVelocity.setZero();
-//	m_deltaAngularVelocity .setZero();
-//	m_pushVelocity.setZero();
-//	m_turnVelocity.setZero();
-}
-
 
 
 void btRigidBody::addConstraintRef(btTypedConstraint* c)
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index 7c121e6df13..f0e07f942af 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -40,7 +40,11 @@ extern bool gDisableDeactivation;
 
 enum	btRigidBodyFlags
 {
-	BT_DISABLE_WORLD_GRAVITY = 1
+	BT_DISABLE_WORLD_GRAVITY = 1,
+	///The BT_ENABLE_GYROPSCOPIC_FORCE can easily introduce instability
+	///So generally it is best to not enable it. 
+	///If really needed, run at a high frequency like 1000 Hertz:	///See Demos/GyroscopicDemo for an example use
+	BT_ENABLE_GYROPSCOPIC_FORCE = 2
 };
 
 
@@ -93,7 +97,7 @@ class btRigidBody  : public btCollisionObject
 
 protected:
 
-	ATTRIBUTE_ALIGNED64(btVector3		m_deltaLinearVelocity);
+	ATTRIBUTE_ALIGNED16(btVector3		m_deltaLinearVelocity);
 	btVector3		m_deltaAngularVelocity;
 	btVector3		m_angularFactor;
 	btVector3		m_invMass;
@@ -125,6 +129,9 @@ public:
 
 		///best simulation results when friction is non-zero
 		btScalar			m_friction;
+		///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
+		///See Bullet/Demos/RollingFrictionDemo for usage
+		btScalar			m_rollingFriction;
 		///best simulation results using zero restitution.
 		btScalar			m_restitution;
 
@@ -147,6 +154,7 @@ public:
 			m_linearDamping(btScalar(0.)),
 			m_angularDamping(btScalar(0.)),
 			m_friction(btScalar(0.5)),
+			m_rollingFriction(btScalar(0)),
 			m_restitution(btScalar(0.)),
 			m_linearSleepingThreshold(btScalar(0.8)),
 			m_angularSleepingThreshold(btScalar(1.f)),
@@ -494,7 +502,7 @@ public:
 		return (getBroadphaseProxy() != 0);
 	}
 
-	virtual bool checkCollideWithOverride(btCollisionObject* co);
+	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const;
 
 	void addConstraintRef(btTypedConstraint* c);
 	void removeConstraintRef(btTypedConstraint* c);
@@ -519,106 +527,7 @@ public:
 		return m_rigidbodyFlags;
 	}
 
-	const btVector3& getDeltaLinearVelocity() const
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	const btVector3& getDeltaAngularVelocity() const
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& getPushVelocity() const 
-	{
-		return m_pushVelocity;
-	}
-
-	const btVector3& getTurnVelocity() const 
-	{
-		return m_turnVelocity;
-	}
-
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-		
-	btVector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	btVector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const btVector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-	
-	btVector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	btVector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
-	{
-		velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	SIMD_FORCE_INLINE void	internalGetAngularVelocity(btVector3& angVel) const
-	{
-		angVel = getAngularVelocity()+m_deltaAngularVelocity;
-	}
-
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
-	{
-		if (m_inverseMass)
-		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
-	{
-		if (m_inverseMass)
-		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-	
-	void	internalWritebackVelocity()
-	{
-		if (m_inverseMass)
-		{
-			setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
-			setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-			//m_deltaLinearVelocity.setZero();
-			//m_deltaAngularVelocity .setZero();
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-
-	void	internalWritebackVelocity(btScalar timeStep);
-
-	
+	btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;
 
 	///////////////////////////////////////////////
 
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index 5b467883d84..77b475b9682 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -756,14 +756,14 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
 	if (rayCallback.hasHit())
 	{
 		
-		btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+		const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
         if (body && body->hasContactResponse())
 		{
 			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
 			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
 			result.m_hitNormalInWorld.normalize();
 			result.m_distFraction = rayCallback.m_closestHitFraction;
-			return body;
+			return (void*)body;
 		}
 	}
 	return 0;
diff --git a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
index d1435b65cda..e90d24e6edf 100644
--- a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
@@ -130,9 +130,9 @@ void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody
 }
 
 // For the default solver just leave the soft body to do its collision processing
-void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
+void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap )
 {
-	softBody->defaultCollisionHandler( collisionObject );
+	softBody->defaultCollisionHandler( collisionObjectWrap );
 } // btDefaultSoftBodySolver::processCollision
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
index 7d9092ce5b9..1c17ffcbb2b 100644
--- a/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
+++ b/extern/bullet2/src/BulletSoftBody/btDefaultSoftBodySolver.h
@@ -19,7 +19,7 @@ subject to the following restrictions:
 
 #include "BulletSoftBody/btSoftBodySolvers.h"
 #include "btSoftBodySolverVertexBuffer.h"
-
+struct btCollisionObjectWrapper;
 
 class btDefaultSoftBodySolver : public btSoftBodySolver
 {
@@ -54,7 +54,7 @@ public:
 
 	virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer );
 
-	virtual void processCollision( btSoftBody *, btCollisionObject* );
+	virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
 
 	virtual void processCollision( btSoftBody*, btSoftBody* );
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
index 9c06841801c..e8c8fdb6402 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
@@ -105,12 +105,12 @@ void	btSoftBody::initDefaults()
 	/* Collision shape	*/ 
 	///for now, create a collision shape internally
 	m_collisionShape = new btSoftBodyCollisionShape(this);
-	m_collisionShape->setMargin(0.25);
+	m_collisionShape->setMargin(0.25f);
 	
 	m_initialWorldTransform.setIdentity();
 
 	m_windVelocity = btVector3(0,0,0);
-
+	m_restLengthScale = btScalar(1.0);
 }
 
 //
@@ -460,8 +460,8 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 	const btScalar dt = m_sst.sdt;
 	const btScalar kLF = m_cfg.kLF;
 	const btScalar kDG = m_cfg.kDG;
-	const btScalar kPR = m_cfg.kPR;
-	const btScalar kVC = m_cfg.kVC;
+	//const btScalar kPR = m_cfg.kPR;
+	//const btScalar kVC = m_cfg.kVC;
 	const bool as_lift = kLF>0;
 	const bool as_drag = kDG>0;
 	const bool as_aero = as_lift || as_drag;
@@ -501,10 +501,22 @@ void			btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
 					fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
 							
 					// Check angle of attack
-					// cos(10º) = 0.98480
+					// cos(10º) = 0.98480
 					if ( 0 < n_dot_v && n_dot_v < 0.98480f)
 						fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
 
+					// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
+					btVector3 del_v_by_fDrag = fDrag*n.m_im*m_sst.sdt;										
+					btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
+					btScalar v_len2 = n.m_v.length2();
+
+					if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
+					{
+						btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
+						btScalar v_len = n.m_v.length();
+						fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+					}
+
 					n.m_f += fDrag;
 					n.m_f += fLift;
 				}
@@ -535,8 +547,8 @@ void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
 	const btScalar dt = m_sst.sdt;
 	const btScalar kLF = m_cfg.kLF;
 	const btScalar kDG = m_cfg.kDG;
-	const btScalar kPR = m_cfg.kPR;
-	const btScalar kVC = m_cfg.kVC;
+//	const btScalar kPR = m_cfg.kPR;
+//	const btScalar kVC = m_cfg.kVC;
 	const bool as_lift = kLF>0;
 	const bool as_drag = kDG>0;
 	const bool as_aero = as_lift || as_drag;
@@ -575,7 +587,7 @@ void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
 				fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm);
 
 				// Check angle of attack
-				// cos(10º) = 0.98480
+				// cos(10º) = 0.98480
 				if ( 0 < n_dot_v && n_dot_v < 0.98480f)
 					fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm));
 
@@ -586,6 +598,18 @@ void			btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
 				{
 					if (f.m_n[j]->m_im>0)
 					{
+						// Check if the velocity change resulted by aero drag force exceeds the current velocity of the node.
+						btVector3 del_v_by_fDrag = fDrag*f.m_n[j]->m_im*m_sst.sdt;										
+						btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2();
+						btScalar v_len2 = f.m_n[j]->m_v.length2();
+
+						if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0)
+						{
+							btScalar del_v_by_fDrag_len = del_v_by_fDrag.length();
+							btScalar v_len = f.m_n[j]->m_v.length();
+							fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len);
+						}
+
 						f.m_n[j]->m_f += fDrag; 
 						f.m_n[j]->m_f += fLift;
 					}
@@ -817,6 +841,27 @@ void			btSoftBody::scale(const btVector3& scl)
 }
 
 //
+btScalar btSoftBody::getRestLengthScale()
+{
+	return m_restLengthScale;
+}
+
+//
+void btSoftBody::setRestLengthScale(btScalar restLengthScale)
+{
+	for(int i=0, ni=m_links.size(); i<ni; ++i)
+	{
+		Link&		l=m_links[i];
+		l.m_rl	=	l.m_rl / m_restLengthScale * restLengthScale;
+		l.m_c1	=	l.m_rl*l.m_rl;
+	}
+	m_restLengthScale = restLengthScale;
+	
+	if (getActivationState() == ISLAND_SLEEPING)
+		activate();
+}
+
+//
 void			btSoftBody::setPose(bool bvolume,bool bframe)
 {
 	m_pose.m_bvolume	=	bvolume;
@@ -863,9 +908,20 @@ void			btSoftBody::setPose(bool bvolume,bool bframe)
 		m_pose.m_aqq[2]+=mq.z()*q;
 	}
 	m_pose.m_aqq=m_pose.m_aqq.inverse();
+	
 	updateConstants();
 }
 
+void				btSoftBody::resetLinkRestLengths()
+{
+	for(int i=0, ni=m_links.size();i<ni;++i)
+	{
+		Link& l =	m_links[i];
+		l.m_rl	=	(l.m_n[0]->m_x-l.m_n[1]->m_x).length();
+		l.m_c1	=	l.m_rl*l.m_rl;
+	}
+}
+
 //
 btScalar		btSoftBody::getVolume() const
 {
@@ -1388,12 +1444,12 @@ void			btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
 							m=mc*f;
 						}
 						else
-						{ a.m_im/=0.5;m=1/a.m_im; }
+						{ a.m_im/=0.5f;m=1/a.m_im; }
 					}
 					else
 					{
 						if(b.m_im>0)
-						{ b.m_im/=0.5;m=1/b.m_im; }
+						{ b.m_im/=0.5f;m=1/b.m_im; }
 						else
 							m=0;
 					}
@@ -1473,7 +1529,7 @@ void			btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut)
 			{
 				const btVector3	v=m_nodes[i].m_v;
 				btScalar		m=getMass(i);
-				if(m>0) { m*=0.5;m_nodes[i].m_im/=0.5; }
+				if(m>0) { m*=0.5f;m_nodes[i].m_im/=0.5f; }
 				appendNode(x,m);
 				cnodes[i]=m_nodes.size()-1;
 				m_nodes[cnodes[i]].m_v=v;
@@ -1587,7 +1643,7 @@ bool			btSoftBody::cutLink(int node0,int node1,btScalar position)
 {
 	bool			done=false;
 	int i,ni;
-	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
+//	const btVector3	d=m_nodes[node0].m_x-m_nodes[node1].m_x;
 	const btVector3	x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position);
 	const btVector3	v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position);
 	const btScalar	m=1;
@@ -2171,15 +2227,18 @@ btVector3		btSoftBody::evaluateCom() const
 }
 
 //
-bool				btSoftBody::checkContact(	btCollisionObject* colObj,
+bool				btSoftBody::checkContact(	const btCollisionObjectWrapper* colObjWrap,
 											 const btVector3& x,
 											 btScalar margin,
 											 btSoftBody::sCti& cti) const
 {
 	btVector3 nrm;
-	btCollisionShape *shp = colObj->getCollisionShape();
-	btRigidBody *tmpRigid = btRigidBody::upcast(colObj);
-	const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObj->getWorldTransform();
+	const btCollisionShape *shp = colObjWrap->getCollisionShape();
+//	const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
+	//const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
+	const btTransform &wtr = colObjWrap->getWorldTransform();
+	//todo: check which transform is needed here
+
 	btScalar dst = 
 		m_worldInfo->m_sparsesdf.Evaluate(	
 			wtr.invXform(x),
@@ -2188,7 +2247,7 @@ bool				btSoftBody::checkContact(	btCollisionObject* colObj,
 			margin);
 	if(dst<0)
 	{
-		cti.m_colObj = colObj;
+		cti.m_colObj = colObjWrap->getCollisionObject();
 		cti.m_normal = wtr.getBasis()*nrm;
 		cti.m_offset = -btDot( cti.m_normal, x - cti.m_normal * dst );
 		return(true);
@@ -2304,51 +2363,93 @@ void					btSoftBody::updatePose()
 }
 
 //
-void				btSoftBody::updateConstants()
+void				btSoftBody::updateArea(bool averageArea)
 {
 	int i,ni;
 
-	/* Links		*/ 
-	for(i=0,ni=m_links.size();i<ni;++i)
-	{
-		Link&		l=m_links[i];
-		Material&	m=*l.m_material;
-		l.m_rl	=	(l.m_n[0]->m_x-l.m_n[1]->m_x).length();
-		l.m_c0	=	(l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST;
-		l.m_c1	=	l.m_rl*l.m_rl;
-	}
-	/* Faces		*/ 
+	/* Face area		*/ 
 	for(i=0,ni=m_faces.size();i<ni;++i)
 	{
 		Face&		f=m_faces[i];
 		f.m_ra	=	AreaOf(f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x);
 	}
-	/* Area's		*/ 
-	btAlignedObjectArray<int>	counts;
-	counts.resize(m_nodes.size(),0);
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+	
+	/* Node area		*/ 
+
+	if (averageArea)
 	{
-		m_nodes[i].m_area	=	0;
+		btAlignedObjectArray<int>	counts;
+		counts.resize(m_nodes.size(),0);
+		for(i=0,ni=m_nodes.size();i<ni;++i)
+		{
+			m_nodes[i].m_area	=	0;
+		}
+		for(i=0,ni=m_faces.size();i<ni;++i)
+		{
+			btSoftBody::Face&	f=m_faces[i];
+			for(int j=0;j<3;++j)
+			{
+				const int index=(int)(f.m_n[j]-&m_nodes[0]);
+				counts[index]++;
+				f.m_n[j]->m_area+=btFabs(f.m_ra);
+			}
+		}
+		for(i=0,ni=m_nodes.size();i<ni;++i)
+		{
+			if(counts[i]>0)
+				m_nodes[i].m_area/=(btScalar)counts[i];
+			else
+				m_nodes[i].m_area=0;
+		}
 	}
-	for(i=0,ni=m_faces.size();i<ni;++i)
+	else
 	{
-		btSoftBody::Face&	f=m_faces[i];
-		for(int j=0;j<3;++j)
+		// initialize node area as zero
+		for(i=0,ni=m_nodes.size();i<ni;++i)
+		{
+			m_nodes[i].m_area=0;	
+		}
+
+		for(i=0,ni=m_faces.size();i<ni;++i)
 		{
-			const int index=(int)(f.m_n[j]-&m_nodes[0]);
-			counts[index]++;
-			f.m_n[j]->m_area+=btFabs(f.m_ra);
+			btSoftBody::Face&	f=m_faces[i];
+
+			for(int j=0;j<3;++j)
+			{
+				f.m_n[j]->m_area += f.m_ra;
+			}
+		}
+
+		for(i=0,ni=m_nodes.size();i<ni;++i)
+		{
+			m_nodes[i].m_area *= 0.3333333f;
 		}
 	}
-	for(i=0,ni=m_nodes.size();i<ni;++i)
+}
+
+
+void				btSoftBody::updateLinkConstants()
+{	
+	int i,ni;
+
+	/* Links		*/ 
+	for(i=0,ni=m_links.size();i<ni;++i)
 	{
-		if(counts[i]>0)
-			m_nodes[i].m_area/=(btScalar)counts[i];
-		else
-			m_nodes[i].m_area=0;
+		Link&		l=m_links[i];
+		Material&	m=*l.m_material;
+		l.m_c0	=	(l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST;
 	}
 }
 
+void				btSoftBody::updateConstants()
+{
+	resetLinkRestLengths();
+	updateLinkConstants();
+	updateArea();
+}
+
+
+
 //
 void					btSoftBody::initializeClusters()
 {
@@ -2817,7 +2918,7 @@ void				btSoftBody::applyForces()
 {
 
 	BT_PROFILE("SoftBody applyForces");
-	const btScalar					dt =			m_sst.sdt;
+//	const btScalar					dt =			m_sst.sdt;
 	const btScalar					kLF =			m_cfg.kLF;
 	const btScalar					kDG =			m_cfg.kDG;
 	const btScalar					kPR =			m_cfg.kPR;
@@ -2828,10 +2929,10 @@ void				btSoftBody::applyForces()
 	const bool						as_volume =		kVC>0;
 	const bool						as_aero =		as_lift	||
 													as_drag		;
-	const bool						as_vaero =		as_aero	&&
-													(m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
-	const bool						as_faero =		as_aero	&&
-													(m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
+	//const bool						as_vaero =		as_aero	&&
+	//												(m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided);
+	//const bool						as_faero =		as_aero	&&
+	//												(m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided);
 	const bool						use_medium =	as_aero;
 	const bool						use_volume =	as_pressure	||
 		as_volume	;
@@ -2874,7 +2975,7 @@ void				btSoftBody::applyForces()
 	/* Per face forces				*/ 
 	for(i=0,ni=m_faces.size();i<ni;++i)
 	{
-		btSoftBody::Face&	f=m_faces[i];
+	//	btSoftBody::Face&	f=m_faces[i];
 
 		/* Aerodynamics			*/ 
 		addAeroForceToFace(m_windVelocity, i);	
@@ -2910,9 +3011,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 	{
 		const RContact&		c = psb->m_rcontacts[i];
 		const sCti&			cti = c.m_cti;	
-
 		if (cti.m_colObj->hasContactResponse()) {
-			btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+			btRigidBody* tmpRigid = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
 			const btVector3		va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
 			const btVector3		vb = c.m_node->m_x-c.m_node->m_q;	
 			const btVector3		vr = vb-va;
@@ -3033,7 +3133,7 @@ btSoftBody::vsolver_t	btSoftBody::getSolver(eVSolver::_ solver)
 }
 
 //
-void			btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
+void			btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
 {
 
 	switch(m_cfg.collisions&fCollision::RVSmask)
@@ -3041,22 +3141,22 @@ void			btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
 	case	fCollision::SDF_RS:
 		{
 			btSoftColliders::CollideSDF_RS	docollide;		
-			btRigidBody*		prb1=btRigidBody::upcast(pco);
-			btTransform	wtr=pco->getWorldTransform();
+			btRigidBody*		prb1=(btRigidBody*) btRigidBody::upcast(pcoWrap->getCollisionObject());
+			btTransform	wtr=pcoWrap->getWorldTransform();
 
-			const btTransform	ctr=pco->getWorldTransform();
+			const btTransform	ctr=pcoWrap->getWorldTransform();
 			const btScalar		timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
 			const btScalar		basemargin=getCollisionShape()->getMargin();
 			btVector3			mins;
 			btVector3			maxs;
 			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			pco->getCollisionShape()->getAabb(	pco->getWorldTransform(),
+			pcoWrap->getCollisionShape()->getAabb(	pcoWrap->getWorldTransform(),
 				mins,
 				maxs);
 			volume=btDbvtVolume::FromMM(mins,maxs);
 			volume.Expand(btVector3(basemargin,basemargin,basemargin));		
 			docollide.psb		=	this;
-			docollide.m_colObj1 = pco;
+			docollide.m_colObj1Wrap = pcoWrap;
 			docollide.m_rigidBody = prb1;
 
 			docollide.dynmargin	=	basemargin+timemargin;
@@ -3067,7 +3167,7 @@ void			btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
 	case	fCollision::CL_RS:
 		{
 			btSoftColliders::CollideCL_RS	collider;
-			collider.Process(this,pco);
+			collider.ProcessColObj(this,pcoWrap);
 		}
 		break;
 	}
@@ -3086,7 +3186,7 @@ void			btSoftBody::defaultCollisionHandler(btSoftBody* psb)
 			if (this!=psb || psb->m_cfg.collisions&fCollision::CL_SELF)
 			{
 				btSoftColliders::CollideCL_SS	docollide;
-				docollide.Process(this,psb);
+				docollide.ProcessSoftSoft(this,psb);
 			}
 			
 		}
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
index ba589486f26..2116c34f06d 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h
@@ -69,7 +69,7 @@ struct	btSoftBodyWorldInfo
 class	btSoftBody : public btCollisionObject
 {
 public:
-	btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects;
+	btAlignedObjectArray<const class btCollisionObject*> m_collisionDisabledObjects;
 
 	// The solver object that handles this soft body
 	btSoftBodySolver *m_softBodySolver;
@@ -182,7 +182,7 @@ public:
 	/* sCti is Softbody contact info	*/ 
 	struct	sCti
 	{
-		btCollisionObject*	m_colObj;		/* Rigid body			*/ 
+		const btCollisionObject*	m_colObj;		/* Rigid body			*/ 
 		btVector3		m_normal;	/* Outward normal		*/ 
 		btScalar		m_offset;	/* Offset from origin	*/ 
 	};	
@@ -374,13 +374,13 @@ public:
 	{
 		Cluster*			m_soft;
 		btRigidBody*		m_rigid;
-		btCollisionObject*	m_collisionObject;
+		const btCollisionObject*	m_collisionObject;
 
 		Body() : m_soft(0),m_rigid(0),m_collisionObject(0)				{}
 		Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0)	{}
-		Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
+		Body(const btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
 		{
-			m_rigid = btRigidBody::upcast(m_collisionObject);
+			m_rigid = (btRigidBody*)btRigidBody::upcast(m_collisionObject);
 		}
 
 		void						activate() const
@@ -671,6 +671,9 @@ public:
 	btTransform			m_initialWorldTransform;
 
 	btVector3			m_windVelocity;
+	
+	btScalar        m_restLengthScale;
+	
 	//
 	// Api
 	//
@@ -810,9 +813,15 @@ public:
 	void				rotate(	const btQuaternion& rot);
 	/* Scale																*/ 
 	void				scale(	const btVector3& scl);
+	/* Get link resting lengths scale										*/
+	btScalar			getRestLengthScale();
+	/* Scale resting length of all springs									*/
+	void				setRestLengthScale(btScalar restLength);
 	/* Set current state as pose											*/ 
 	void				setPose(		bool bvolume,
 		bool bframe);
+	/* Set current link lengths as resting lengths							*/ 
+	void				resetLinkRestLengths();
 	/* Return the volume													*/ 
 	btScalar			getVolume() const;
 	/* Cluster count														*/ 
@@ -867,7 +876,7 @@ public:
 	/* integrateMotion														*/ 
 	void				integrateMotion();
 	/* defaultCollisionHandlers												*/ 
-	void				defaultCollisionHandler(btCollisionObject* pco);
+	void				defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
 	void				defaultCollisionHandler(btSoftBody* psb);
 
 
@@ -949,11 +958,13 @@ public:
 		btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
 	void				initializeFaceTree();
 	btVector3			evaluateCom() const;
-	bool				checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
+	bool				checkContact(const btCollisionObjectWrapper* colObjWrap,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
 	void				updateNormals();
 	void				updateBounds();
 	void				updatePose();
 	void				updateConstants();
+	void				updateLinkConstants();
+	void				updateArea(bool averageArea = true);
 	void				initializeClusters();
 	void				updateClusters();
 	void				cleanupClusters();
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index d99be3b8138..9f0d44526bf 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
 #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 
 #include "LinearMath/btIDebugDraw.h"
@@ -34,10 +34,10 @@ subject to the following restrictions:
 
 #define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
 
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
+btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
 : btCollisionAlgorithm(ci),
 m_isSwapped(isSwapped),
-m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
+m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
 {
 }
 
@@ -49,12 +49,12 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
 
 
 
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
+btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher*  dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
 m_dispatcher(dispatcher),
 m_dispatchInfoPtr(0)
 {
-	m_softBody = (btSoftBody*) (isSwapped? body1:body0);
-	m_triBody = isSwapped? body0:body1;
+	m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject());
+	m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject();
 
 	//
 	// create the manifold from the dispatcher 'manifold pool'
@@ -90,7 +90,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 {
 	//just for debugging purposes
 	//printf("triangle %d",m_triangleCount++);
-	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+	
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
@@ -98,7 +98,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe))
 	{
 		btVector3 color(1,1,0);
-		btTransform& tr = ob->getWorldTransform();
+		const btTransform& tr = m_triBody->getWorldTransform();
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
@@ -115,18 +115,18 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 		btAssert(tm);
 
 		//copy over user pointers to temporary shape
-		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-
-		btCollisionShape* tmpShape = ob->getCollisionShape();
-		ob->internalSetTemporaryCollisionShape( tm );
+		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
 
+		btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
+		//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
+		btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);
 
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr);
 
-		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-		ob->internalSetTemporaryCollisionShape( tmpShape);
+		
 		return;
 	}
 
@@ -158,24 +158,18 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 		//	tm.setMargin(m_collisionMarginTriangle);
 
 		//copy over user pointers to temporary shape
-		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
+		tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
 
-		btCollisionShape* tmpShape = ob->getCollisionShape();
-		ob->internalSetTemporaryCollisionShape( tm );
+		
+		btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
+		btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//??
 
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr);
 
-		btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
-		///this should use the btDispatcher, so the actual registered algorithm is used
-		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
-
-		//m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
-		//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
-		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
 
-
-		ob->internalSetTemporaryCollisionShape( tmpShape );
 		triIndex.m_childShape = tm;
 		m_shapeCache.insert(triKey,triIndex);
 
@@ -187,7 +181,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
 
 
 
-void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	m_dispatchInfoPtr = &dispatchInfo;
 	m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
@@ -204,7 +198,7 @@ void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
 	softTransform.setOrigin(softBodyCenter);
 
 	btTransform convexInTriangleSpace;
-	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
+	convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
 	btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
 }
 
@@ -214,33 +208,28 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache()
 
 }
 
-void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftBodyConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 
 
 	//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
-	btCollisionObject* triBody = m_isSwapped ? body0 : body1;
+	const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
 
 	if (triBody->getCollisionShape()->isConcave())
 	{
 
 
-		btCollisionObject*	triOb = triBody;
-		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
+		const btCollisionObject*	triOb = triBody->getCollisionObject();
+		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triOb->getCollisionShape());
 
 		//	if (convexBody->getCollisionShape()->isConvex())
 		{
 			btScalar collisionMarginTriangle = concaveShape->getMargin();
 
 			//			resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
-			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
-
-			//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
-			//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
-
-			//			m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
-
+			m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut);
 
+		
 			concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
 
 			//	resultOut->refreshContactPoints();
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index 8a09fff2a37..11c7b88f98e 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -65,7 +65,7 @@ struct btTriIndex
 class btSoftBodyTriangleCallback : public btTriangleCallback
 {
 	btSoftBody* m_softBody;
-	btCollisionObject* m_triBody;
+	const btCollisionObject* m_triBody;
 
 	btVector3	m_aabbMin;
 	btVector3	m_aabbMax ;
@@ -83,9 +83,9 @@ public:
 
 	//	btPersistentManifold*	m_manifoldPtr;
 
-	btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
-	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual ~btSoftBodyTriangleCallback();
 
@@ -117,11 +117,11 @@ class btSoftBodyConcaveCollisionAlgorithm  : public btCollisionAlgorithm
 
 public:
 
-	btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
+	btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 
 	virtual ~btSoftBodyConcaveCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -134,19 +134,19 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false);
+			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 		}
 	};
 
 	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
-			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true);
+			return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyData.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyData.h
index 40dc65c3d8c..87d8841cfa4 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyData.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyData.h
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define BT_SOFTBODY_FLOAT_DATA
 
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
+#include "BulletDynamics/Dynamics/btRigidBody.h"
 
 
 struct	SoftBodyMaterialData
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
index 5ef8db19396..19d0543ef9e 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h
@@ -21,6 +21,7 @@ subject to the following restrictions:
 
 
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btPolarDecomposition.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 #include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
@@ -614,32 +615,8 @@ private:
 //
 static inline int			PolarDecompose(	const btMatrix3x3& m,btMatrix3x3& q,btMatrix3x3& s)
 {
-	static const btScalar	half=(btScalar)0.5;
-	static const btScalar	accuracy=(btScalar)0.0001;
-	static const int		maxiterations=16;
-	int						i=0;
-	btScalar				det=0;
-	q	=	Mul(m,1/btVector3(m[0][0],m[1][1],m[2][2]).length());
-	det	=	q.determinant();
-	if(!btFuzzyZero(det))
-	{
-		for(;i<maxiterations;++i)
-		{
-			q=Mul(Add(q,Mul(q.adjoint(),1/det).transpose()),half);
-			const btScalar	ndet=q.determinant();
-			if(Sq(ndet-det)>accuracy) det=ndet; else break;
-		}
-		/* Final orthogonalization	*/ 
-		Orthogonalize(q);
-		/* Compute 'S'				*/ 
-		s=q.transpose()*m;
-	}
-	else
-	{
-		q.setIdentity();
-		s.setIdentity();
-	}
-	return(i);
+	static const btPolarDecomposition polar;  
+	return polar.decompose(m, q, s);
 }
 
 //
@@ -666,7 +643,7 @@ struct btSoftColliders
 			threshold	=(btScalar)0;
 		}
 		bool				SolveContact(	const btGjkEpaSolver2::sResults& res,
-			btSoftBody::Body ba,btSoftBody::Body bb,
+			btSoftBody::Body ba,const btSoftBody::Body bb,
 			btSoftBody::CJoint& joint)
 		{
 			if(res.distance<m_margin)
@@ -702,7 +679,7 @@ struct btSoftColliders
 				joint.m_normal		=	norm;
 //				printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
 				joint.m_delete		=	false;
-				joint.m_friction	=	fv.length2()<(-rvac*friction)?1:friction;
+				joint.m_friction	=	fv.length2()<(rvac*friction*rvac*friction)?1:friction;
 				joint.m_massmatrix	=	ImpulseMatrix(	ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
 					bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
 
@@ -717,30 +694,30 @@ struct btSoftColliders
 	struct	CollideCL_RS : ClusterBase
 	{
 		btSoftBody*		psb;
-		
-		btCollisionObject*	m_colObj;
+		const btCollisionObjectWrapper*	m_colObjWrap;
+
 		void		Process(const btDbvtNode* leaf)
 		{
 			btSoftBody::Cluster*		cluster=(btSoftBody::Cluster*)leaf->data;
 			btSoftClusterCollisionShape	cshape(cluster);
 			
-			const btConvexShape*		rshape=(const btConvexShape*)m_colObj->getCollisionShape();
+			const btConvexShape*		rshape=(const btConvexShape*)m_colObjWrap->getCollisionShape();
 
 			///don't collide an anchored cluster with a static/kinematic object
-			if(m_colObj->isStaticOrKinematicObject() && cluster->m_containsAnchor)
+			if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor)
 				return;
 
 			btGjkEpaSolver2::sResults	res;		
 			if(btGjkEpaSolver2::SignedDistance(	&cshape,btTransform::getIdentity(),
-				rshape,m_colObj->getWorldTransform(),
+				rshape,m_colObjWrap->getWorldTransform(),
 				btVector3(1,0,0),res))
 			{
 				btSoftBody::CJoint	joint;
-				if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
+				if(SolveContact(res,cluster,m_colObjWrap->getCollisionObject(),joint))//prb,joint))
 				{
 					btSoftBody::CJoint*	pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
 					*pj=joint;psb->m_joints.push_back(pj);
-					if(m_colObj->isStaticOrKinematicObject())
+					if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject())
 					{
 						pj->m_erp	*=	psb->m_cfg.kSKHR_CL;
 						pj->m_split	*=	psb->m_cfg.kSK_SPLT_CL;
@@ -753,19 +730,19 @@ struct btSoftColliders
 				}
 			}
 		}
-		void		Process(btSoftBody* ps,btCollisionObject* colOb)
+		void		ProcessColObj(btSoftBody* ps,const btCollisionObjectWrapper* colObWrap)
 		{
 			psb			=	ps;
-			m_colObj			=	colOb;
+			m_colObjWrap			=	colObWrap;
 			idt			=	ps->m_sst.isdt;
-			m_margin		=	m_colObj->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
+			m_margin		=	m_colObjWrap->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
 			///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
-			friction	=	btMin(psb->m_cfg.kDF,m_colObj->getFriction());
+			friction	=	btMin(psb->m_cfg.kDF,m_colObjWrap->getCollisionObject()->getFriction());
 			btVector3			mins;
 			btVector3			maxs;
 
 			ATTRIBUTE_ALIGNED16(btDbvtVolume)		volume;
-			colOb->getCollisionShape()->getAabb(colOb->getWorldTransform(),mins,maxs);
+			colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(),mins,maxs);
 			volume=btDbvtVolume::FromMM(mins,maxs);
 			volume.Expand(btVector3(1,1,1)*m_margin);
 			ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
@@ -815,7 +792,7 @@ struct btSoftColliders
 				
 			}
 		}
-		void		Process(btSoftBody* psa,btSoftBody* psb)
+		void		ProcessSoftSoft(btSoftBody* psa,btSoftBody* psb)
 		{
 			idt			=	psa->m_sst.isdt;
 			//m_margin		=	(psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
@@ -840,15 +817,16 @@ struct btSoftColliders
 		{
 			const btScalar			m=n.m_im>0?dynmargin:stamargin;
 			btSoftBody::RContact	c;
+
 			if(	(!n.m_battach)&&
-				psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
+				psb->checkContact(m_colObj1Wrap,n.m_x,m,c.m_cti))
 			{
 				const btScalar	ima=n.m_im;
 				const btScalar	imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
 				const btScalar	ms=ima+imb;
 				if(ms>0)
 				{
-					const btTransform&	wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1->getWorldTransform();
+					const btTransform&	wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
 					static const btMatrix3x3	iwiStatic(0,0,0,0,0,0,0,0,0);
 					const btMatrix3x3&	iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
 					const btVector3		ra=n.m_x-wtr.getOrigin();
@@ -857,13 +835,13 @@ struct btSoftColliders
 					const btVector3		vr=vb-va;
 					const btScalar		dn=btDot(vr,c.m_cti.m_normal);
 					const btVector3		fv=vr-c.m_cti.m_normal*dn;
-					const btScalar		fc=psb->m_cfg.kDF*m_colObj1->getFriction();
+					const btScalar		fc=psb->m_cfg.kDF*m_colObj1Wrap->getCollisionObject()->getFriction();
 					c.m_node	=	&n;
 					c.m_c0		=	ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
 					c.m_c1		=	ra;
 					c.m_c2		=	ima*psb->m_sst.sdt;
-					c.m_c3		=	fv.length2()<(btFabs(dn)*fc)?0:1-fc;
-					c.m_c4		=	m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
+			        c.m_c3		=	fv.length2()<(dn*fc*dn*fc)?0:1-fc;
+					c.m_c4		=	m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
 					psb->m_rcontacts.push_back(c);
 					if (m_rigidBody)
 						m_rigidBody->activate();
@@ -871,7 +849,7 @@ struct btSoftColliders
 			}
 		}
 		btSoftBody*		psb;
-		btCollisionObject*	m_colObj1;
+		const btCollisionObjectWrapper*	m_colObj1Wrap;
 		btRigidBody*	m_rigidBody;
 		btScalar		dynmargin;
 		btScalar		stamargin;
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h b/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
index 2fcd8b67616..6947bc27d28 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodySolvers.h
@@ -85,7 +85,7 @@ public:
 	virtual void updateSoftBodies() = 0;
 
 	/** Process a collision between one of the world's soft bodies and another collision object */
-	virtual void processCollision( btSoftBody *, btCollisionObject* ) = 0;
+	virtual void processCollision( btSoftBody *, const struct btCollisionObjectWrapper* ) = 0;
 
 	/** Process a collision between two soft bodies */
 	virtual void processCollision( btSoftBody*, btSoftBody* ) = 0;
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
index bc374c805e7..01c148a2ca8 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
@@ -20,13 +20,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "btSoftBody.h"
 #include "BulletSoftBody/btSoftBodySolvers.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 ///TODO: include all the shapes that the softbody can collide with
 ///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
 
 //#include <stdio.h>
 
-btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*col0*/,btCollisionObject* /*col1*/, bool isSwapped)
+btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped)
 : btCollisionAlgorithm(ci),
 //m_ownManifold(false),
 //m_manifoldPtr(mf),
@@ -52,18 +53,19 @@ btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
 
 #include <stdio.h>
 
-void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	(void)dispatchInfo;
 	(void)resultOut;
 	//printf("btSoftRigidCollisionAlgorithm\n");
-
-	btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
-	btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
+//	const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
+//	const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
+	btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
+	const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
 	
-	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size())
+	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
 	{
-		softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObject);
+		softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
 	}
 
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index 7658e3c2252..a9b513e3639 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -39,11 +39,11 @@ class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
 
 public:
 
-	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0,const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
 
 	virtual ~btSoftRigidCollisionAlgorithm();
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -55,15 +55,15 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
+				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
 			} else
 			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
+				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
 			}
 		}
 	};
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index 8f4be231c13..5f35935450c 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -353,6 +353,8 @@ void	btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo( serializer);
+
 	serializeSoftBodies(serializer);
 
 	serializeRigidBodies(serializer);
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
index 1b8cfa72371..72043e69e2f 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
@@ -19,10 +19,11 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletSoftBody/btSoftBodySolvers.h"
 #include "btSoftBody.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*obj0*/,btCollisionObject* /*obj1*/)
+btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* /*obj0*/,const btCollisionObjectWrapper* /*obj1*/)
 : btCollisionAlgorithm(ci)
 //m_ownManifold(false),
 //m_manifoldPtr(mf)
@@ -33,10 +34,10 @@ btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
 {
 }
 
-void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+void btSoftSoftCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
 {
-	btSoftBody* soft0 =	(btSoftBody*)body0;
-	btSoftBody* soft1 =	(btSoftBody*)body1;
+	btSoftBody* soft0 =	(btSoftBody*)body0Wrap->getCollisionObject();
+	btSoftBody* soft1 =	(btSoftBody*)body1Wrap->getCollisionObject();
 	soft0->getSoftBodySolver()->processCollision(soft0, soft1);
 }
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index 92d683c1dc8..43b1439cc53 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -38,7 +38,7 @@ public:
 	btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btCollisionAlgorithm(ci) {}
 
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
@@ -48,17 +48,17 @@ public:
 			manifoldArray.push_back(m_manifoldPtr);
 	}
 
-	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btSoftSoftCollisionAlgorithm();
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0,body1);
+			return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
 
diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
index 90a26cdf7e3..180e3c218cc 100644
--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
@@ -58,7 +58,7 @@ struct	btSparseSdf
 		int					c[3];
 		int					puid;
 		unsigned			hash;
-		btCollisionShape*	pclient;
+		const btCollisionShape*	pclient;
 		Cell*				next;
 	};
 	//
@@ -152,7 +152,7 @@ struct	btSparseSdf
 	}
 	//
 	btScalar				Evaluate(	const btVector3& x,
-		btCollisionShape* shape,
+		const btCollisionShape* shape,
 		btVector3& normal,
 		btScalar margin)
 	{
@@ -248,14 +248,14 @@ struct	btSparseSdf
 	}
 	//
 	static inline btScalar	DistanceToShape(const btVector3& x,
-		btCollisionShape* shape)
+		const btCollisionShape* shape)
 	{
 		btTransform	unit;
 		unit.setIdentity();
 		if(shape->isConvex())
 		{
 			btGjkEpaSolver2::sResults	res;
-			btConvexShape*				csh=static_cast<btConvexShape*>(shape);
+			const btConvexShape*				csh=static_cast<const btConvexShape*>(shape);
 			return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
 		}
 		return(0);
@@ -282,7 +282,7 @@ struct	btSparseSdf
 
 
 	//
-	static inline unsigned int	Hash(int x,int y,int z,btCollisionShape* shape)
+	static inline unsigned int	Hash(int x,int y,int z,const btCollisionShape* shape)
 	{
 		struct btS
 		{ 
@@ -292,7 +292,7 @@ struct	btSparseSdf
 
 		btS myset;
 
-		myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
+		myset.x=x;myset.y=y;myset.z=z;myset.p=(void*)shape;
 		const void* ptr = &myset;
 
 		unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h
index 42b721dea22..d2997b4e65c 100644
--- a/extern/bullet2/src/LinearMath/btAabbUtil2.h
+++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h
@@ -184,9 +184,7 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& halfExtents, btScalar ma
 	btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
 	btVector3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
-		   abs_b[1].dot(halfExtentsWithMargin),
-		  abs_b[2].dot(halfExtentsWithMargin));
+    btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
 	aabbMinOut = center - extent;
 	aabbMaxOut = center + extent;
 }
@@ -203,9 +201,7 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVec
 		btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
 		btMatrix3x3 abs_b = trans.getBasis().absolute();  
 		btVector3 center = trans(localCenter);
-		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-			   abs_b[1].dot(localHalfExtents),
-			  abs_b[2].dot(localHalfExtents));
+        btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
 		aabbMinOut = center-extent;
 		aabbMaxOut = center+extent;
 }
diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
index c4c0ceb2ed2..a65296c6abe 100644
--- a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
+++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
@@ -119,7 +119,7 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
  
  real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1));
  if (real) {
-   ret = (void*) btAlignPointer((real + 2*sizeof(void *), alignment);
+   ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment);
    *((void **)(ret)-1) = (void *)(real);
        *((int*)(ret)-2) = size;
 
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
index 36090e13c89..24e59ab65d7 100644
--- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
+++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
@@ -197,8 +197,26 @@ protected:
 			m_data[m_size].~T();
 		}
 
+
 		///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
 		///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
+		SIMD_FORCE_INLINE	void	resizeNoInitialize(int newsize)
+		{
+			int curSize = size();
+
+			if (newsize < curSize)
+			{
+			} else
+			{
+				if (newsize > size())
+				{
+					reserve(newsize);
+				}
+				//leave this uninitialized
+			}
+			m_size = newsize;
+		}
+	
 		SIMD_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
 		{
 			int curSize = size();
@@ -226,7 +244,6 @@ protected:
 
 			m_size = newsize;
 		}
-	
 		SIMD_FORCE_INLINE	T&  expandNonInitializing( )
 		{	
 			int sz = size();
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp
index 532d76d881f..2ae855dbc1f 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp
@@ -22,13 +22,6 @@ subject to the following restrictions:
 
 
 
-template <class T>
-void Swap(T &a,T &b)
-{
-	T tmp = a;
-	a=b;
-	b=tmp;
-}
 
 
 //----------------------------------
@@ -518,7 +511,7 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
 	if(p3==p0||p3==p1||p3==p2) 
 		return int4(-1,-1,-1,-1);
 	btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
-	if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+	if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);}
 	return int4(p0,p1,p2,p3);
 }
 
@@ -570,7 +563,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 	vlimit-=4;
 	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
 	{
-		int3 ti=*te;
+		//int3 ti=*te;
 		int v=te->vmax;
 		btAssert(v != -1);
 		btAssert(!isextreme[v]);  // wtf we've already done this vertex
diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
index 4fd81dac107..3fd77df8da5 100644
--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
@@ -1931,11 +1931,15 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1)
 	}
 }
 
-
-static bool pointCmp(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q)
+class pointCmp
 {
-	return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
-}
+	public:
+
+    bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const
+		{
+			return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z))));
+		}
+};
 
 void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count)
 {
@@ -2026,7 +2030,7 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
 			points[i].index = i;
 		}
 	}
-	points.quickSort(pointCmp);
+	points.quickSort(pointCmp());
 
 	vertexPool.reset();
 	vertexPool.setArraySize(count);
diff --git a/extern/bullet2/src/LinearMath/btDefaultMotionState.h b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
index a6b7ef15ac8..c90b749230c 100644
--- a/extern/bullet2/src/LinearMath/btDefaultMotionState.h
+++ b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
@@ -4,13 +4,15 @@
 #include "btMotionState.h"
 
 ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
-struct	btDefaultMotionState : public btMotionState
+ATTRIBUTE_ALIGNED16(struct)	btDefaultMotionState : public btMotionState
 {
 	btTransform m_graphicsWorldTrans;
 	btTransform	m_centerOfMassOffset;
 	btTransform m_startWorldTrans;
 	void*		m_userPointer;
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
 		: m_graphicsWorldTrans(startTrans),
 		m_centerOfMassOffset(centerOfMassOffset),
diff --git a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h
index d7bd3eb8911..e658c5cf062 100644
--- a/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h
+++ b/extern/bullet2/src/LinearMath/btGrahamScan2dConvexHull.h
@@ -21,9 +21,9 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btAlignedObjectArray.h"
 
-struct GrahamVector2 : public btVector3
+struct GrahamVector3 : public btVector3
 {
-	GrahamVector2(const btVector3& org, int orgIndex)
+	GrahamVector3(const btVector3& org, int orgIndex)
 		:btVector3(org),
 			m_orgIndex(orgIndex)
 	{
@@ -39,7 +39,7 @@ struct btAngleCompareFunc {
 	: m_anchor(anchor) 
 	{
 	}
-	bool operator()(const GrahamVector2& a, const GrahamVector2& b) const {
+	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const {
 		if (a.m_angle != b.m_angle)
 			return a.m_angle < b.m_angle;
 		else
@@ -56,31 +56,38 @@ struct btAngleCompareFunc {
 	}
 };
 
-inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector2>& originalPoints, btAlignedObjectArray<GrahamVector2>& hull)
+inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis)
 {
+	btVector3 axis0,axis1;
+	btPlaneSpace1(normalAxis,axis0,axis1);
+	
+
 	if (originalPoints.size()<=1)
 	{
 		for (int i=0;i<originalPoints.size();i++)
 			hull.push_back(originalPoints[0]);
 		return;
 	}
-	//step1 : find anchor point with smallest x/y and move it to first location
-	//also precompute angles
+	//step1 : find anchor point with smallest projection on axis0 and move it to first location
 	for (int i=0;i<originalPoints.size();i++)
 	{
-		const btVector3& left = originalPoints[i];
-		const btVector3& right = originalPoints[0];
-		if (left.x() < right.x() || !(right.x() < left.x()) && left.y() < right.y())
+//		const btVector3& left = originalPoints[i];
+//		const btVector3& right = originalPoints[0];
+		btScalar projL = originalPoints[i].dot(axis0);
+		btScalar projR = originalPoints[0].dot(axis0);
+		if (projL < projR)
 		{
 			originalPoints.swap(0,i);
 		}
 	}
 
-	for (int i=0;i<originalPoints.size();i++)
+	//also precompute angles
+	originalPoints[0].m_angle = -1e30f;
+	for (int i=1;i<originalPoints.size();i++)
 	{
-		btVector3 xvec(1,0,0);
+		btVector3 xvec = axis0;
 		btVector3 ar = originalPoints[i]-originalPoints[0];
-		originalPoints[i].m_angle = btCross(xvec, ar).dot(btVector3(0,0,1)) / ar.length();
+		originalPoints[i].m_angle = btCross(xvec, ar).dot(normalAxis) / ar.length();
 	}
 
 	//step 2: sort all points, based on 'angle' with this anchor
@@ -98,7 +105,7 @@ inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector2>& original
 		while (!isConvex&& hull.size()>1) {
 			btVector3& a = hull[hull.size()-2];
 			btVector3& b = hull[hull.size()-1];
-			isConvex = btCross(a-b,a-originalPoints[i]).dot(btVector3(0,0,1))> 0;
+			isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
 			if (!isConvex)
 				hull.pop_back();
 			else 
diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h
index 935502f844f..a00d7763a75 100644
--- a/extern/bullet2/src/LinearMath/btIDebugDraw.h
+++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h
@@ -280,6 +280,7 @@ class	btIDebugDraw
 		}
 	}
 	
+  
 	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
 	{
 		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h
index d0234a04369..d4f5c95aa64 100644
--- a/extern/bullet2/src/LinearMath/btMatrix3x3.h
+++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h
@@ -18,6 +18,18 @@ subject to the following restrictions:
 
 #include "btVector3.h"
 #include "btQuaternion.h"
+#include <stdio.h>
+
+#ifdef BT_USE_SSE
+//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
+const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
+#endif
+
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
+#endif
 
 #ifdef BT_USE_DOUBLE_PRECISION
 #define btMatrix3x3Data	btMatrix3x3DoubleData 
@@ -28,7 +40,7 @@ subject to the following restrictions:
 
 /**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
 * Make sure to only include a pure orthogonal matrix without scaling. */
-class btMatrix3x3 {
+ATTRIBUTE_ALIGNED16(class) btMatrix3x3 {
 
 	///Data storage for the matrix, each vector is a row of the matrix
 	btVector3 m_el[3];
@@ -57,6 +69,42 @@ public:
 			yx, yy, yz, 
 			zx, zy, zz);
 	}
+
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+	SIMD_FORCE_INLINE btMatrix3x3 (const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2 ) 
+	{
+        m_el[0].mVec128 = v0;
+        m_el[1].mVec128 = v1;
+        m_el[2].mVec128 = v2;
+	}
+
+	SIMD_FORCE_INLINE btMatrix3x3 (const btVector3& v0, const btVector3& v1, const btVector3& v2 ) 
+	{
+        m_el[0] = v0;
+        m_el[1] = v1;
+        m_el[2] = v2;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& rhs)
+	{
+		m_el[0].mVec128 = rhs.m_el[0].mVec128;
+		m_el[1].mVec128 = rhs.m_el[1].mVec128;
+		m_el[2].mVec128 = rhs.m_el[2].mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m) 
+	{
+		m_el[0].mVec128 = m.m_el[0].mVec128;
+		m_el[1].mVec128 = m.m_el[1].mVec128;
+		m_el[2].mVec128 = m.m_el[2].mVec128;
+		
+		return *this;
+	}
+
+#else
+
 	/** @brief Copy constructor */
 	SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
 	{
@@ -64,6 +112,7 @@ public:
 		m_el[1] = other.m_el[1];
 		m_el[2] = other.m_el[2];
 	}
+    
 	/** @brief Assignment Operator */
 	SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
 	{
@@ -73,6 +122,8 @@ public:
 		return *this;
 	}
 
+#endif
+
 	/** @brief Get a column of the matrix as a vector 
 	*  @param i Column number 0 indexed */
 	SIMD_FORCE_INLINE btVector3 getColumn(int i) const
@@ -155,14 +206,69 @@ public:
 		btScalar d = q.length2();
 		btFullAssert(d != btScalar(0.0));
 		btScalar s = btScalar(2.0) / d;
+    
+    #if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+        __m128	vs, Q = q.get128();
+		__m128i Qi = btCastfTo128i(Q);
+        __m128	Y, Z;
+        __m128	V1, V2, V3;
+        __m128	V11, V21, V31;
+        __m128	NQ = _mm_xor_ps(Q, btvMzeroMask);
+		__m128i NQi = btCastfTo128i(NQ);
+        
+        V1 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,2,3)));	// Y X Z W
+		V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0,0,1,3));     // -X -X  Y  W
+        V3 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(2,1,0,3)));	// Z Y X W
+        V1 = _mm_xor_ps(V1, vMPPP);	//	change the sign of the first element
+			
+        V11	= btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,1,0,3)));	// Y Y X W
+		V21 = _mm_unpackhi_ps(Q, Q);                    //  Z  Z  W  W
+		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0,2,0,3));	//  X  Z -X -W
+
+		V2 = V2 * V1;	//
+		V1 = V1 * V11;	//
+		V3 = V3 * V31;	//
+
+        V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2,3,1,3));	//	-Z -W  Y  W
+		V11 = V11 * V21;	//
+        V21 = _mm_xor_ps(V21, vMPPP);	//	change the sign of the first element
+		V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3,3,1,3));	//	 W  W -Y -W
+        V31 = _mm_xor_ps(V31, vMPPP);	//	change the sign of the first element
+		Y = btCastiTo128f(_mm_shuffle_epi32 (NQi, BT_SHUFFLE(3,2,0,3)));	// -W -Z -X -W
+		Z = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,1,3)));	//  Y  X  Y  W
+
+		vs = _mm_load_ss(&s);
+		V21 = V21 * Y;
+		V31 = V31 * Z;
+
+		V1 = V1 + V11;
+        V2 = V2 + V21;
+        V3 = V3 + V31;
+
+        vs = bt_splat3_ps(vs, 0);
+            //	s ready
+        V1 = V1 * vs;
+        V2 = V2 * vs;
+        V3 = V3 * vs;
+        
+        V1 = V1 + v1000;
+        V2 = V2 + v0100;
+        V3 = V3 + v0010;
+        
+        m_el[0] = V1; 
+        m_el[1] = V2;
+        m_el[2] = V3;
+    #else    
 		btScalar xs = q.x() * s,   ys = q.y() * s,   zs = q.z() * s;
 		btScalar wx = q.w() * xs,  wy = q.w() * ys,  wz = q.w() * zs;
 		btScalar xx = q.x() * xs,  xy = q.x() * ys,  xz = q.x() * zs;
 		btScalar yy = q.y() * ys,  yz = q.y() * zs,  zz = q.z() * zs;
-		setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
+		setValue(
+            btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
 			xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
 			xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
-	}
+	#endif
+    }
 
 
 	/** @brief Set the matrix from euler angles using YPR around YXZ respectively
@@ -205,16 +311,29 @@ public:
 	/**@brief Set the matrix to the identity */
 	void setIdentity()
 	{ 
+#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON)
+			m_el[0] = v1000; 
+			m_el[1] = v0100;
+			m_el[2] = v0010;
+#else
 		setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), 
 			btScalar(0.0), btScalar(1.0), btScalar(0.0), 
 			btScalar(0.0), btScalar(0.0), btScalar(1.0)); 
+#endif
 	}
 
 	static const btMatrix3x3&	getIdentity()
 	{
-		static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0), 
+#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON)
+        static const btMatrix3x3 
+        identityMatrix(v1000, v0100, v0010);
+#else
+		static const btMatrix3x3 
+        identityMatrix(
+            btScalar(1.0), btScalar(0.0), btScalar(0.0), 
 			btScalar(0.0), btScalar(1.0), btScalar(0.0), 
 			btScalar(0.0), btScalar(0.0), btScalar(1.0));
+#endif
 		return identityMatrix;
 	}
 
@@ -222,6 +341,40 @@ public:
 	* @param m The array to be filled */
 	void getOpenGLSubMatrix(btScalar *m) const 
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+        __m128 v0 = m_el[0].mVec128;
+        __m128 v1 = m_el[1].mVec128;
+        __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
+        __m128 *vm = (__m128 *)m;
+        __m128 vT;
+        
+        v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
+        
+        vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
+        v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
+
+        v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
+        v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
+        v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));	// z0 z1 z2 0
+
+        vm[0] = v0;
+        vm[1] = v1;
+        vm[2] = v2;
+#elif defined(BT_USE_NEON)
+        // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+        static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 };
+        float32x4_t *vm = (float32x4_t *)m;
+        float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+        float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
+        float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
+        float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
+        float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
+        float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
+
+        vm[0] = v0;
+        vm[1] = v1;
+        vm[2] = v2;
+#else
 		m[0]  = btScalar(m_el[0].x()); 
 		m[1]  = btScalar(m_el[1].x());
 		m[2]  = btScalar(m_el[2].x());
@@ -234,13 +387,67 @@ public:
 		m[9]  = btScalar(m_el[1].z());
 		m[10] = btScalar(m_el[2].z());
 		m[11] = btScalar(0.0); 
+#endif
 	}
 
 	/**@brief Get the matrix represented as a quaternion 
 	* @param q The quaternion which will be set */
 	void getRotation(btQuaternion& q) const
 	{
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+        btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
+        btScalar s, x;
+        
+        union {
+            btSimdFloat4 vec;
+            btScalar f[4];
+        } temp;
+        
+        if (trace > btScalar(0.0)) 
+        {
+            x = trace + btScalar(1.0);
+
+            temp.f[0]=m_el[2].y() - m_el[1].z();
+            temp.f[1]=m_el[0].z() - m_el[2].x();
+            temp.f[2]=m_el[1].x() - m_el[0].y();
+            temp.f[3]=x;
+            //temp.f[3]= s * btScalar(0.5);
+        } 
+        else 
+        {
+            int i, j, k;
+            if(m_el[0].x() < m_el[1].y()) 
+            { 
+                if( m_el[1].y() < m_el[2].z() )
+                    { i = 2; j = 0; k = 1; }
+                else
+                    { i = 1; j = 2; k = 0; }
+            }
+            else
+            {
+                if( m_el[0].x() < m_el[2].z())
+                    { i = 2; j = 0; k = 1; }
+                else
+                    { i = 0; j = 1; k = 2; }
+            }
+
+            x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0);
+
+            temp.f[3] = (m_el[k][j] - m_el[j][k]);
+            temp.f[j] = (m_el[j][i] + m_el[i][j]);
+            temp.f[k] = (m_el[k][i] + m_el[i][k]);
+            temp.f[i] = x;
+            //temp.f[i] = s * btScalar(0.5);
+        }
+
+        s = btSqrt(x);
+        q.set128(temp.vec);
+        s = btScalar(0.5) / s;
+
+        q *= s;
+#else    
 		btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
+
 		btScalar temp[4];
 
 		if (trace > btScalar(0.0)) 
@@ -270,6 +477,7 @@ public:
 			temp[k] = (m_el[k][i] + m_el[i][k]) * s;
 		}
 		q.setValue(temp[0],temp[1],temp[2],temp[3]);
+#endif
 	}
 
 	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
@@ -376,9 +584,14 @@ public:
 
 	btMatrix3x3 scaled(const btVector3& s) const
 	{
-		return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+		return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
+#else		
+		return btMatrix3x3(
+            m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
 			m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
 			m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
+#endif
 	}
 
 	/**@brief Return the determinant of the matrix */
@@ -527,15 +740,101 @@ public:
 SIMD_FORCE_INLINE btMatrix3x3& 
 btMatrix3x3::operator*=(const btMatrix3x3& m)
 {
-	setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+    __m128 rv00, rv01, rv02;
+    __m128 rv10, rv11, rv12;
+    __m128 rv20, rv21, rv22;
+    __m128 mv0, mv1, mv2;
+
+    rv02 = m_el[0].mVec128;
+    rv12 = m_el[1].mVec128;
+    rv22 = m_el[2].mVec128;
+
+    mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask); 
+    mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask); 
+    mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask); 
+    
+    // rv0
+    rv00 = bt_splat_ps(rv02, 0);
+    rv01 = bt_splat_ps(rv02, 1);
+    rv02 = bt_splat_ps(rv02, 2);
+    
+    rv00 = _mm_mul_ps(rv00, mv0);
+    rv01 = _mm_mul_ps(rv01, mv1);
+    rv02 = _mm_mul_ps(rv02, mv2);
+    
+    // rv1
+    rv10 = bt_splat_ps(rv12, 0);
+    rv11 = bt_splat_ps(rv12, 1);
+    rv12 = bt_splat_ps(rv12, 2);
+    
+    rv10 = _mm_mul_ps(rv10, mv0);
+    rv11 = _mm_mul_ps(rv11, mv1);
+    rv12 = _mm_mul_ps(rv12, mv2);
+    
+    // rv2
+    rv20 = bt_splat_ps(rv22, 0);
+    rv21 = bt_splat_ps(rv22, 1);
+    rv22 = bt_splat_ps(rv22, 2);
+    
+    rv20 = _mm_mul_ps(rv20, mv0);
+    rv21 = _mm_mul_ps(rv21, mv1);
+    rv22 = _mm_mul_ps(rv22, mv2);
+
+    rv00 = _mm_add_ps(rv00, rv01);
+    rv10 = _mm_add_ps(rv10, rv11);
+    rv20 = _mm_add_ps(rv20, rv21);
+
+    m_el[0].mVec128 = _mm_add_ps(rv00, rv02);
+    m_el[1].mVec128 = _mm_add_ps(rv10, rv12);
+    m_el[2].mVec128 = _mm_add_ps(rv20, rv22);
+
+#elif defined(BT_USE_NEON)
+
+    float32x4_t rv0, rv1, rv2;
+    float32x4_t v0, v1, v2;
+    float32x4_t mv0, mv1, mv2;
+
+    v0 = m_el[0].mVec128;
+    v1 = m_el[1].mVec128;
+    v2 = m_el[2].mVec128;
+
+    mv0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); 
+    mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); 
+    mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); 
+    
+    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+    
+    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+    
+    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+
+    m_el[0].mVec128 = rv0;
+    m_el[1].mVec128 = rv1;
+    m_el[2].mVec128 = rv2;
+#else    
+	setValue(
+        m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
 		m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
 		m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
+#endif
 	return *this;
 }
 
 SIMD_FORCE_INLINE btMatrix3x3& 
 btMatrix3x3::operator+=(const btMatrix3x3& m)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+    m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128;
+    m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128;
+    m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128;
+#else
 	setValue(
 		m_el[0][0]+m.m_el[0][0], 
 		m_el[0][1]+m.m_el[0][1],
@@ -546,52 +845,89 @@ btMatrix3x3::operator+=(const btMatrix3x3& m)
 		m_el[2][0]+m.m_el[2][0], 
 		m_el[2][1]+m.m_el[2][1],
 		m_el[2][2]+m.m_el[2][2]);
+#endif
 	return *this;
 }
 
 SIMD_FORCE_INLINE btMatrix3x3
 operator*(const btMatrix3x3& m, const btScalar & k)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+    __m128 vk = bt_splat_ps(_mm_load_ss((float *)&k), 0x80);
+    return btMatrix3x3(
+                _mm_mul_ps(m[0].mVec128, vk), 
+                _mm_mul_ps(m[1].mVec128, vk), 
+                _mm_mul_ps(m[2].mVec128, vk)); 
+#elif defined(BT_USE_NEON)
+    return btMatrix3x3(
+                vmulq_n_f32(m[0].mVec128, k),
+                vmulq_n_f32(m[1].mVec128, k),
+                vmulq_n_f32(m[2].mVec128, k)); 
+#else
 	return btMatrix3x3(
 		m[0].x()*k,m[0].y()*k,m[0].z()*k,
 		m[1].x()*k,m[1].y()*k,m[1].z()*k,
 		m[2].x()*k,m[2].y()*k,m[2].z()*k);
+#endif
 }
 
- SIMD_FORCE_INLINE btMatrix3x3 
+SIMD_FORCE_INLINE btMatrix3x3 
 operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
 	return btMatrix3x3(
-	m1[0][0]+m2[0][0], 
-	m1[0][1]+m2[0][1],
-	m1[0][2]+m2[0][2],
-	m1[1][0]+m2[1][0], 
-	m1[1][1]+m2[1][1],
-	m1[1][2]+m2[1][2],
-	m1[2][0]+m2[2][0], 
-	m1[2][1]+m2[2][1],
-	m1[2][2]+m2[2][2]);
+        m1[0].mVec128 + m2[0].mVec128,
+        m1[1].mVec128 + m2[1].mVec128,
+        m1[2].mVec128 + m2[2].mVec128);
+#else
+	return btMatrix3x3(
+        m1[0][0]+m2[0][0], 
+        m1[0][1]+m2[0][1],
+        m1[0][2]+m2[0][2],
+        
+        m1[1][0]+m2[1][0], 
+        m1[1][1]+m2[1][1],
+        m1[1][2]+m2[1][2],
+        
+        m1[2][0]+m2[2][0], 
+        m1[2][1]+m2[2][1],
+        m1[2][2]+m2[2][2]);
+#endif    
 }
 
 SIMD_FORCE_INLINE btMatrix3x3 
 operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
 	return btMatrix3x3(
-	m1[0][0]-m2[0][0], 
-	m1[0][1]-m2[0][1],
-	m1[0][2]-m2[0][2],
-	m1[1][0]-m2[1][0], 
-	m1[1][1]-m2[1][1],
-	m1[1][2]-m2[1][2],
-	m1[2][0]-m2[2][0], 
-	m1[2][1]-m2[2][1],
-	m1[2][2]-m2[2][2]);
+        m1[0].mVec128 - m2[0].mVec128,
+        m1[1].mVec128 - m2[1].mVec128,
+        m1[2].mVec128 - m2[2].mVec128);
+#else
+	return btMatrix3x3(
+        m1[0][0]-m2[0][0], 
+        m1[0][1]-m2[0][1],
+        m1[0][2]-m2[0][2],
+        
+        m1[1][0]-m2[1][0], 
+        m1[1][1]-m2[1][1],
+        m1[1][2]-m2[1][2],
+        
+        m1[2][0]-m2[2][0], 
+        m1[2][1]-m2[2][1],
+        m1[2][2]-m2[2][2]);
+#endif
 }
 
 
 SIMD_FORCE_INLINE btMatrix3x3& 
 btMatrix3x3::operator-=(const btMatrix3x3& m)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+    m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128;
+    m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128;
+    m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128;
+#else
 	setValue(
 	m_el[0][0]-m.m_el[0][0], 
 	m_el[0][1]-m.m_el[0][1],
@@ -602,6 +938,7 @@ btMatrix3x3::operator-=(const btMatrix3x3& m)
 	m_el[2][0]-m.m_el[2][0], 
 	m_el[2][1]-m.m_el[2][1],
 	m_el[2][2]-m.m_el[2][2]);
+#endif
 	return *this;
 }
 
@@ -616,18 +953,59 @@ btMatrix3x3::determinant() const
 SIMD_FORCE_INLINE btMatrix3x3 
 btMatrix3x3::absolute() const
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+    return btMatrix3x3(
+            _mm_and_ps(m_el[0].mVec128, btvAbsfMask),
+            _mm_and_ps(m_el[1].mVec128, btvAbsfMask),
+            _mm_and_ps(m_el[2].mVec128, btvAbsfMask));
+#elif defined(BT_USE_NEON)
+    return btMatrix3x3(
+            (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask),
+            (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask),
+            (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
+#else	
 	return btMatrix3x3(
-		btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
-		btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
-		btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
+            btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
+            btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
+            btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
+#endif
 }
 
 SIMD_FORCE_INLINE btMatrix3x3 
 btMatrix3x3::transpose() const 
 {
-	return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
-		m_el[0].y(), m_el[1].y(), m_el[2].y(),
-		m_el[0].z(), m_el[1].z(), m_el[2].z());
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+    __m128 v0 = m_el[0].mVec128;
+    __m128 v1 = m_el[1].mVec128;
+    __m128 v2 = m_el[2].mVec128;    //  x2 y2 z2 w2
+    __m128 vT;
+    
+    v2 = _mm_and_ps(v2, btvFFF0fMask);  //  x2 y2 z2 0
+    
+    vT = _mm_unpackhi_ps(v0, v1);	//	z0 z1 * *
+    v0 = _mm_unpacklo_ps(v0, v1);	//	x0 x1 y0 y1
+
+    v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) );	// y0 y1 y2 0
+    v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) );	// x0 x1 x2 0
+    v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT)));	// z0 z1 z2 0
+
+
+    return btMatrix3x3( v0, v1, v2 );
+#elif defined(BT_USE_NEON)
+    // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions.
+    static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 };
+    float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 );  // {x0 x1 z0 z1}, {y0 y1 w0 w1}
+    float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) );       // {x2  0 }, {y2 0}
+    float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] );
+    float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] );
+    float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask );
+    float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q );       // z0 z1 z2  0
+    return btMatrix3x3( v0, v1, v2 ); 
+#else
+	return btMatrix3x3( m_el[0].x(), m_el[1].x(), m_el[2].x(),
+                        m_el[0].y(), m_el[1].y(), m_el[2].y(),
+                        m_el[0].z(), m_el[1].z(), m_el[2].z());
+#endif
 }
 
 SIMD_FORCE_INLINE btMatrix3x3 
@@ -653,7 +1031,47 @@ btMatrix3x3::inverse() const
 SIMD_FORCE_INLINE btMatrix3x3 
 btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
 {
-	return btMatrix3x3(
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+    // zeros w
+//    static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL };
+    __m128 row = m_el[0].mVec128;
+    __m128 m0 = _mm_and_ps( m.getRow(0).mVec128, btvFFF0fMask );
+    __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, btvFFF0fMask);
+    __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, btvFFF0fMask );
+    __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0));
+    __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55));
+    __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa));
+    row = m_el[1].mVec128;
+    r0 = _mm_add_ps( r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0)));
+    r1 = _mm_add_ps( r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55)));
+    r2 = _mm_add_ps( r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa)));
+    row = m_el[2].mVec128;
+    r0 = _mm_add_ps( r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0)));
+    r1 = _mm_add_ps( r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55)));
+    r2 = _mm_add_ps( r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa)));
+    return btMatrix3x3( r0, r1, r2 );
+
+#elif defined BT_USE_NEON
+    // zeros w
+    static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 };
+    float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask );
+    float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask );
+    float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask );
+    float32x4_t row = m_el[0].mVec128;
+    float32x4_t r0 = vmulq_lane_f32( m0, vget_low_f32(row), 0);
+    float32x4_t r1 = vmulq_lane_f32( m0, vget_low_f32(row), 1);
+    float32x4_t r2 = vmulq_lane_f32( m0, vget_high_f32(row), 0);
+    row = m_el[1].mVec128;
+    r0 = vmlaq_lane_f32( r0, m1, vget_low_f32(row), 0);
+    r1 = vmlaq_lane_f32( r1, m1, vget_low_f32(row), 1);
+    r2 = vmlaq_lane_f32( r2, m1, vget_high_f32(row), 0);
+    row = m_el[2].mVec128;
+    r0 = vmlaq_lane_f32( r0, m2, vget_low_f32(row), 0);
+    r1 = vmlaq_lane_f32( r1, m2, vget_low_f32(row), 1);
+    r2 = vmlaq_lane_f32( r2, m2, vget_high_f32(row), 0);
+    return btMatrix3x3( r0, r1, r2 );
+#else
+    return btMatrix3x3(
 		m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
 		m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
 		m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
@@ -663,38 +1081,196 @@ btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
 		m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
 		m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
 		m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
+#endif
 }
 
 SIMD_FORCE_INLINE btMatrix3x3 
 btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+    __m128 a0 = m_el[0].mVec128;
+    __m128 a1 = m_el[1].mVec128;
+    __m128 a2 = m_el[2].mVec128;
+    
+    btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
+    __m128 mx = mT[0].mVec128;
+    __m128 my = mT[1].mVec128;
+    __m128 mz = mT[2].mVec128;
+    
+    __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00));
+    __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00));
+    __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00));
+    r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55)));
+    r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55)));
+    r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55)));
+    r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa)));
+    r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa)));
+    r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa)));
+    return btMatrix3x3( r0, r1, r2);
+            
+#elif defined BT_USE_NEON
+    float32x4_t a0 = m_el[0].mVec128;
+    float32x4_t a1 = m_el[1].mVec128;
+    float32x4_t a2 = m_el[2].mVec128;
+    
+    btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here
+    float32x4_t mx = mT[0].mVec128;
+    float32x4_t my = mT[1].mVec128;
+    float32x4_t mz = mT[2].mVec128;
+    
+    float32x4_t r0 = vmulq_lane_f32( mx, vget_low_f32(a0), 0);
+    float32x4_t r1 = vmulq_lane_f32( mx, vget_low_f32(a1), 0);
+    float32x4_t r2 = vmulq_lane_f32( mx, vget_low_f32(a2), 0);
+    r0 = vmlaq_lane_f32( r0, my, vget_low_f32(a0), 1);
+    r1 = vmlaq_lane_f32( r1, my, vget_low_f32(a1), 1);
+    r2 = vmlaq_lane_f32( r2, my, vget_low_f32(a2), 1);
+    r0 = vmlaq_lane_f32( r0, mz, vget_high_f32(a0), 0);
+    r1 = vmlaq_lane_f32( r1, mz, vget_high_f32(a1), 0);
+    r2 = vmlaq_lane_f32( r2, mz, vget_high_f32(a2), 0);
+    return btMatrix3x3( r0, r1, r2 );
+    
+#else
 	return btMatrix3x3(
 		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]));
-
+#endif
 }
 
 SIMD_FORCE_INLINE btVector3 
 operator*(const btMatrix3x3& m, const btVector3& v) 
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
+    return v.dot3(m[0], m[1], m[2]);
+#else
 	return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
+#endif
 }
 
 
 SIMD_FORCE_INLINE btVector3
 operator*(const btVector3& v, const btMatrix3x3& m)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+
+    const __m128 vv = v.mVec128;
+
+    __m128 c0 = bt_splat_ps( vv, 0);
+    __m128 c1 = bt_splat_ps( vv, 1);
+    __m128 c2 = bt_splat_ps( vv, 2);
+
+    c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask) );
+    c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask) );
+    c0 = _mm_add_ps(c0, c1);
+    c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask) );
+    
+    return btVector3(_mm_add_ps(c0, c2));
+#elif defined(BT_USE_NEON)
+    const float32x4_t vv = v.mVec128;
+    const float32x2_t vlo = vget_low_f32(vv);
+    const float32x2_t vhi = vget_high_f32(vv);
+
+    float32x4_t c0, c1, c2;
+
+    c0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask);
+    c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask);
+    c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask);
+
+    c0 = vmulq_lane_f32(c0, vlo, 0);
+    c1 = vmulq_lane_f32(c1, vlo, 1);
+    c2 = vmulq_lane_f32(c2, vhi, 0);
+    c0 = vaddq_f32(c0, c1);
+    c0 = vaddq_f32(c0, c2);
+    
+    return btVector3(c0);
+#else
 	return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
+#endif
 }
 
 SIMD_FORCE_INLINE btMatrix3x3 
 operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+
+    __m128 m10 = m1[0].mVec128;  
+    __m128 m11 = m1[1].mVec128;
+    __m128 m12 = m1[2].mVec128;
+    
+    __m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask);
+    
+    __m128 c0 = bt_splat_ps( m10, 0);
+    __m128 c1 = bt_splat_ps( m11, 0);
+    __m128 c2 = bt_splat_ps( m12, 0);
+    
+    c0 = _mm_mul_ps(c0, m2v);
+    c1 = _mm_mul_ps(c1, m2v);
+    c2 = _mm_mul_ps(c2, m2v);
+    
+    m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask);
+    
+    __m128 c0_1 = bt_splat_ps( m10, 1);
+    __m128 c1_1 = bt_splat_ps( m11, 1);
+    __m128 c2_1 = bt_splat_ps( m12, 1);
+    
+    c0_1 = _mm_mul_ps(c0_1, m2v);
+    c1_1 = _mm_mul_ps(c1_1, m2v);
+    c2_1 = _mm_mul_ps(c2_1, m2v);
+    
+    m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask);
+    
+    c0 = _mm_add_ps(c0, c0_1);
+    c1 = _mm_add_ps(c1, c1_1);
+    c2 = _mm_add_ps(c2, c2_1);
+    
+    m10 = bt_splat_ps( m10, 2);
+    m11 = bt_splat_ps( m11, 2);
+    m12 = bt_splat_ps( m12, 2);
+    
+    m10 = _mm_mul_ps(m10, m2v);
+    m11 = _mm_mul_ps(m11, m2v);
+    m12 = _mm_mul_ps(m12, m2v);
+    
+    c0 = _mm_add_ps(c0, m10);
+    c1 = _mm_add_ps(c1, m11);
+    c2 = _mm_add_ps(c2, m12);
+    
+    return btMatrix3x3(c0, c1, c2);
+
+#elif defined(BT_USE_NEON)
+
+    float32x4_t rv0, rv1, rv2;
+    float32x4_t v0, v1, v2;
+    float32x4_t mv0, mv1, mv2;
+
+    v0 = m1[0].mVec128;
+    v1 = m1[1].mVec128;
+    v2 = m1[2].mVec128;
+
+    mv0 = (float32x4_t) vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask); 
+    mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask); 
+    mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask); 
+    
+    rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0);
+    rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0);
+    rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0);
+    
+    rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1);
+    rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1);
+    rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1);
+    
+    rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0);
+    rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0);
+    rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0);
+
+	return btMatrix3x3(rv0, rv1, rv2);
+        
+#else	
 	return btMatrix3x3(
 		m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
 		m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
 		m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
+#endif
 }
 
 /*
@@ -716,9 +1292,24 @@ m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
 * It will test all elements are equal.  */
 SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
 {
-	return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+
+    __m128 c0, c1, c2;
+
+    c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128);
+    c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128);
+    c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128);
+    
+    c0 = _mm_and_ps(c0, c1);
+    c0 = _mm_and_ps(c0, c2);
+
+    return (0x7 == _mm_movemask_ps((__m128)c0));
+#else 
+	return 
+    (   m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
 		m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
 		m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+#endif
 }
 
 ///for serialization
diff --git a/extern/bullet2/src/LinearMath/btPolarDecomposition.cpp b/extern/bullet2/src/LinearMath/btPolarDecomposition.cpp
new file mode 100644
index 00000000000..a4dca7fdd40
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btPolarDecomposition.cpp
@@ -0,0 +1,99 @@
+#include "btPolarDecomposition.h"
+#include "btMinMax.h"
+
+namespace
+{
+  btScalar abs_column_sum(const btMatrix3x3& a, int i)
+  {
+    return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
+  }
+
+  btScalar abs_row_sum(const btMatrix3x3& a, int i)
+  {
+    return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
+  }
+
+  btScalar p1_norm(const btMatrix3x3& a)
+  {
+    const btScalar sum0 = abs_column_sum(a,0);
+    const btScalar sum1 = abs_column_sum(a,1);
+    const btScalar sum2 = abs_column_sum(a,2);
+    return btMax(btMax(sum0, sum1), sum2);
+  }
+
+  btScalar pinf_norm(const btMatrix3x3& a)
+  {
+    const btScalar sum0 = abs_row_sum(a,0);
+    const btScalar sum1 = abs_row_sum(a,1);
+    const btScalar sum2 = abs_row_sum(a,2);
+    return btMax(btMax(sum0, sum1), sum2);
+  }
+}
+
+const btScalar btPolarDecomposition::DEFAULT_TOLERANCE = btScalar(0.0001);
+const unsigned int btPolarDecomposition::DEFAULT_MAX_ITERATIONS = 16;
+
+btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
+: m_tolerance(tolerance)
+, m_maxIterations(maxIterations)
+{
+}
+
+unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
+{
+  // Use the 'u' and 'h' matrices for intermediate calculations
+  u = a;
+  h = a.inverse();
+
+  for (unsigned int i = 0; i < m_maxIterations; ++i)
+  {
+    const btScalar h_1 = p1_norm(h);
+    const btScalar h_inf = pinf_norm(h);
+    const btScalar u_1 = p1_norm(u);
+    const btScalar u_inf = pinf_norm(u);
+
+    const btScalar h_norm = h_1 * h_inf;
+    const btScalar u_norm = u_1 * u_inf;
+
+    // The matrix is effectively singular so we cannot invert it
+    if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
+      break;
+
+    const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
+    const btScalar inv_gamma = btScalar(1.0) / gamma;
+
+    // Determine the delta to 'u'
+    const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5);
+
+    // Update the matrices
+    u += delta;
+    h = u.inverse();
+
+    // Check for convergence
+    if (p1_norm(delta) <= m_tolerance * u_1)
+    {
+      h = u.transpose() * a;
+      h = (h + h.transpose()) * 0.5;
+      return i;
+    }
+  }
+
+  // The algorithm has failed to converge to the specified tolerance, but we
+  // want to make sure that the matrices returned are in the right form.
+  h = u.transpose() * a;
+  h = (h + h.transpose()) * 0.5;
+
+  return m_maxIterations;
+}
+
+unsigned int btPolarDecomposition::maxIterations() const
+{
+  return m_maxIterations;
+}
+
+unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
+{
+  static btPolarDecomposition polar;
+  return polar.decompose(a, u, h);
+}
+
diff --git a/extern/bullet2/src/LinearMath/btPolarDecomposition.h b/extern/bullet2/src/LinearMath/btPolarDecomposition.h
new file mode 100644
index 00000000000..56156676415
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btPolarDecomposition.h
@@ -0,0 +1,73 @@
+#ifndef POLARDECOMPOSITION_H
+#define POLARDECOMPOSITION_H
+
+#include "btMatrix3x3.h"
+
+/**
+ * This class is used to compute the polar decomposition of a matrix. In
+ * general, the polar decomposition factorizes a matrix, A, into two parts: a
+ * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
+ * However, in this particular implementation the original matrix, A, is
+ * required to be a square 3x3 matrix with real elements. This means that U will
+ * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
+ */
+class btPolarDecomposition
+{
+  public:
+    static const btScalar DEFAULT_TOLERANCE;
+    static const unsigned int DEFAULT_MAX_ITERATIONS;
+
+    /**
+     * Creates an instance with optional parameters.
+     *
+     * @param tolerance     - the tolerance used to determine convergence of the
+     *                        algorithm
+     * @param maxIterations - the maximum number of iterations used to achieve
+     *                        convergence
+     */
+    btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, 
+      unsigned int maxIterations = DEFAULT_MAX_ITERATIONS);
+
+    /**
+     * Decomposes a matrix into orthogonal and symmetric, positive-definite
+     * parts. If the number of iterations returned by this function is equal to
+     * the maximum number of iterations, the algorithm has failed to converge.
+     *
+     * @param a - the original matrix
+     * @param u - the resulting orthogonal matrix
+     * @param h - the resulting symmetric matrix
+     *
+     * @return the number of iterations performed by the algorithm.
+     */
+    unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; 
+
+    /**
+     * Returns the maximum number of iterations that this algorithm will perform
+     * to achieve convergence.
+     *
+     * @return maximum number of iterations
+     */
+    unsigned int maxIterations() const;
+
+  private:
+    btScalar m_tolerance;
+    unsigned int m_maxIterations;
+};
+
+/**
+ * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
+ * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
+ * iterations returned by this function is equal to
+ * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
+ * converge.
+ *
+ * @param a - the original matrix
+ * @param u - the resulting orthogonal matrix
+ * @param h - the resulting symmetric matrix
+ *
+ * @return the number of iterations performed by the algorithm.
+ */
+unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); 
+
+#endif // POLARDECOMPOSITION_H
+
diff --git a/extern/bullet2/src/LinearMath/btQuadWord.h b/extern/bullet2/src/LinearMath/btQuadWord.h
index d5e9daa45a2..11067ef47d9 100644
--- a/extern/bullet2/src/LinearMath/btQuadWord.h
+++ b/extern/bullet2/src/LinearMath/btQuadWord.h
@@ -20,6 +20,9 @@ subject to the following restrictions:
 #include "btMinMax.h"
 
 
+
+
+
 #if defined (__CELLOS_LV2) && defined (__SPU__)
 #include <altivec.h>
 #endif
@@ -47,11 +50,53 @@ public:
 	}
 protected:
 #else //__CELLOS_LV2__ __SPU__
+
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON) 
+	union {
+		btSimdFloat4 mVec128;
+		btScalar	m_floats[4];
+	};
+public:
+	SIMD_FORCE_INLINE	btSimdFloat4	get128() const
+	{
+		return mVec128;
+	}
+	SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
+	{
+		mVec128 = v128;
+	}
+#else
 	btScalar	m_floats[4];
+#endif // BT_USE_SSE
+
 #endif //__CELLOS_LV2__ __SPU__
 
 	public:
   
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
+
+	// Set Vector 
+	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btQuadWord& 
+	operator=(const btQuadWord& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
 
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
@@ -60,13 +105,13 @@ protected:
   /**@brief Return the z value */
 		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
   /**@brief Set the x value */
-		SIMD_FORCE_INLINE void	setX(btScalar x) { m_floats[0] = x;};
+		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
   /**@brief Set the y value */
-		SIMD_FORCE_INLINE void	setY(btScalar y) { m_floats[1] = y;};
+		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
   /**@brief Set the z value */
-		SIMD_FORCE_INLINE void	setZ(btScalar z) { m_floats[2] = z;};
+		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
   /**@brief Set the w value */
-		SIMD_FORCE_INLINE void	setW(btScalar w) { m_floats[3] = w;};
+		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
   /**@brief Return the y value */
@@ -84,7 +129,14 @@ protected:
 
 	SIMD_FORCE_INLINE	bool	operator==(const btQuadWord& other) const
 	{
-		return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
+#ifdef BT_USE_SSE
+        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else 
+		return ((m_floats[3]==other.m_floats[3]) && 
+                (m_floats[2]==other.m_floats[2]) && 
+                (m_floats[1]==other.m_floats[1]) && 
+                (m_floats[0]==other.m_floats[0]));
+#endif
 	}
 
 	SIMD_FORCE_INLINE	bool	operator!=(const btQuadWord& other) const
@@ -97,11 +149,11 @@ protected:
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
+		SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
 		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
 			m_floats[3] = 0.f;
 		}
 
@@ -118,12 +170,12 @@ protected:
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE void	setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
+		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
 		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
-			m_floats[3]=w;
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3]=_w;
 		}
   /**@brief No initialization constructor */
 		SIMD_FORCE_INLINE btQuadWord()
@@ -136,9 +188,9 @@ protected:
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z)		
+		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)		
 		{
-			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = 0.0f;
+			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
 		}
 
 /**@brief Initializing constructor
@@ -147,9 +199,9 @@ protected:
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
+		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
 		{
-			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = w;
+			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
 		}
 
   /**@brief Set each element to the max of the current values and the values of another btQuadWord
@@ -157,21 +209,33 @@ protected:
    */
 		SIMD_FORCE_INLINE void	setMax(const btQuadWord& other)
 		{
-			btSetMax(m_floats[0], other.m_floats[0]);
+        #ifdef BT_USE_SSE
+            mVec128 = _mm_max_ps(mVec128, other.mVec128);
+        #elif defined(BT_USE_NEON)
+            mVec128 = vmaxq_f32(mVec128, other.mVec128);
+        #else
+        	btSetMax(m_floats[0], other.m_floats[0]);
 			btSetMax(m_floats[1], other.m_floats[1]);
 			btSetMax(m_floats[2], other.m_floats[2]);
 			btSetMax(m_floats[3], other.m_floats[3]);
-		}
+		#endif
+        }
   /**@brief Set each element to the min of the current values and the values of another btQuadWord
    * @param other The other btQuadWord to compare with 
    */
 		SIMD_FORCE_INLINE void	setMin(const btQuadWord& other)
 		{
-			btSetMin(m_floats[0], other.m_floats[0]);
+        #ifdef BT_USE_SSE
+            mVec128 = _mm_min_ps(mVec128, other.mVec128);
+        #elif defined(BT_USE_NEON)
+            mVec128 = vminq_f32(mVec128, other.mVec128);
+        #else
+        	btSetMin(m_floats[0], other.m_floats[0]);
 			btSetMin(m_floats[1], other.m_floats[1]);
 			btSetMin(m_floats[2], other.m_floats[2]);
 			btSetMin(m_floats[3], other.m_floats[3]);
-		}
+		#endif
+        }
 
 
 
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h
index ee79f6eaeee..7d7f25fb4d3 100644
--- a/extern/bullet2/src/LinearMath/btQuaternion.h
+++ b/extern/bullet2/src/LinearMath/btQuaternion.h
@@ -21,24 +21,65 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btQuadWord.h"
 
+
+
+
+
+#ifdef BT_USE_SSE
+
+const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
+
+#endif
+
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
+
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
+
+#endif
+
 /**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
 class btQuaternion : public btQuadWord {
 public:
   /**@brief No initialization constructor */
 	btQuaternion() {}
 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))|| defined(BT_USE_NEON) 
+	// Set Vector 
+	SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btQuaternion& 
+	operator=(const btQuaternion& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
+
 	//		template <typename btScalar>
 	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
   /**@brief Constructor from scalars */
-	btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w) 
-		: btQuadWord(x, y, z, w) 
+	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w) 
+		: btQuadWord(_x, _y, _z, _w) 
 	{}
   /**@brief Axis angle Constructor
    * @param axis The axis which the rotation is around
    * @param angle The magnitude of the rotation around the angle (Radians) */
-	btQuaternion(const btVector3& axis, const btScalar& angle) 
+	btQuaternion(const btVector3& _axis, const btScalar& _angle) 
 	{ 
-		setRotation(axis, angle); 
+		setRotation(_axis, _angle); 
 	}
   /**@brief Constructor from Euler angles
    * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
@@ -55,13 +96,13 @@ public:
   /**@brief Set the rotation using axis angle notation 
    * @param axis The axis around which to rotate
    * @param angle The magnitude of the rotation in Radians */
-	void setRotation(const btVector3& axis, const btScalar& angle)
+	void setRotation(const btVector3& axis, const btScalar& _angle)
 	{
 		btScalar d = axis.length();
 		btAssert(d != btScalar(0.0));
-		btScalar s = btSin(angle * btScalar(0.5)) / d;
+		btScalar s = btSin(_angle * btScalar(0.5)) / d;
 		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
-			btCos(angle * btScalar(0.5)));
+			btCos(_angle * btScalar(0.5)));
 	}
   /**@brief Set the quaternion using Euler angles
    * @param yaw Angle around Y
@@ -107,7 +148,16 @@ public:
    * @param q The quaternion to add to this one */
 	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
 	{
-		m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_add_ps(mVec128, q.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vaddq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] += q.x(); 
+        m_floats[1] += q.y(); 
+        m_floats[2] += q.z(); 
+        m_floats[3] += q.m_floats[3];
+#endif
 		return *this;
 	}
 
@@ -115,15 +165,35 @@ public:
    * @param q The quaternion to subtract from this one */
 	btQuaternion& operator-=(const btQuaternion& q) 
 	{
-		m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3];
-		return *this;
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vsubq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] -= q.x(); 
+        m_floats[1] -= q.y(); 
+        m_floats[2] -= q.z(); 
+        m_floats[3] -= q.m_floats[3];
+#endif
+        return *this;
 	}
 
   /**@brief Scale this quaternion
    * @param s The scalar to scale by */
 	btQuaternion& operator*=(const btScalar& s)
 	{
-		m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s;
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0);	//	(S S S S)
+		mVec128 = _mm_mul_ps(mVec128, vs);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmulq_n_f32(mVec128, s);
+#else
+		m_floats[0] *= s; 
+        m_floats[1] *= s; 
+        m_floats[2] *= s; 
+        m_floats[3] *= s;
+#endif
 		return *this;
 	}
 
@@ -132,17 +202,111 @@ public:
    * Equivilant to this = this * q */
 	btQuaternion& operator*=(const btQuaternion& q)
 	{
-		setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128 vQ2 = q.get128();
+		
+		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0,1,2,0));
+		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));
+		
+		A1 = A1 * B1;
+		
+		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1,2,0,1));
+		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+		
+		A2 = A2 * B2;
+		
+		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2,0,1,2));
+		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+		
+		B1 = B1 * B2;	//	A3 *= B3
+		
+		mVec128 = bt_splat_ps(mVec128, 3);	//	A0
+		mVec128 = mVec128 * vQ2;	//	A0 * B0
+		
+		A1 = A1 + A2;	//	AB12
+		mVec128 = mVec128 - B1;	//	AB03 = AB0 - AB3 
+		A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+		mVec128 = mVec128+ A1;	//	AB03 + AB12
+
+#elif defined(BT_USE_NEON)     
+
+        float32x4_t vQ1 = mVec128;
+        float32x4_t vQ2 = q.get128();
+        float32x4_t A0, A1, B1, A2, B2, A3, B3;
+        float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+        
+        {
+        float32x2x2_t tmp;
+        tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+        vQ1zx = tmp.val[0];
+
+        tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+        vQ2zx = tmp.val[0];
+        }
+        vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+        vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+        vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+        vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+        A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+        B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+        A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+        B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+        A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+        B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+        A1 = vmulq_f32(A1, B1);
+        A2 = vmulq_f32(A2, B2);
+        A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+        A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
+
+        A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+        A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
+        
+        //	change the sign of the last element
+        A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+        A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+        
+        mVec128 = A0;
+#else
+		setValue(
+            m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
 			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
 			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
 			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
+#endif
 		return *this;
 	}
   /**@brief Return the dot product between this quaternion and another
    * @param q The other quaternion */
 	btScalar dot(const btQuaternion& q) const
 	{
-		return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3];
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vd;
+		
+		vd = _mm_mul_ps(mVec128, q.mVec128);
+		
+        __m128 t = _mm_movehl_ps(vd, vd);
+		vd = _mm_add_ps(vd, t);
+		t = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, t);
+		
+        return _mm_cvtss_f32(vd);
+#elif defined(BT_USE_NEON)
+		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));  
+		x = vpadd_f32(x, x);
+		return vget_lane_f32(x, 0);
+#else    
+		return  m_floats[0] * q.x() + 
+                m_floats[1] * q.y() + 
+                m_floats[2] * q.z() + 
+                m_floats[3] * q.m_floats[3];
+#endif
 	}
 
   /**@brief Return the length squared of the quaternion */
@@ -161,7 +325,25 @@ public:
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
 	btQuaternion& normalize() 
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vd;
+		
+		vd = _mm_mul_ps(mVec128, mVec128);
+		
+        __m128 t = _mm_movehl_ps(vd, vd);
+		vd = _mm_add_ps(vd, t);
+		t = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, t);
+
+		vd = _mm_sqrt_ss(vd);
+		vd = _mm_div_ss(vOnes, vd);
+        vd = bt_pshufd_ps(vd, 0); // splat
+		mVec128 = _mm_mul_ps(mVec128, vd);
+    
+		return *this;
+#else    
 		return *this /= length();
+#endif
 	}
 
   /**@brief Return a scaled version of this quaternion
@@ -169,10 +351,18 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator*(const btScalar& s) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
+		
+		return btQuaternion(_mm_mul_ps(mVec128, vs));
+#elif defined(BT_USE_NEON)
+		return btQuaternion(vmulq_n_f32(mVec128, s));
+#else
 		return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
+#endif
 	}
 
-
   /**@brief Return an inversely scaled versionof this quaternion
    * @param s The inverse scale factor */
 	btQuaternion operator/(const btScalar& s) const
@@ -223,7 +413,13 @@ public:
 	/**@brief Return the inverse of this quaternion */
 	btQuaternion inverse() const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_xor_ps(mVec128, vQInv));
+#elif defined(BT_USE_NEON)
+        return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
+#else	
 		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
+#endif
 	}
 
   /**@brief Return the sum of this quaternion and the other 
@@ -231,8 +427,14 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator+(const btQuaternion& q2) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_add_ps(mVec128, q2.mVec128));
+#elif defined(BT_USE_NEON)
+        return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
+#else	
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
+#endif
 	}
 
   /**@brief Return the difference between this quaternion and the other 
@@ -240,16 +442,28 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator-(const btQuaternion& q2) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128));
+#elif defined(BT_USE_NEON)
+        return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
+#else	
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
+#endif
 	}
 
   /**@brief Return the negative of this quaternion 
    * This simply negates each element */
 	SIMD_FORCE_INLINE btQuaternion operator-() const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask));
+#elif defined(BT_USE_NEON)
+		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) );
+#else	
 		const btQuaternion& q2 = *this;
 		return btQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2.m_floats[3]);
+#endif
 	}
   /**@todo document this and it's use */
 	SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const 
@@ -284,7 +498,7 @@ public:
 	  btAssert(magnitude > btScalar(0));
 
     btScalar product = dot(q) / magnitude;
-    if (btFabs(product) != btScalar(1))
+    if (btFabs(product) < btScalar(1))
 		{
       // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
       const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
@@ -323,29 +537,257 @@ public:
 
 /**@brief Return the product of two quaternions */
 SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q1, const btQuaternion& q2) {
-	return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
+operator*(const btQuaternion& q1, const btQuaternion& q2) 
+{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = q1.get128();
+	__m128 vQ2 = q2.get128();
+	__m128 A0, A1, B1, A2, B2;
+    
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y  z x     //      vtrn
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W  W X     // vdup vext
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); // Y Z  X Y     // vext 
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); // z x  Y Y     // vtrn vdup
+
+	A2 = A2 * B2;
+
+	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); // z x Y Z      // vtrn vext
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); // Y Z x z      // vext vtrn
+	
+	B1 = B1 * B2;	//	A3 *= B3
+
+	A0 = bt_splat_ps(vQ1, 3);	//	A0
+	A0 = A0 * vQ2;	//	A0 * B0
+
+	A1 = A1 + A2;	//	AB12
+	A0 =  A0 - B1;	//	AB03 = AB0 - AB3 
+	
+    A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+	A0 = A0 + A1;	//	AB03 + AB12
+	
+	return btQuaternion(A0);
+
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = q1.get128();
+	float32x4_t vQ2 = q2.get128();
+	float32x4_t A0, A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+    
+    {
+    float32x2x2_t tmp;
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+    }
+    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+	
+	return btQuaternion(A0);
+
+#else
+	return btQuaternion(
+        q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
 		q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
 		q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
 		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); 
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btQuaternion& q, const btVector3& w)
 {
-	return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
-		q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
-		q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = q.get128();
+	__m128 vQ2 = w.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3,3,3,0));
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0,1,2,0));
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+
+	A2 = A2 * B2;
+
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+    A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return btQuaternion(A1);
+    
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = q.get128();
+	float32x4_t vQ2 = w.get128();
+	float32x4_t A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
+    
+    vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); 
+    {
+    float32x2x2_t tmp;
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+    }
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W  W X 
+    B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                    // X Y  z x 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return btQuaternion(A1);
+    
+#else
+	return btQuaternion( 
+         q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
+		 q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
+		 q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
 		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); 
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btVector3& w, const btQuaternion& q)
 {
-	return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
-		w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
-		w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = w.get128();
+	__m128 vQ2 = q.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0));  // X Y  z x
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));  // W W  W X 
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+
+	A2 = A2 *B2;
+
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+	A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return btQuaternion(A1);
+
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = w.get128();
+	float32x4_t vQ2 = q.get128();
+	float32x4_t  A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+    
+    {
+    float32x2x2_t tmp;
+   
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+    }
+    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return btQuaternion(A1);
+    
+#else
+	return btQuaternion( 
+        +w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
+		+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
+		+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
 		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
+#endif
 }
 
 /**@brief Calculate the dot product between two quaternions */
@@ -365,7 +807,7 @@ length(const btQuaternion& q)
 
 /**@brief Return the angle between two quaternions*/
 SIMD_FORCE_INLINE btScalar
-angle(const btQuaternion& q1, const btQuaternion& q2) 
+btAngle(const btQuaternion& q1, const btQuaternion& q2) 
 { 
 	return q1.angle(q2); 
 }
@@ -393,7 +835,13 @@ quatRotate(const btQuaternion& rotation, const btVector3& v)
 {
 	btQuaternion q = rotation * v;
 	q *= rotation.inverse();
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask));
+#elif defined(BT_USE_NEON)
+    return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
+#else	
 	return btVector3(q.getX(),q.getY(),q.getZ());
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion 
@@ -427,4 +875,3 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
 
 
 
-
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index ecae972243c..aaa1d6de6b4 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 280
+#define BT_BULLET_VERSION 281
 
 inline int	btGetVersion()
 {
@@ -68,7 +68,20 @@ inline int	btGetVersion()
 		#else
 
 #if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
+			#if _MSC_VER>1400
+				#define BT_USE_SIMD_VECTOR3
+			#endif
+
 			#define BT_USE_SSE
+			#ifdef BT_USE_SSE
+			//BT_USE_SSE_IN_API is disabled under Windows by default, because 
+			//it makes it harder to integrate Bullet into your application under Windows 
+			//(structured embedding Bullet structs/classes need to be 16-byte aligned)
+			//with relatively little performance gain
+			//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
+			//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
+			//#define BT_USE_SSE_IN_API
+			#endif //BT_USE_SSE
 			#include <emmintrin.h>
 #endif
 
@@ -76,9 +89,14 @@ inline int	btGetVersion()
 
 		#endif //__MINGW32__
 
-		#include <assert.h>
 #ifdef BT_DEBUG
+	#ifdef _MSC_VER
+		#include <stdio.h>
+		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+	#else//_MSC_VER
+		#include <assert.h>
 		#define btAssert assert
+	#endif//_MSC_VER
 #else
 		#define btAssert(x)
 #endif
@@ -143,11 +161,37 @@ inline int	btGetVersion()
 #else
 	//non-windows systems
 
-#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
-	#define BT_USE_SSE
-	#include <emmintrin.h>
+#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION)))
+    #if defined (__i386__) || defined (__x86_64__)
+		#define BT_USE_SIMD_VECTOR3
+		#define BT_USE_SSE
+		//BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
+		//if apps run into issues, we will disable the next line
+		#define BT_USE_SSE_IN_API
+        #ifdef BT_USE_SSE
+            // include appropriate SSE level
+            #if defined (__SSE4_1__)
+                #include <smmintrin.h>
+            #elif defined (__SSSE3__)
+                #include <tmmintrin.h>
+            #elif defined (__SSE3__)
+                #include <pmmintrin.h>
+            #else
+                #include <emmintrin.h>
+            #endif
+        #endif //BT_USE_SSE
+    #elif defined( __armv7__ )
+        #ifdef __clang__
+            #define BT_USE_NEON 1
+			#define BT_USE_SIMD_VECTOR3
+		
+            #if defined BT_USE_NEON && defined (__clang__)
+                #include <arm_neon.h>
+            #endif//BT_USE_NEON
+       #endif //__clang__
+    #endif//__arm__
 
-	#define SIMD_FORCE_INLINE inline
+	#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
 ///@todo: check out alignment methods for other platforms/compilers
 	#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
 	#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
@@ -157,10 +201,22 @@ inline int	btGetVersion()
 	#endif
 
 	#if defined(DEBUG) || defined (_DEBUG)
+	 #if defined (__i386__) || defined (__x86_64__)
+	#include <stdio.h>
+	 #define btAssert(x)\
+	{\
+	if(!(x))\
+	{\
+		printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
+		asm volatile ("int3");\
+	}\
+	}
+	#else//defined (__i386__) || defined (__x86_64__)
 		#define btAssert assert
-	#else
+	#endif//defined (__i386__) || defined (__x86_64__)
+	#else//defined(DEBUG) || defined (_DEBUG)
 		#define btAssert(x)
-	#endif
+	#endif//defined(DEBUG) || defined (_DEBUG)
 
 	//btFullAssert is optional, slows down a lot
 	#define btFullAssert(x)
@@ -210,6 +266,70 @@ typedef float btScalar;
 #define BT_LARGE_FLOAT 1e18f
 #endif
 
+#ifdef BT_USE_SSE
+typedef __m128 btSimdFloat4;
+#endif//BT_USE_SSE
+
+#if defined (BT_USE_SSE)
+//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
+#ifdef _WIN32
+
+#ifndef BT_NAN
+static int btNanMask = 0x7F800001;
+#define BT_NAN (*(float*)&btNanMask)
+#endif
+
+#ifndef BT_INFINITY
+static  int btInfinityMask = 0x7F800000;
+#define BT_INFINITY (*(float*)&btInfinityMask)
+#endif
+
+inline __m128 operator + (const __m128 A, const __m128 B)
+{
+    return _mm_add_ps(A, B);
+}
+
+inline __m128 operator - (const __m128 A, const __m128 B)
+{
+    return _mm_sub_ps(A, B);
+}
+
+inline __m128 operator * (const __m128 A, const __m128 B)
+{
+    return _mm_mul_ps(A, B);
+}
+
+#define btCastfTo128i(a) (_mm_castps_si128(a))
+#define btCastfTo128d(a) (_mm_castps_pd(a))
+#define btCastiTo128f(a) (_mm_castsi128_ps(a))
+#define btCastdTo128f(a) (_mm_castpd_ps(a))
+#define btCastdTo128i(a) (_mm_castpd_si128(a))
+#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3)
+
+#else//_WIN32
+
+#define btCastfTo128i(a) ((__m128i)(a))
+#define btCastfTo128d(a) ((__m128d)(a))
+#define btCastiTo128f(a)  ((__m128) (a))
+#define btCastdTo128f(a) ((__m128) (a))
+#define btCastdTo128i(a) ((__m128i)(a))
+#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3}
+#define BT_INFINITY INFINITY
+#define BT_NAN NAN
+#endif//_WIN32
+#endif //BT_USE_SSE_IN_API
+
+#ifdef BT_USE_NEON
+#include <arm_neon.h>
+
+typedef float32x4_t btSimdFloat4;
+#define BT_INFINITY INFINITY
+#define BT_NAN NAN
+#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3}
+#endif
+
+
+
 
 
 #define BT_DECLARE_ALIGNED_ALLOCATOR() \
diff --git a/extern/bullet2/src/LinearMath/btSerializer.cpp b/extern/bullet2/src/LinearMath/btSerializer.cpp
index 49c25b7ea2a..d6b2b3a5a5c 100644
--- a/extern/bullet2/src/LinearMath/btSerializer.cpp
+++ b/extern/bullet2/src/LinearMath/btSerializer.cpp
@@ -1,841 +1,908 @@
 char sBulletDNAstr[]= {
-83,68,78,65,78,65,77,69,44,1,0,0,109,95,115,105,122,101,0,109,
-95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
-99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
-108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
-115,116,114,97,105,110,116,115,0,42,102,105,114,115,116,0,42,108,97,115,
-116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
-93,0,109,95,98,97,115,105,115,0,109,95,111,114,105,103,105,110,0,109,
-95,114,111,111,116,78,111,100,101,73,110,100,101,120,0,109,95,115,117,98,
-116,114,101,101,83,105,122,101,0,109,95,113,117,97,110,116,105,122,101,100,
-65,97,98,98,77,105,110,91,51,93,0,109,95,113,117,97,110,116,105,122,
-101,100,65,97,98,98,77,97,120,91,51,93,0,109,95,97,97,98,98,77,
-105,110,79,114,103,0,109,95,97,97,98,98,77,97,120,79,114,103,0,109,
-95,101,115,99,97,112,101,73,110,100,101,120,0,109,95,115,117,98,80,97,
-114,116,0,109,95,116,114,105,97,110,103,108,101,73,110,100,101,120,0,109,
-95,112,97,100,91,52,93,0,109,95,101,115,99,97,112,101,73,110,100,101,
-120,79,114,84,114,105,97,110,103,108,101,73,110,100,101,120,0,109,95,98,
-118,104,65,97,98,98,77,105,110,0,109,95,98,118,104,65,97,98,98,77,
-97,120,0,109,95,98,118,104,81,117,97,110,116,105,122,97,116,105,111,110,
-0,109,95,99,117,114,78,111,100,101,73,110,100,101,120,0,109,95,117,115,
-101,81,117,97,110,116,105,122,97,116,105,111,110,0,109,95,110,117,109,67,
-111,110,116,105,103,117,111,117,115,76,101,97,102,78,111,100,101,115,0,109,
-95,110,117,109,81,117,97,110,116,105,122,101,100,67,111,110,116,105,103,117,
-111,117,115,78,111,100,101,115,0,42,109,95,99,111,110,116,105,103,117,111,
-117,115,78,111,100,101,115,80,116,114,0,42,109,95,113,117,97,110,116,105,
-122,101,100,67,111,110,116,105,103,117,111,117,115,78,111,100,101,115,80,116,
-114,0,42,109,95,115,117,98,84,114,101,101,73,110,102,111,80,116,114,0,
-109,95,116,114,97,118,101,114,115,97,108,77,111,100,101,0,109,95,110,117,
-109,83,117,98,116,114,101,101,72,101,97,100,101,114,115,0,42,109,95,110,
-97,109,101,0,109,95,115,104,97,112,101,84,121,112,101,0,109,95,112,97,
-100,100,105,110,103,91,52,93,0,109,95,99,111,108,108,105,115,105,111,110,
-83,104,97,112,101,68,97,116,97,0,109,95,108,111,99,97,108,83,99,97,
-108,105,110,103,0,109,95,112,108,97,110,101,78,111,114,109,97,108,0,109,
-95,112,108,97,110,101,67,111,110,115,116,97,110,116,0,109,95,105,109,112,
-108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
-0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
-95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
-105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
-83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
-115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
-97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
-109,95,118,97,108,117,101,0,109,95,112,97,100,91,50,93,0,109,95,118,
-97,108,117,101,115,91,51,93,0,109,95,112,97,100,0,42,109,95,118,101,
-114,116,105,99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,
-51,100,0,42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,51,
-105,110,100,105,99,101,115,49,54,0,42,109,95,51,105,110,100,105,99,101,
-115,56,0,42,109,95,105,110,100,105,99,101,115,49,54,0,109,95,110,117,
-109,84,114,105,97,110,103,108,101,115,0,109,95,110,117,109,86,101,114,116,
-105,99,101,115,0,42,109,95,109,101,115,104,80,97,114,116,115,80,116,114,
-0,109,95,115,99,97,108,105,110,103,0,109,95,110,117,109,77,101,115,104,
-80,97,114,116,115,0,109,95,109,101,115,104,73,110,116,101,114,102,97,99,
-101,0,42,109,95,113,117,97,110,116,105,122,101,100,70,108,111,97,116,66,
-118,104,0,42,109,95,113,117,97,110,116,105,122,101,100,68,111,117,98,108,
-101,66,118,104,0,42,109,95,116,114,105,97,110,103,108,101,73,110,102,111,
-77,97,112,0,109,95,112,97,100,51,91,52,93,0,109,95,116,114,105,109,
-101,115,104,83,104,97,112,101,68,97,116,97,0,109,95,116,114,97,110,115,
-102,111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,
-95,99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,
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+char(14),char(0),char(-123),char(0),char(14),char(0),char(-122),char(0),char(8),char(0),char(-121),char(0),char(8),char(0),char(-120),char(0),char(8),char(0),char(-119),char(0),
+char(8),char(0),char(-118),char(0),char(8),char(0),char(-117),char(0),char(8),char(0),char(-116),char(0),char(8),char(0),char(-115),char(0),char(8),char(0),char(-114),char(0),
+char(8),char(0),char(-113),char(0),char(4),char(0),char(-112),char(0),char(0),char(0),char(37),char(0),char(54),char(0),char(2),char(0),char(4),char(0),char(-111),char(0),
+char(4),char(0),char(-110),char(0),char(55),char(0),char(13),char(0),char(56),char(0),char(-109),char(0),char(56),char(0),char(-108),char(0),char(0),char(0),char(35),char(0),
+char(4),char(0),char(-107),char(0),char(4),char(0),char(-106),char(0),char(4),char(0),char(-105),char(0),char(4),char(0),char(-104),char(0),char(7),char(0),char(-103),char(0),
+char(7),char(0),char(-102),char(0),char(4),char(0),char(-101),char(0),char(4),char(0),char(-100),char(0),char(7),char(0),char(-99),char(0),char(4),char(0),char(-98),char(0),
+char(57),char(0),char(3),char(0),char(55),char(0),char(-97),char(0),char(13),char(0),char(-96),char(0),char(13),char(0),char(-95),char(0),char(58),char(0),char(3),char(0),
+char(55),char(0),char(-97),char(0),char(14),char(0),char(-96),char(0),char(14),char(0),char(-95),char(0),char(59),char(0),char(13),char(0),char(55),char(0),char(-97),char(0),
+char(18),char(0),char(-94),char(0),char(18),char(0),char(-93),char(0),char(4),char(0),char(-92),char(0),char(4),char(0),char(-91),char(0),char(4),char(0),char(-90),char(0),
+char(7),char(0),char(-89),char(0),char(7),char(0),char(-88),char(0),char(7),char(0),char(-87),char(0),char(7),char(0),char(-86),char(0),char(7),char(0),char(-85),char(0),
+char(7),char(0),char(-84),char(0),char(7),char(0),char(-83),char(0),char(60),char(0),char(13),char(0),char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),
+char(17),char(0),char(-93),char(0),char(4),char(0),char(-92),char(0),char(4),char(0),char(-91),char(0),char(4),char(0),char(-90),char(0),char(7),char(0),char(-89),char(0),
+char(7),char(0),char(-88),char(0),char(7),char(0),char(-87),char(0),char(7),char(0),char(-86),char(0),char(7),char(0),char(-85),char(0),char(7),char(0),char(-84),char(0),
+char(7),char(0),char(-83),char(0),char(61),char(0),char(11),char(0),char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),
+char(7),char(0),char(-82),char(0),char(7),char(0),char(-81),char(0),char(7),char(0),char(-80),char(0),char(7),char(0),char(-85),char(0),char(7),char(0),char(-84),char(0),
+char(7),char(0),char(-83),char(0),char(7),char(0),char(-79),char(0),char(0),char(0),char(21),char(0),char(62),char(0),char(9),char(0),char(55),char(0),char(-97),char(0),
+char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),char(13),char(0),char(-78),char(0),char(13),char(0),char(-77),char(0),char(13),char(0),char(-76),char(0),
+char(13),char(0),char(-75),char(0),char(4),char(0),char(-74),char(0),char(4),char(0),char(-73),char(0),char(63),char(0),char(5),char(0),char(62),char(0),char(-72),char(0),
+char(4),char(0),char(-71),char(0),char(7),char(0),char(-70),char(0),char(7),char(0),char(-69),char(0),char(7),char(0),char(-68),char(0),char(64),char(0),char(9),char(0),
+char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),char(7),char(0),char(-78),char(0),char(7),char(0),char(-77),char(0),
+char(7),char(0),char(-76),char(0),char(7),char(0),char(-75),char(0),char(4),char(0),char(-74),char(0),char(4),char(0),char(-73),char(0),char(49),char(0),char(22),char(0),
+char(8),char(0),char(-67),char(0),char(8),char(0),char(-79),char(0),char(8),char(0),char(110),char(0),char(8),char(0),char(-66),char(0),char(8),char(0),char(112),char(0),
+char(8),char(0),char(-65),char(0),char(8),char(0),char(-64),char(0),char(8),char(0),char(-63),char(0),char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),
+char(8),char(0),char(-60),char(0),char(8),char(0),char(-59),char(0),char(8),char(0),char(-58),char(0),char(8),char(0),char(-57),char(0),char(8),char(0),char(-56),char(0),
+char(8),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),
+char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),char(51),char(0),char(22),char(0),char(7),char(0),char(-67),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(110),char(0),char(7),char(0),char(-66),char(0),char(7),char(0),char(112),char(0),char(7),char(0),char(-65),char(0),char(7),char(0),char(-64),char(0),
+char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(7),char(0),char(-59),char(0),
+char(7),char(0),char(-58),char(0),char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),
+char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),
+char(65),char(0),char(4),char(0),char(7),char(0),char(-49),char(0),char(7),char(0),char(-48),char(0),char(7),char(0),char(-47),char(0),char(4),char(0),char(78),char(0),
+char(66),char(0),char(10),char(0),char(65),char(0),char(-46),char(0),char(13),char(0),char(-45),char(0),char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),
+char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(7),char(0),char(-121),char(0),char(7),char(0),char(-40),char(0),char(4),char(0),char(-39),char(0),
+char(4),char(0),char(53),char(0),char(67),char(0),char(4),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-38),char(0),char(7),char(0),char(-37),char(0),
+char(4),char(0),char(-36),char(0),char(68),char(0),char(4),char(0),char(13),char(0),char(-41),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-35),char(0),
+char(7),char(0),char(-34),char(0),char(69),char(0),char(7),char(0),char(13),char(0),char(-33),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-32),char(0),
+char(7),char(0),char(-31),char(0),char(7),char(0),char(-30),char(0),char(7),char(0),char(-29),char(0),char(4),char(0),char(53),char(0),char(70),char(0),char(6),char(0),
+char(15),char(0),char(-28),char(0),char(13),char(0),char(-30),char(0),char(13),char(0),char(-27),char(0),char(56),char(0),char(-26),char(0),char(4),char(0),char(-25),char(0),
+char(7),char(0),char(-29),char(0),char(71),char(0),char(26),char(0),char(4),char(0),char(-24),char(0),char(7),char(0),char(-23),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(-22),char(0),char(7),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0),char(7),char(0),char(-19),char(0),char(7),char(0),char(-18),char(0),
+char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),
+char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),
+char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0),char(4),char(0),char(-4),char(0),char(4),char(0),char(-3),char(0),
+char(4),char(0),char(-2),char(0),char(4),char(0),char(-1),char(0),char(4),char(0),char(117),char(0),char(72),char(0),char(12),char(0),char(15),char(0),char(0),char(1),
+char(15),char(0),char(1),char(1),char(15),char(0),char(2),char(1),char(13),char(0),char(3),char(1),char(13),char(0),char(4),char(1),char(7),char(0),char(5),char(1),
+char(4),char(0),char(6),char(1),char(4),char(0),char(7),char(1),char(4),char(0),char(8),char(1),char(4),char(0),char(9),char(1),char(7),char(0),char(-31),char(0),
+char(4),char(0),char(53),char(0),char(73),char(0),char(27),char(0),char(17),char(0),char(10),char(1),char(15),char(0),char(11),char(1),char(15),char(0),char(12),char(1),
+char(13),char(0),char(3),char(1),char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),
+char(13),char(0),char(17),char(1),char(4),char(0),char(18),char(1),char(7),char(0),char(19),char(1),char(4),char(0),char(20),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(4),char(0),char(25),char(1),char(4),char(0),char(26),char(1),
+char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
+char(7),char(0),char(32),char(1),char(4),char(0),char(33),char(1),char(4),char(0),char(34),char(1),char(4),char(0),char(35),char(1),char(74),char(0),char(12),char(0),
+char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
+char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
+char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
+char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
+char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
+char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
 int sBulletDNAlen= sizeof(sBulletDNAstr);
-
- char sBulletDNAstr64[]= {
-83,68,78,65,78,65,77,69,44,1,0,0,109,95,115,105,122,101,0,109,
-95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
-99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
-108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
-115,116,114,97,105,110,116,115,0,42,102,105,114,115,116,0,42,108,97,115,
-116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
-93,0,109,95,98,97,115,105,115,0,109,95,111,114,105,103,105,110,0,109,
-95,114,111,111,116,78,111,100,101,73,110,100,101,120,0,109,95,115,117,98,
-116,114,101,101,83,105,122,101,0,109,95,113,117,97,110,116,105,122,101,100,
-65,97,98,98,77,105,110,91,51,93,0,109,95,113,117,97,110,116,105,122,
-101,100,65,97,98,98,77,97,120,91,51,93,0,109,95,97,97,98,98,77,
-105,110,79,114,103,0,109,95,97,97,98,98,77,97,120,79,114,103,0,109,
-95,101,115,99,97,112,101,73,110,100,101,120,0,109,95,115,117,98,80,97,
-114,116,0,109,95,116,114,105,97,110,103,108,101,73,110,100,101,120,0,109,
-95,112,97,100,91,52,93,0,109,95,101,115,99,97,112,101,73,110,100,101,
-120,79,114,84,114,105,97,110,103,108,101,73,110,100,101,120,0,109,95,98,
-118,104,65,97,98,98,77,105,110,0,109,95,98,118,104,65,97,98,98,77,
-97,120,0,109,95,98,118,104,81,117,97,110,116,105,122,97,116,105,111,110,
-0,109,95,99,117,114,78,111,100,101,73,110,100,101,120,0,109,95,117,115,
-101,81,117,97,110,116,105,122,97,116,105,111,110,0,109,95,110,117,109,67,
-111,110,116,105,103,117,111,117,115,76,101,97,102,78,111,100,101,115,0,109,
-95,110,117,109,81,117,97,110,116,105,122,101,100,67,111,110,116,105,103,117,
-111,117,115,78,111,100,101,115,0,42,109,95,99,111,110,116,105,103,117,111,
-117,115,78,111,100,101,115,80,116,114,0,42,109,95,113,117,97,110,116,105,
-122,101,100,67,111,110,116,105,103,117,111,117,115,78,111,100,101,115,80,116,
-114,0,42,109,95,115,117,98,84,114,101,101,73,110,102,111,80,116,114,0,
-109,95,116,114,97,118,101,114,115,97,108,77,111,100,101,0,109,95,110,117,
-109,83,117,98,116,114,101,101,72,101,97,100,101,114,115,0,42,109,95,110,
-97,109,101,0,109,95,115,104,97,112,101,84,121,112,101,0,109,95,112,97,
-100,100,105,110,103,91,52,93,0,109,95,99,111,108,108,105,115,105,111,110,
-83,104,97,112,101,68,97,116,97,0,109,95,108,111,99,97,108,83,99,97,
-108,105,110,103,0,109,95,112,108,97,110,101,78,111,114,109,97,108,0,109,
-95,112,108,97,110,101,67,111,110,115,116,97,110,116,0,109,95,105,109,112,
-108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
-0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
-95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
-105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
-83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
-115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
-97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
-109,95,118,97,108,117,101,0,109,95,112,97,100,91,50,93,0,109,95,118,
-97,108,117,101,115,91,51,93,0,109,95,112,97,100,0,42,109,95,118,101,
-114,116,105,99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,
-51,100,0,42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,51,
-105,110,100,105,99,101,115,49,54,0,42,109,95,51,105,110,100,105,99,101,
-115,56,0,42,109,95,105,110,100,105,99,101,115,49,54,0,109,95,110,117,
-109,84,114,105,97,110,103,108,101,115,0,109,95,110,117,109,86,101,114,116,
-105,99,101,115,0,42,109,95,109,101,115,104,80,97,114,116,115,80,116,114,
-0,109,95,115,99,97,108,105,110,103,0,109,95,110,117,109,77,101,115,104,
-80,97,114,116,115,0,109,95,109,101,115,104,73,110,116,101,114,102,97,99,
-101,0,42,109,95,113,117,97,110,116,105,122,101,100,70,108,111,97,116,66,
-118,104,0,42,109,95,113,117,97,110,116,105,122,101,100,68,111,117,98,108,
-101,66,118,104,0,42,109,95,116,114,105,97,110,103,108,101,73,110,102,111,
-77,97,112,0,109,95,112,97,100,51,91,52,93,0,109,95,116,114,105,109,
-101,115,104,83,104,97,112,101,68,97,116,97,0,109,95,116,114,97,110,115,
-102,111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,
-95,99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,
-105,108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,
-97,112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,
-112,101,115,0,109,95,117,112,65,120,105,115,0,109,95,102,108,97,103,115,
-0,109,95,101,100,103,101,86,48,86,49,65,110,103,108,101,0,109,95,101,
-100,103,101,86,49,86,50,65,110,103,108,101,0,109,95,101,100,103,101,86,
-50,86,48,65,110,103,108,101,0,42,109,95,104,97,115,104,84,97,98,108,
-101,80,116,114,0,42,109,95,110,101,120,116,80,116,114,0,42,109,95,118,
-97,108,117,101,65,114,114,97,121,80,116,114,0,42,109,95,107,101,121,65,
-114,114,97,121,80,116,114,0,109,95,99,111,110,118,101,120,69,112,115,105,
-108,111,110,0,109,95,112,108,97,110,97,114,69,112,115,105,108,111,110,0,
-109,95,101,113,117,97,108,86,101,114,116,101,120,84,104,114,101,115,104,111,
-108,100,0,109,95,101,100,103,101,68,105,115,116,97,110,99,101,84,104,114,
-101,115,104,111,108,100,0,109,95,122,101,114,111,65,114,101,97,84,104,114,
-101,115,104,111,108,100,0,109,95,110,101,120,116,83,105,122,101,0,109,95,
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-73,110,100,101,120,68,97,116,97,0,98,116,83,104,111,114,116,73,110,116,
-73,110,100,101,120,84,114,105,112,108,101,116,68,97,116,97,0,98,116,67,
-104,97,114,73,110,100,101,120,84,114,105,112,108,101,116,68,97,116,97,0,
-98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,98,116,83,116,114,
-105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,97,99,101,68,97,
-116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,115,104,83,104,97,
-112,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,73,110,102,
-111,77,97,112,68,97,116,97,0,98,116,83,99,97,108,101,100,84,114,105,
-97,110,103,108,101,77,101,115,104,83,104,97,112,101,68,97,116,97,0,98,
-116,67,111,109,112,111,117,110,100,83,104,97,112,101,67,104,105,108,100,68,
-97,116,97,0,98,116,67,111,109,112,111,117,110,100,83,104,97,112,101,68,
-97,116,97,0,98,116,67,121,108,105,110,100,101,114,83,104,97,112,101,68,
-97,116,97,0,98,116,67,97,112,115,117,108,101,83,104,97,112,101,68,97,
-116,97,0,98,116,84,114,105,97,110,103,108,101,73,110,102,111,68,97,116,
-97,0,98,116,71,73,109,112,97,99,116,77,101,115,104,83,104,97,112,101,
-68,97,116,97,0,98,116,67,111,110,118,101,120,72,117,108,108,83,104,97,
-112,101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,
-106,101,99,116,68,111,117,98,108,101,68,97,116,97,0,98,116,67,111,108,
-108,105,115,105,111,110,79,98,106,101,99,116,70,108,111,97,116,68,97,116,
-97,0,98,116,82,105,103,105,100,66,111,100,121,70,108,111,97,116,68,97,
-116,97,0,98,116,82,105,103,105,100,66,111,100,121,68,111,117,98,108,101,
-68,97,116,97,0,98,116,67,111,110,115,116,114,97,105,110,116,73,110,102,
-111,49,0,98,116,84,121,112,101,100,67,111,110,115,116,114,97,105,110,116,
-68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,68,97,116,97,
-0,98,116,80,111,105,110,116,50,80,111,105,110,116,67,111,110,115,116,114,
-97,105,110,116,70,108,111,97,116,68,97,116,97,0,98,116,80,111,105,110,
-116,50,80,111,105,110,116,67,111,110,115,116,114,97,105,110,116,68,111,117,
-98,108,101,68,97,116,97,0,98,116,72,105,110,103,101,67,111,110,115,116,
-114,97,105,110,116,68,111,117,98,108,101,68,97,116,97,0,98,116,72,105,
-110,103,101,67,111,110,115,116,114,97,105,110,116,70,108,111,97,116,68,97,
-116,97,0,98,116,67,111,110,101,84,119,105,115,116,67,111,110,115,116,114,
-97,105,110,116,68,97,116,97,0,98,116,71,101,110,101,114,105,99,54,68,
-111,102,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,98,116,71,
-101,110,101,114,105,99,54,68,111,102,83,112,114,105,110,103,67,111,110,115,
-116,114,97,105,110,116,68,97,116,97,0,98,116,83,108,105,100,101,114,67,
-111,110,115,116,114,97,105,110,116,68,97,116,97,0,83,111,102,116,66,111,
-100,121,77,97,116,101,114,105,97,108,68,97,116,97,0,83,111,102,116,66,
-111,100,121,78,111,100,101,68,97,116,97,0,83,111,102,116,66,111,100,121,
-76,105,110,107,68,97,116,97,0,83,111,102,116,66,111,100,121,70,97,99,
-101,68,97,116,97,0,83,111,102,116,66,111,100,121,84,101,116,114,97,68,
-97,116,97,0,83,111,102,116,82,105,103,105,100,65,110,99,104,111,114,68,
-97,116,97,0,83,111,102,116,66,111,100,121,67,111,110,102,105,103,68,97,
-116,97,0,83,111,102,116,66,111,100,121,80,111,115,101,68,97,116,97,0,
-83,111,102,116,66,111,100,121,67,108,117,115,116,101,114,68,97,116,97,0,
-98,116,83,111,102,116,66,111,100,121,74,111,105,110,116,68,97,116,97,0,
-98,116,83,111,102,116,66,111,100,121,70,108,111,97,116,68,97,116,97,0,
-84,76,69,78,1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,
-8,0,0,0,16,0,48,0,16,0,16,0,32,0,48,0,96,0,64,0,
--128,0,20,0,48,0,80,0,16,0,96,0,-112,0,16,0,56,0,56,0,
-20,0,72,0,4,0,4,0,8,0,4,0,56,0,32,0,80,0,72,0,
-96,0,80,0,32,0,64,0,64,0,16,0,72,0,80,0,-40,1,8,1,
--16,1,-88,3,8,0,64,0,0,0,96,0,-128,0,104,1,-24,0,-32,0,
-8,1,104,1,-40,0,16,0,104,0,24,0,40,0,104,0,96,0,104,0,
--56,0,104,1,112,0,-40,1,83,84,82,67,61,0,0,0,10,0,3,0,
-4,0,0,0,4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,
-10,0,4,0,10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,
-13,0,1,0,7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,
-13,0,9,0,16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,
-13,0,11,0,18,0,2,0,16,0,10,0,14,0,11,0,19,0,4,0,
-4,0,12,0,4,0,13,0,2,0,14,0,2,0,15,0,20,0,6,0,
-13,0,16,0,13,0,17,0,4,0,18,0,4,0,19,0,4,0,20,0,
-0,0,21,0,21,0,6,0,14,0,16,0,14,0,17,0,4,0,18,0,
-4,0,19,0,4,0,20,0,0,0,21,0,22,0,3,0,2,0,14,0,
-2,0,15,0,4,0,22,0,23,0,12,0,13,0,23,0,13,0,24,0,
-13,0,25,0,4,0,26,0,4,0,27,0,4,0,28,0,4,0,29,0,
-20,0,30,0,22,0,31,0,19,0,32,0,4,0,33,0,4,0,34,0,
-24,0,12,0,14,0,23,0,14,0,24,0,14,0,25,0,4,0,26,0,
-4,0,27,0,4,0,28,0,4,0,29,0,21,0,30,0,22,0,31,0,
-4,0,33,0,4,0,34,0,19,0,32,0,25,0,3,0,0,0,35,0,
-4,0,36,0,0,0,37,0,26,0,5,0,25,0,38,0,13,0,39,0,
-13,0,40,0,7,0,41,0,0,0,21,0,27,0,5,0,25,0,38,0,
-13,0,39,0,13,0,42,0,7,0,43,0,4,0,44,0,28,0,2,0,
-13,0,45,0,7,0,46,0,29,0,4,0,27,0,47,0,28,0,48,0,
-4,0,49,0,0,0,37,0,30,0,1,0,4,0,50,0,31,0,2,0,
-2,0,50,0,0,0,51,0,32,0,2,0,2,0,52,0,0,0,51,0,
-33,0,2,0,0,0,52,0,0,0,53,0,34,0,8,0,13,0,54,0,
-14,0,55,0,30,0,56,0,32,0,57,0,33,0,58,0,31,0,59,0,
-4,0,60,0,4,0,61,0,35,0,4,0,34,0,62,0,13,0,63,0,
-4,0,64,0,0,0,37,0,36,0,7,0,25,0,38,0,35,0,65,0,
-23,0,66,0,24,0,67,0,37,0,68,0,7,0,43,0,0,0,69,0,
-38,0,2,0,36,0,70,0,13,0,39,0,39,0,4,0,17,0,71,0,
-25,0,72,0,4,0,73,0,7,0,74,0,40,0,4,0,25,0,38,0,
-39,0,75,0,4,0,76,0,7,0,43,0,41,0,3,0,27,0,47,0,
-4,0,77,0,0,0,37,0,42,0,3,0,27,0,47,0,4,0,77,0,
-0,0,37,0,43,0,4,0,4,0,78,0,7,0,79,0,7,0,80,0,
-7,0,81,0,37,0,14,0,4,0,82,0,4,0,83,0,43,0,84,0,
-4,0,85,0,7,0,86,0,7,0,87,0,7,0,88,0,7,0,89,0,
-7,0,90,0,4,0,91,0,4,0,92,0,4,0,93,0,4,0,94,0,
-0,0,37,0,44,0,5,0,25,0,38,0,35,0,65,0,13,0,39,0,
-7,0,43,0,4,0,95,0,45,0,5,0,27,0,47,0,13,0,96,0,
-14,0,97,0,4,0,98,0,0,0,99,0,46,0,24,0,9,0,100,0,
-9,0,101,0,25,0,102,0,0,0,35,0,18,0,103,0,18,0,104,0,
-14,0,105,0,14,0,106,0,14,0,107,0,8,0,108,0,8,0,109,0,
-8,0,110,0,8,0,111,0,8,0,112,0,8,0,113,0,8,0,114,0,
-4,0,115,0,4,0,116,0,4,0,117,0,4,0,118,0,4,0,119,0,
-4,0,120,0,4,0,121,0,0,0,37,0,47,0,23,0,9,0,100,0,
-9,0,101,0,25,0,102,0,0,0,35,0,17,0,103,0,17,0,104,0,
-13,0,105,0,13,0,106,0,13,0,107,0,7,0,108,0,7,0,109,0,
-7,0,110,0,7,0,111,0,7,0,112,0,7,0,113,0,7,0,114,0,
-4,0,115,0,4,0,116,0,4,0,117,0,4,0,118,0,4,0,119,0,
-4,0,120,0,4,0,121,0,48,0,21,0,47,0,122,0,15,0,123,0,
-13,0,124,0,13,0,125,0,13,0,126,0,13,0,127,0,13,0,-128,0,
-13,0,-127,0,13,0,-126,0,13,0,-125,0,13,0,-124,0,7,0,-123,0,
-7,0,-122,0,7,0,-121,0,7,0,-120,0,7,0,-119,0,7,0,-118,0,
-7,0,-117,0,7,0,-116,0,7,0,-115,0,4,0,-114,0,49,0,22,0,
-46,0,122,0,16,0,123,0,14,0,124,0,14,0,125,0,14,0,126,0,
-14,0,127,0,14,0,-128,0,14,0,-127,0,14,0,-126,0,14,0,-125,0,
-14,0,-124,0,8,0,-123,0,8,0,-122,0,8,0,-121,0,8,0,-120,0,
-8,0,-119,0,8,0,-118,0,8,0,-117,0,8,0,-116,0,8,0,-115,0,
-4,0,-114,0,0,0,37,0,50,0,2,0,4,0,-113,0,4,0,-112,0,
-51,0,13,0,52,0,-111,0,52,0,-110,0,0,0,35,0,4,0,-109,0,
-4,0,-108,0,4,0,-107,0,4,0,-106,0,7,0,-105,0,7,0,-104,0,
-4,0,-103,0,4,0,-102,0,7,0,-101,0,4,0,-100,0,53,0,3,0,
-51,0,-99,0,13,0,-98,0,13,0,-97,0,54,0,3,0,51,0,-99,0,
-14,0,-98,0,14,0,-97,0,55,0,13,0,51,0,-99,0,18,0,-96,0,
-18,0,-95,0,4,0,-94,0,4,0,-93,0,4,0,-92,0,7,0,-91,0,
-7,0,-90,0,7,0,-89,0,7,0,-88,0,7,0,-87,0,7,0,-86,0,
-7,0,-85,0,56,0,13,0,51,0,-99,0,17,0,-96,0,17,0,-95,0,
-4,0,-94,0,4,0,-93,0,4,0,-92,0,7,0,-91,0,7,0,-90,0,
-7,0,-89,0,7,0,-88,0,7,0,-87,0,7,0,-86,0,7,0,-85,0,
-57,0,11,0,51,0,-99,0,17,0,-96,0,17,0,-95,0,7,0,-84,0,
-7,0,-83,0,7,0,-82,0,7,0,-87,0,7,0,-86,0,7,0,-85,0,
-7,0,-81,0,0,0,21,0,58,0,9,0,51,0,-99,0,17,0,-96,0,
-17,0,-95,0,13,0,-80,0,13,0,-79,0,13,0,-78,0,13,0,-77,0,
-4,0,-76,0,4,0,-75,0,59,0,5,0,58,0,-74,0,4,0,-73,0,
-7,0,-72,0,7,0,-71,0,7,0,-70,0,60,0,9,0,51,0,-99,0,
-17,0,-96,0,17,0,-95,0,7,0,-80,0,7,0,-79,0,7,0,-78,0,
-7,0,-77,0,4,0,-76,0,4,0,-75,0,61,0,4,0,7,0,-69,0,
-7,0,-68,0,7,0,-67,0,4,0,78,0,62,0,10,0,61,0,-66,0,
-13,0,-65,0,13,0,-64,0,13,0,-63,0,13,0,-62,0,13,0,-61,0,
-7,0,-123,0,7,0,-60,0,4,0,-59,0,4,0,53,0,63,0,4,0,
-61,0,-66,0,4,0,-58,0,7,0,-57,0,4,0,-56,0,64,0,4,0,
-13,0,-61,0,61,0,-66,0,4,0,-55,0,7,0,-54,0,65,0,7,0,
-13,0,-53,0,61,0,-66,0,4,0,-52,0,7,0,-51,0,7,0,-50,0,
-7,0,-49,0,4,0,53,0,66,0,6,0,15,0,-48,0,13,0,-50,0,
-13,0,-47,0,52,0,-46,0,4,0,-45,0,7,0,-49,0,67,0,26,0,
-4,0,-44,0,7,0,-43,0,7,0,-81,0,7,0,-42,0,7,0,-41,0,
-7,0,-40,0,7,0,-39,0,7,0,-38,0,7,0,-37,0,7,0,-36,0,
-7,0,-35,0,7,0,-34,0,7,0,-33,0,7,0,-32,0,7,0,-31,0,
-7,0,-30,0,7,0,-29,0,7,0,-28,0,7,0,-27,0,7,0,-26,0,
-7,0,-25,0,4,0,-24,0,4,0,-23,0,4,0,-22,0,4,0,-21,0,
-4,0,116,0,68,0,12,0,15,0,-20,0,15,0,-19,0,15,0,-18,0,
-13,0,-17,0,13,0,-16,0,7,0,-15,0,4,0,-14,0,4,0,-13,0,
-4,0,-12,0,4,0,-11,0,7,0,-51,0,4,0,53,0,69,0,27,0,
-17,0,-10,0,15,0,-9,0,15,0,-8,0,13,0,-17,0,13,0,-7,0,
-13,0,-6,0,13,0,-5,0,13,0,-4,0,13,0,-3,0,4,0,-2,0,
-7,0,-1,0,4,0,0,1,4,0,1,1,4,0,2,1,7,0,3,1,
-7,0,4,1,4,0,5,1,4,0,6,1,7,0,7,1,7,0,8,1,
-7,0,9,1,7,0,10,1,7,0,11,1,7,0,12,1,4,0,13,1,
-4,0,14,1,4,0,15,1,70,0,12,0,9,0,16,1,9,0,17,1,
-13,0,18,1,7,0,19,1,7,0,20,1,7,0,21,1,4,0,22,1,
-13,0,23,1,4,0,24,1,4,0,25,1,4,0,26,1,4,0,53,0,
-71,0,19,0,47,0,122,0,68,0,27,1,61,0,28,1,62,0,29,1,
-63,0,30,1,64,0,31,1,65,0,32,1,66,0,33,1,69,0,34,1,
-70,0,35,1,4,0,36,1,4,0,1,1,4,0,37,1,4,0,38,1,
-4,0,39,1,4,0,40,1,4,0,41,1,4,0,42,1,67,0,43,1,
-};
+char sBulletDNAstr64[]= {
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
+char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
+char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
+char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
+char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
+char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
+char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
+char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
+char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
+char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
+char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
+char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
+char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
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+char(55),char(0),char(-97),char(0),char(14),char(0),char(-96),char(0),char(14),char(0),char(-95),char(0),char(59),char(0),char(13),char(0),char(55),char(0),char(-97),char(0),
+char(18),char(0),char(-94),char(0),char(18),char(0),char(-93),char(0),char(4),char(0),char(-92),char(0),char(4),char(0),char(-91),char(0),char(4),char(0),char(-90),char(0),
+char(7),char(0),char(-89),char(0),char(7),char(0),char(-88),char(0),char(7),char(0),char(-87),char(0),char(7),char(0),char(-86),char(0),char(7),char(0),char(-85),char(0),
+char(7),char(0),char(-84),char(0),char(7),char(0),char(-83),char(0),char(60),char(0),char(13),char(0),char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),
+char(17),char(0),char(-93),char(0),char(4),char(0),char(-92),char(0),char(4),char(0),char(-91),char(0),char(4),char(0),char(-90),char(0),char(7),char(0),char(-89),char(0),
+char(7),char(0),char(-88),char(0),char(7),char(0),char(-87),char(0),char(7),char(0),char(-86),char(0),char(7),char(0),char(-85),char(0),char(7),char(0),char(-84),char(0),
+char(7),char(0),char(-83),char(0),char(61),char(0),char(11),char(0),char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),
+char(7),char(0),char(-82),char(0),char(7),char(0),char(-81),char(0),char(7),char(0),char(-80),char(0),char(7),char(0),char(-85),char(0),char(7),char(0),char(-84),char(0),
+char(7),char(0),char(-83),char(0),char(7),char(0),char(-79),char(0),char(0),char(0),char(21),char(0),char(62),char(0),char(9),char(0),char(55),char(0),char(-97),char(0),
+char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),char(13),char(0),char(-78),char(0),char(13),char(0),char(-77),char(0),char(13),char(0),char(-76),char(0),
+char(13),char(0),char(-75),char(0),char(4),char(0),char(-74),char(0),char(4),char(0),char(-73),char(0),char(63),char(0),char(5),char(0),char(62),char(0),char(-72),char(0),
+char(4),char(0),char(-71),char(0),char(7),char(0),char(-70),char(0),char(7),char(0),char(-69),char(0),char(7),char(0),char(-68),char(0),char(64),char(0),char(9),char(0),
+char(55),char(0),char(-97),char(0),char(17),char(0),char(-94),char(0),char(17),char(0),char(-93),char(0),char(7),char(0),char(-78),char(0),char(7),char(0),char(-77),char(0),
+char(7),char(0),char(-76),char(0),char(7),char(0),char(-75),char(0),char(4),char(0),char(-74),char(0),char(4),char(0),char(-73),char(0),char(49),char(0),char(22),char(0),
+char(8),char(0),char(-67),char(0),char(8),char(0),char(-79),char(0),char(8),char(0),char(110),char(0),char(8),char(0),char(-66),char(0),char(8),char(0),char(112),char(0),
+char(8),char(0),char(-65),char(0),char(8),char(0),char(-64),char(0),char(8),char(0),char(-63),char(0),char(8),char(0),char(-62),char(0),char(8),char(0),char(-61),char(0),
+char(8),char(0),char(-60),char(0),char(8),char(0),char(-59),char(0),char(8),char(0),char(-58),char(0),char(8),char(0),char(-57),char(0),char(8),char(0),char(-56),char(0),
+char(8),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),
+char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),char(51),char(0),char(22),char(0),char(7),char(0),char(-67),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(110),char(0),char(7),char(0),char(-66),char(0),char(7),char(0),char(112),char(0),char(7),char(0),char(-65),char(0),char(7),char(0),char(-64),char(0),
+char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(7),char(0),char(-59),char(0),
+char(7),char(0),char(-58),char(0),char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),
+char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),
+char(65),char(0),char(4),char(0),char(7),char(0),char(-49),char(0),char(7),char(0),char(-48),char(0),char(7),char(0),char(-47),char(0),char(4),char(0),char(78),char(0),
+char(66),char(0),char(10),char(0),char(65),char(0),char(-46),char(0),char(13),char(0),char(-45),char(0),char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),
+char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(7),char(0),char(-121),char(0),char(7),char(0),char(-40),char(0),char(4),char(0),char(-39),char(0),
+char(4),char(0),char(53),char(0),char(67),char(0),char(4),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-38),char(0),char(7),char(0),char(-37),char(0),
+char(4),char(0),char(-36),char(0),char(68),char(0),char(4),char(0),char(13),char(0),char(-41),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-35),char(0),
+char(7),char(0),char(-34),char(0),char(69),char(0),char(7),char(0),char(13),char(0),char(-33),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-32),char(0),
+char(7),char(0),char(-31),char(0),char(7),char(0),char(-30),char(0),char(7),char(0),char(-29),char(0),char(4),char(0),char(53),char(0),char(70),char(0),char(6),char(0),
+char(15),char(0),char(-28),char(0),char(13),char(0),char(-30),char(0),char(13),char(0),char(-27),char(0),char(56),char(0),char(-26),char(0),char(4),char(0),char(-25),char(0),
+char(7),char(0),char(-29),char(0),char(71),char(0),char(26),char(0),char(4),char(0),char(-24),char(0),char(7),char(0),char(-23),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(-22),char(0),char(7),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0),char(7),char(0),char(-19),char(0),char(7),char(0),char(-18),char(0),
+char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),
+char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),
+char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0),char(4),char(0),char(-4),char(0),char(4),char(0),char(-3),char(0),
+char(4),char(0),char(-2),char(0),char(4),char(0),char(-1),char(0),char(4),char(0),char(117),char(0),char(72),char(0),char(12),char(0),char(15),char(0),char(0),char(1),
+char(15),char(0),char(1),char(1),char(15),char(0),char(2),char(1),char(13),char(0),char(3),char(1),char(13),char(0),char(4),char(1),char(7),char(0),char(5),char(1),
+char(4),char(0),char(6),char(1),char(4),char(0),char(7),char(1),char(4),char(0),char(8),char(1),char(4),char(0),char(9),char(1),char(7),char(0),char(-31),char(0),
+char(4),char(0),char(53),char(0),char(73),char(0),char(27),char(0),char(17),char(0),char(10),char(1),char(15),char(0),char(11),char(1),char(15),char(0),char(12),char(1),
+char(13),char(0),char(3),char(1),char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),
+char(13),char(0),char(17),char(1),char(4),char(0),char(18),char(1),char(7),char(0),char(19),char(1),char(4),char(0),char(20),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(4),char(0),char(25),char(1),char(4),char(0),char(26),char(1),
+char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
+char(7),char(0),char(32),char(1),char(4),char(0),char(33),char(1),char(4),char(0),char(34),char(1),char(4),char(0),char(35),char(1),char(74),char(0),char(12),char(0),
+char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
+char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
+char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
+char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
+char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
+char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
 int sBulletDNAlen64= sizeof(sBulletDNAstr64);
diff --git a/extern/bullet2/src/LinearMath/btSerializer.h b/extern/bullet2/src/LinearMath/btSerializer.h
index 76f3cf32f8e..c5bc96b7839 100644
--- a/extern/bullet2/src/LinearMath/btSerializer.h
+++ b/extern/bullet2/src/LinearMath/btSerializer.h
@@ -122,6 +122,7 @@ public:
 #define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
 #define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
 #define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
+#define BT_DYNAMICSWORLD_CODE	BT_MAKE_ID('D','W','L','D')
 #define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')
 
 
@@ -256,7 +257,7 @@ protected:
 			*/
 
 			intPtr = (int*)cp;
-			assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++;
 
 			if (!littleEndian)
 				*intPtr =  btSwapEndian(*intPtr);
@@ -284,7 +285,7 @@ protected:
 
 			// Parse type lens
 			intPtr = (int*)cp;
-			assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++;
 
 			dataLen = (int)mTypes.size();
 
@@ -311,7 +312,7 @@ protected:
 
 			intPtr = (int*)shtPtr;
 			cp = (char*)intPtr;
-			assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "STRC", 4)==0); intPtr++;
 
 			if (!littleEndian)
 				*intPtr = btSwapEndian(*intPtr);
@@ -438,7 +439,7 @@ public:
 
 			buffer[9] = '2';
 			buffer[10] = '8';
-			buffer[11] = '0';
+			buffer[11] = '1';
 
 		}
 
diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h
index 5e52d183acb..907627379bf 100644
--- a/extern/bullet2/src/LinearMath/btTransform.h
+++ b/extern/bullet2/src/LinearMath/btTransform.h
@@ -31,7 +31,7 @@ subject to the following restrictions:
 
 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
  *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-class btTransform {
+ATTRIBUTE_ALIGNED16(class) btTransform {
 	
   ///Storage for the rotation
 	btMatrix3x3 m_basis;
@@ -93,9 +93,7 @@ public:
 /**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
 	{
-		return btVector3(m_basis[0].dot(x) + m_origin.x(), 
-			m_basis[1].dot(x) + m_origin.y(), 
-			m_basis[2].dot(x) + m_origin.z());
+        return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
 	}
 
   /**@brief Return the transform of the vector */
diff --git a/extern/bullet2/src/LinearMath/btVector3.cpp b/extern/bullet2/src/LinearMath/btVector3.cpp
new file mode 100644
index 00000000000..1c26e523d80
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btVector3.cpp
@@ -0,0 +1,1639 @@
+/*
+ Copyright (c) 2011 Apple Inc.
+ 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.
+ 
+ This source version has been altered.
+ */
+
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
+
+#include "btVector3.h"
+
+
+
+#if defined BT_USE_SIMD_VECTOR3
+
+#if DEBUG
+#include <string.h>//for memset
+#endif
+
+
+#ifdef __APPLE__
+#include <stdint.h>
+typedef  float float4 __attribute__ ((vector_size(16)));
+#else
+#define float4 __m128
+#endif
+//typedef  uint32_t uint4 __attribute__ ((vector_size(16)));
+
+
+#if defined BT_USE_SSE || defined _WIN32
+
+#define LOG2_ARRAY_SIZE     6
+#define STACK_ARRAY_COUNT   (1UL << LOG2_ARRAY_SIZE)
+
+#include <emmintrin.h>
+
+long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    const float4 *vertices = (const float4*) vv;
+    static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
+    float4 dotMax = btAssign128( -BT_INFINITY,  -BT_INFINITY,  -BT_INFINITY,  -BT_INFINITY );
+    float4 vvec = _mm_loadu_ps( vec );
+    float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa ));          /// zzzz
+    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
+    
+    long maxIndex = -1L;
+    
+    size_t segment = 0;
+    float4 stack_array[ STACK_ARRAY_COUNT ];
+    
+#if DEBUG
+    memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+#endif
+    
+    size_t index;
+    float4 max;
+    // Faster loop without cleanup code for full tiles
+    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) 
+    {
+        max = dotMax;
+        
+        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )   
+        { // do four dot products at a time. Carefully avoid touching the w element.
+            float4 v0 = vertices[0];
+            float4 v1 = vertices[1];
+            float4 v2 = vertices[2];
+            float4 v3 = vertices[3];            vertices += 4;
+            
+            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+1] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+2] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+3] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+        }
+        
+        // If we found a new max
+        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
+        { 
+            // copy the new max across all lanes of our max accumulator
+            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
+            max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
+            
+            dotMax = max;
+            
+            // find first occurrence of that max  
+            size_t test;
+            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
+            {}
+            // record where it is.
+            maxIndex = 4*index + segment + indexTable[test];
+        }
+    }
+    
+    // account for work we've already done
+    count -= segment;
+    
+    // Deal with the last < STACK_ARRAY_COUNT vectors
+    max = dotMax;
+    index = 0;
+    
+    
+    if( btUnlikely( count > 16) )
+    {
+        for( ; index + 4 <= count / 4; index+=4 )   
+        { // do four dot products at a time. Carefully avoid touching the w element.
+            float4 v0 = vertices[0];
+            float4 v1 = vertices[1];
+            float4 v2 = vertices[2];
+            float4 v3 = vertices[3];            vertices += 4;
+            
+            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+1] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+2] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+3] = x;
+            max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            
+            // It is too costly to keep the index of the max here. We will look for it again later.  We save a lot of work this way.
+        }
+    }
+    
+    size_t localCount = (count & -4L) - 4*index;
+    if( localCount )
+    {
+#ifdef __APPLE__
+        float4 t0, t1, t2, t3, t4;
+        float4 * sap = &stack_array[index + localCount / 4];
+          vertices += localCount;      // counter the offset
+         size_t byteIndex = -(localCount) * sizeof(float);
+        //AT&T Code style assembly
+        asm volatile
+        (   ".align 4                                                                   \n\
+             0: movaps  %[max], %[t2]                            // move max out of the way to avoid propagating NaNs in max \n\
+          movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
+          movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
+          movaps  %[t0], %[max]                               // vertices[0]      \n\
+          movlhps %[t1], %[max]                               // x0y0x1y1         \n\
+         movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
+         movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
+          mulps   %[vLo], %[max]                              // x0y0x1y1 * vLo   \n\
+         movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
+         movaps  %[t3], %[t0]                                // vertices[2]      \n\
+         movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
+         mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
+          movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
+          shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
+          mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
+         movaps  %[max], %[t3]                               // x0y0x1y1 * vLo   \n\
+         shufps  $0x88, %[t0], %[max]                        // x0x1x2x3 * vLo.x \n\
+         shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
+         addps   %[t3], %[max]                               // x + y            \n\
+         addps   %[t1], %[max]                               // x + y + z        \n\
+         movaps  %[max], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
+         maxps   %[t2], %[max]                               // record max, restore max   \n\
+         add     $16, %[byteIndex]                           // advance loop counter\n\
+         jnz     0b                                          \n\
+     "
+         : [max] "+x" (max), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
+         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
+         : "memory", "cc"
+         );
+        index += localCount/4;
+#else
+        {
+            for( unsigned int i=0; i<localCount/4; i++,index++)   
+            { // do four dot products at a time. Carefully avoid touching the w element.
+                float4 v0 = vertices[0];
+                float4 v1 = vertices[1];
+                float4 v2 = vertices[2];
+                float4 v3 = vertices[3];            
+                vertices += 4;
+                
+                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+                
+                lo0 = lo0*vLo;
+                lo1 = lo1*vLo;
+                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+                z = z*vHi;
+                x = x+y;
+                x = x+z;
+                stack_array[index] = x;
+                max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+            }
+        }
+#endif //__APPLE__
+    }
+
+    // process the last few points
+    if( count & 3 )
+    {
+        float4 v0, v1, v2, x, y, z;
+        switch( count & 3 )
+        {
+            case 3:
+            {
+                v0 = vertices[0];
+                v1 = vertices[1];
+                v2 = vertices[2];
+                
+                // Calculate 3 dot products, transpose, duplicate v2
+                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
+                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
+                lo0 = lo0*vLo;
+                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
+                z = z*vHi;
+                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
+                lo1 = lo1*vLo;
+                x = _mm_shuffle_ps(lo0, lo1, 0x88);
+                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            }
+                break;
+            case 2:
+            {
+                v0 = vertices[0];
+                v1 = vertices[1];
+                float4 xy = _mm_movelh_ps(v0, v1);
+                z = _mm_movehl_ps(v1, v0);
+                xy = xy*vLo;
+                z = _mm_shuffle_ps( z, z,  0xa8);
+                x = _mm_shuffle_ps( xy, xy, 0xa8);
+                y = _mm_shuffle_ps( xy, xy, 0xfd);
+                z = z*vHi;
+            }
+                break;
+            case 1:
+            {
+                float4 xy = vertices[0];
+                z =  _mm_shuffle_ps( xy, xy, 0xaa);
+                xy = xy*vLo;
+                z = z*vHi;
+                x = _mm_shuffle_ps(xy, xy, 0);
+                y = _mm_shuffle_ps(xy, xy, 0x55);
+            }
+                break;
+        }
+        x = x+y;
+        x = x+z;
+        stack_array[index] = x;
+        max = _mm_max_ps( x, max );         // control the order here so that max is never NaN even if x is nan
+        index++;
+    }
+    
+    // if we found a new max. 
+    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax)))
+    { // we found a new max. Search for it
+      // find max across the max vector, place in all elements of max -- big latency hit here
+        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e));
+        max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1));
+        
+        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+        // this where it actually makes a difference is handled in the early out at the top of the function, 
+        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced 
+        // complexity, and removed it.
+        
+        dotMax = max;
+        
+        // scan for the first occurence of max in the array  
+        size_t test;
+        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ )   // local_count must be a multiple of 4
+        {}
+        maxIndex = 4*index + segment + indexTable[test];
+    }
+    
+    _mm_store_ss( dotResult, dotMax);
+    return maxIndex;
+}
+
+long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult );
+
+long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    const float4 *vertices = (const float4*) vv;
+    static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 };
+    float4 dotmin = btAssign128( BT_INFINITY,  BT_INFINITY,  BT_INFINITY,  BT_INFINITY );
+    float4 vvec = _mm_loadu_ps( vec );
+    float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa ));          /// zzzz
+    float4 vLo = _mm_movelh_ps( vvec, vvec );                               /// xyxy
+    
+    long minIndex = -1L;
+
+    size_t segment = 0;
+    float4 stack_array[ STACK_ARRAY_COUNT ];
+    
+#if DEBUG
+    memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) );
+#endif
+    
+    size_t index;
+    float4 min;
+    // Faster loop without cleanup code for full tiles
+    for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) 
+    {
+        min = dotmin;
+        
+        for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 )   
+        { // do four dot products at a time. Carefully avoid touching the w element.
+            float4 v0 = vertices[0];
+            float4 v1 = vertices[1];
+            float4 v2 = vertices[2];
+            float4 v3 = vertices[3];            vertices += 4;
+            
+            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+1] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+2] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+3] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+        }
+        
+        // If we found a new min
+        if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
+        { 
+            // copy the new min across all lanes of our min accumulator
+            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
+            min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
+            
+            dotmin = min;
+            
+            // find first occurrence of that min  
+            size_t test;
+            for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
+            {}
+            // record where it is.
+            minIndex = 4*index + segment + indexTable[test];
+        }
+    }
+    
+    // account for work we've already done
+    count -= segment;
+    
+    // Deal with the last < STACK_ARRAY_COUNT vectors
+    min = dotmin;
+    index = 0;
+    
+    
+    if(btUnlikely( count > 16) )
+    {
+        for( ; index + 4 <= count / 4; index+=4 )   
+        { // do four dot products at a time. Carefully avoid touching the w element.
+            float4 v0 = vertices[0];
+            float4 v1 = vertices[1];
+            float4 v2 = vertices[2];
+            float4 v3 = vertices[3];            vertices += 4;
+            
+            float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+1] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+2] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            v0 = vertices[0];
+            v1 = vertices[1];
+            v2 = vertices[2];
+            v3 = vertices[3];            vertices += 4;
+            
+            lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+            hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+            lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+            hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+            
+            lo0 = lo0*vLo;
+            lo1 = lo1*vLo;
+            z = _mm_shuffle_ps(hi0, hi1, 0x88);
+            x = _mm_shuffle_ps(lo0, lo1, 0x88);
+            y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            z = z*vHi;
+            x = x+y;
+            x = x+z;
+            stack_array[index+3] = x;
+            min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+            
+            // It is too costly to keep the index of the min here. We will look for it again later.  We save a lot of work this way.
+        }
+    }
+    
+    size_t localCount = (count & -4L) - 4*index;
+    if( localCount )
+    {
+        
+        
+#ifdef __APPLE__
+        vertices += localCount;      // counter the offset
+        float4 t0, t1, t2, t3, t4;
+        size_t byteIndex = -(localCount) * sizeof(float);
+        float4 * sap = &stack_array[index + localCount / 4];
+        
+        asm volatile
+        (   ".align 4                                                                   \n\
+             0: movaps  %[min], %[t2]                            // move min out of the way to avoid propagating NaNs in min \n\
+             movaps  (%[vertices], %[byteIndex], 4),    %[t0]    // vertices[0]      \n\
+             movaps  16(%[vertices], %[byteIndex], 4),  %[t1]    // vertices[1]      \n\
+             movaps  %[t0], %[min]                               // vertices[0]      \n\
+             movlhps %[t1], %[min]                               // x0y0x1y1         \n\
+             movaps  32(%[vertices], %[byteIndex], 4),  %[t3]    // vertices[2]      \n\
+             movaps  48(%[vertices], %[byteIndex], 4),  %[t4]    // vertices[3]      \n\
+             mulps   %[vLo], %[min]                              // x0y0x1y1 * vLo   \n\
+             movhlps %[t0], %[t1]                                // z0w0z1w1         \n\
+             movaps  %[t3], %[t0]                                // vertices[2]      \n\
+             movlhps %[t4], %[t0]                                // x2y2x3y3         \n\
+             movhlps %[t3], %[t4]                                // z2w2z3w3         \n\
+             mulps   %[vLo], %[t0]                               // x2y2x3y3 * vLo   \n\
+             shufps  $0x88, %[t4], %[t1]                         // z0z1z2z3         \n\
+             mulps   %[vHi], %[t1]                               // z0z1z2z3 * vHi   \n\
+             movaps  %[min], %[t3]                               // x0y0x1y1 * vLo   \n\
+             shufps  $0x88, %[t0], %[min]                        // x0x1x2x3 * vLo.x \n\
+             shufps  $0xdd, %[t0], %[t3]                         // y0y1y2y3 * vLo.y \n\
+             addps   %[t3], %[min]                               // x + y            \n\
+             addps   %[t1], %[min]                               // x + y + z        \n\
+             movaps  %[min], (%[sap], %[byteIndex])              // record result for later scrutiny \n\
+             minps   %[t2], %[min]                               // record min, restore min   \n\
+             add     $16, %[byteIndex]                           // advance loop counter\n\
+             jnz     0b                                          \n\
+             "
+         : [min] "+x" (min), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex)
+         : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap)
+         : "memory", "cc"
+         );
+        index += localCount/4;
+#else
+        {
+            for( unsigned int i=0; i<localCount/4; i++,index++)   
+            { // do four dot products at a time. Carefully avoid touching the w element.
+                float4 v0 = vertices[0];
+                float4 v1 = vertices[1];
+                float4 v2 = vertices[2];
+                float4 v3 = vertices[3];            
+                vertices += 4;
+                
+                float4 lo0 = _mm_movelh_ps( v0, v1);    // x0y0x1y1
+                float4 hi0 = _mm_movehl_ps( v1, v0);    // z0?0z1?1
+                float4 lo1 = _mm_movelh_ps( v2, v3);    // x2y2x3y3
+                float4 hi1 = _mm_movehl_ps( v3, v2);    // z2?2z3?3
+                
+                lo0 = lo0*vLo;
+                lo1 = lo1*vLo;
+                float4 z = _mm_shuffle_ps(hi0, hi1, 0x88);
+                float4 x = _mm_shuffle_ps(lo0, lo1, 0x88);
+                float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+                z = z*vHi;
+                x = x+y;
+                x = x+z;
+                stack_array[index] = x;
+                min = _mm_min_ps( x, min );         // control the order here so that max is never NaN even if x is nan
+            }
+        }
+
+#endif
+    }
+    
+    // process the last few points
+    if( count & 3 )
+    {
+        float4 v0, v1, v2, x, y, z;
+        switch( count & 3 )
+        {
+            case 3:
+            {
+                v0 = vertices[0];
+                v1 = vertices[1];
+                v2 = vertices[2];
+                
+                // Calculate 3 dot products, transpose, duplicate v2
+                float4 lo0 = _mm_movelh_ps( v0, v1);        // xyxy.lo
+                float4 hi0 = _mm_movehl_ps( v1, v0);        // z?z?.lo
+                lo0 = lo0*vLo;
+                z = _mm_shuffle_ps(hi0, v2,  0xa8 );           // z0z1z2z2
+                z = z*vHi;
+                float4 lo1 = _mm_movelh_ps(v2, v2);          // xyxy
+                lo1 = lo1*vLo;
+                x = _mm_shuffle_ps(lo0, lo1, 0x88);
+                y = _mm_shuffle_ps(lo0, lo1, 0xdd);
+            }
+                break;
+            case 2:
+            {
+                v0 = vertices[0];
+                v1 = vertices[1];
+                float4 xy = _mm_movelh_ps(v0, v1);
+                z = _mm_movehl_ps(v1, v0);
+                xy = xy*vLo;
+                z = _mm_shuffle_ps( z, z,  0xa8);
+                x = _mm_shuffle_ps( xy, xy, 0xa8);
+                y = _mm_shuffle_ps( xy, xy, 0xfd);
+                z = z*vHi;
+            }
+                break;
+            case 1:
+            {
+                float4 xy = vertices[0];
+                z =  _mm_shuffle_ps( xy, xy, 0xaa);
+                xy = xy*vLo;
+                z = z*vHi;
+                x = _mm_shuffle_ps(xy, xy, 0);
+                y = _mm_shuffle_ps(xy, xy, 0x55);
+            }
+                break;
+        }
+        x = x+y;
+        x = x+z;
+        stack_array[index] = x;
+        min = _mm_min_ps( x, min );         // control the order here so that min is never NaN even if x is nan
+        index++;
+    }
+    
+    // if we found a new min. 
+    if( 0 == segment || 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(min, dotmin)))
+    { // we found a new min. Search for it
+      // find min across the min vector, place in all elements of min -- big latency hit here
+        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0x4e));
+        min = _mm_min_ps(min, (float4) _mm_shuffle_ps( min, min, 0xb1));
+        
+        // It is slightly faster to do this part in scalar code when count < 8. However, the common case for
+        // this where it actually makes a difference is handled in the early out at the top of the function, 
+        // so it is less than a 1% difference here. I opted for improved code size, fewer branches and reduced 
+        // complexity, and removed it.
+        
+        dotmin = min;
+        
+        // scan for the first occurence of min in the array  
+        size_t test;
+        for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], min))); index++ )   // local_count must be a multiple of 4
+        {}
+        minIndex = 4*index + segment + indexTable[test];
+    }
+    
+    _mm_store_ss( dotResult, dotmin);
+    return minIndex;
+}
+
+
+#elif defined BT_USE_NEON
+#define ARM_NEON_GCC_COMPATIBILITY  1
+#include <arm_neon.h>
+
+
+static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult );
+static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult );
+
+long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel;
+long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel;
+
+extern "C" {int  _get_cpu_capabilities( void );}
+
+static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    if( _get_cpu_capabilities() & 0x2000 )
+        _maxdot_large = _maxdot_large_v1;
+    else
+        _maxdot_large = _maxdot_large_v0;
+    
+    return _maxdot_large(vv, vec, count, dotResult);
+}
+
+static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    if( _get_cpu_capabilities() & 0x2000 )
+        _mindot_large = _mindot_large_v1;
+    else
+        _mindot_large = _mindot_large_v0;
+    
+    return _mindot_large(vv, vec, count, dotResult);
+}
+
+
+
+#define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32  {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; })
+
+
+long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    unsigned long i = 0;
+    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
+    float32x2_t vLo = vget_low_f32(vvec);
+    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+    float32x2_t dotMaxLo = (float32x2_t) { -BT_INFINITY, -BT_INFINITY };
+    float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY };
+    uint32x2_t indexLo = (uint32x2_t) {0, 1};
+    uint32x2_t indexHi = (uint32x2_t) {2, 3};
+    uint32x2_t iLo = (uint32x2_t) {-1, -1};
+    uint32x2_t iHi = (uint32x2_t) {-1, -1};
+    const uint32x2_t four = (uint32x2_t) {4,4};
+
+    for( ; i+8 <= count; i+= 8 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
+        
+        float32x2_t rLo = vpadd_f32( xy0, xy1);
+        float32x2_t rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
+        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
+        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four); 
+        indexHi = vadd_u32(indexHi, four);
+
+        v0 = vld1q_f32_aligned_postincrement( vv );
+        v1 = vld1q_f32_aligned_postincrement( vv );
+        v2 = vld1q_f32_aligned_postincrement( vv );
+        v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        zLo = vmul_f32( z0.val[0], vHi);
+        zHi = vmul_f32( z1.val[0], vHi);
+        
+        rLo = vpadd_f32( xy0, xy1);
+        rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        maskLo = vcgt_f32( rLo, dotMaxLo );
+        maskHi = vcgt_f32( rHi, dotMaxHi );
+        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four);
+        indexHi = vadd_u32(indexHi, four);
+    }
+
+    for( ; i+4 <= count; i+= 4 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
+        
+        float32x2_t rLo = vpadd_f32( xy0, xy1);
+        float32x2_t rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
+        uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
+        dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+        dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four);
+        indexHi = vadd_u32(indexHi, four);
+    }
+    
+    switch( count & 3 )
+    {
+        case 3:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+            
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+            
+            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+            
+            float32x2_t rLo = vpadd_f32( xy0, xy1);
+            float32x2_t rHi = vpadd_f32( xy2, xy2);
+            rLo = vadd_f32(rLo, zLo);
+            rHi = vadd_f32(rHi, zHi);
+            
+            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
+            uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi );
+            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+            dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+            iHi = vbsl_u32(maskHi, indexHi, iHi);
+        }
+            break;
+        case 2:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+            
+            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+            
+            float32x2_t rLo = vpadd_f32( xy0, xy1);
+            rLo = vadd_f32(rLo, zLo);
+            
+            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
+            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+        }
+            break;
+        case 1:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+            float32x2_t zLo = vmul_f32( z0, vHi);
+            float32x2_t rLo = vpadd_f32( xy0, xy0);
+            rLo = vadd_f32(rLo, zLo);
+            uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo );
+            dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+        }
+            break;
+        
+        default:
+            break;
+    }
+    
+    // select best answer between hi and lo results
+    uint32x2_t mask = vcgt_f32( dotMaxHi, dotMaxLo );
+    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+    iLo = vbsl_u32(mask, iHi, iLo);
+    
+    // select best answer between even and odd results
+    dotMaxHi = vdup_lane_f32(dotMaxLo, 1);
+    iHi = vdup_lane_u32(iLo, 1);
+    mask = vcgt_f32( dotMaxHi, dotMaxLo );
+    dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo);
+    iLo = vbsl_u32(mask, iHi, iLo);
+    
+    *dotResult = vget_lane_f32( dotMaxLo, 0);
+    return vget_lane_u32(iLo, 0);
+}
+
+
+long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
+    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
+    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
+    uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 };
+    float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY };
+    
+    unsigned long i = 0;
+    for( ; i + 8 <= count; i += 8 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        float32x4x2_t zb = vuzpq_f32( z0, z1);
+        float32x4_t z = vmulq_f32( zb.val[0], vHi);
+        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        uint32x4_t mask = vcgtq_f32(x, maxDot);
+        maxDot = vbslq_f32( mask, x, maxDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+
+        v0 = vld1q_f32_aligned_postincrement( vv );
+        v1 = vld1q_f32_aligned_postincrement( vv );
+        v2 = vld1q_f32_aligned_postincrement( vv );
+        v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        // the next two lines should resolve to a single vswp d, d
+        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        zb = vuzpq_f32( z0, z1);
+        z = vmulq_f32( zb.val[0], vHi);
+        xy = vuzpq_f32( xy0, xy1);
+        x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        mask = vcgtq_f32(x, maxDot);
+        maxDot = vbslq_f32( mask, x, maxDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+    }
+
+    for( ; i + 4 <= count; i += 4 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        float32x4x2_t zb = vuzpq_f32( z0, z1);
+        float32x4_t z = vmulq_f32( zb.val[0], vHi);
+        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        uint32x4_t mask = vcgtq_f32(x, maxDot);
+        maxDot = vbslq_f32( mask, x, maxDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+    }
+    
+    switch (count & 3) {
+        case 3:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            xy1 = vmulq_f32(xy1, vLo);
+            
+            float32x4x2_t zb = vuzpq_f32( z0, z1);
+            float32x4_t z = vmulq_f32( zb.val[0], vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcgtq_f32(x, maxDot);
+            maxDot = vbslq_f32( mask, x, maxDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+
+        case 2:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            
+            float32x4x2_t zb = vuzpq_f32( z0, z0);
+            float32x4_t z = vmulq_f32( zb.val[0], vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcgtq_f32(x, maxDot);
+            maxDot = vbslq_f32( mask, x, maxDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+
+        case 1:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); 
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            
+            z = vmulq_f32( z, vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcgtq_f32(x, maxDot);
+            maxDot = vbslq_f32( mask, x, maxDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+
+        default:
+            break;
+    }
+    
+    
+    // select best answer between hi and lo results
+    uint32x2_t mask = vcgt_f32( vget_high_f32(maxDot), vget_low_f32(maxDot));
+    float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot));
+    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+    
+    // select best answer between even and odd results
+    float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1);
+    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+    mask = vcgt_f32( maxDotO, maxDot2 );
+    maxDot2 = vbsl_f32(mask, maxDotO, maxDot2);
+    index2 = vbsl_u32(mask, indexHi, index2);
+    
+    *dotResult = vget_lane_f32( maxDot2, 0);
+    return vget_lane_u32(index2, 0);
+    
+}
+
+long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    unsigned long i = 0;
+    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
+    float32x2_t vLo = vget_low_f32(vvec);
+    float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0);
+    float32x2_t dotMinLo = (float32x2_t) { BT_INFINITY, BT_INFINITY };
+    float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY };
+    uint32x2_t indexLo = (uint32x2_t) {0, 1};
+    uint32x2_t indexHi = (uint32x2_t) {2, 3};
+    uint32x2_t iLo = (uint32x2_t) {-1, -1};
+    uint32x2_t iHi = (uint32x2_t) {-1, -1};
+    const uint32x2_t four = (uint32x2_t) {4,4};
+    
+    for( ; i+8 <= count; i+= 8 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
+        
+        float32x2_t rLo = vpadd_f32( xy0, xy1);
+        float32x2_t rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
+        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
+        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four);
+        indexHi = vadd_u32(indexHi, four);
+        
+        v0 = vld1q_f32_aligned_postincrement( vv );
+        v1 = vld1q_f32_aligned_postincrement( vv );
+        v2 = vld1q_f32_aligned_postincrement( vv );
+        v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        zLo = vmul_f32( z0.val[0], vHi);
+        zHi = vmul_f32( z1.val[0], vHi);
+        
+        rLo = vpadd_f32( xy0, xy1);
+        rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        maskLo = vclt_f32( rLo, dotMinLo );
+        maskHi = vclt_f32( rHi, dotMinHi );
+        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four);
+        indexHi = vadd_u32(indexHi, four);
+    }
+
+    for( ; i+4 <= count; i+= 4 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+        float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+        float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+        float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo);
+        
+        float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3));
+        float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+        float32x2_t zHi = vmul_f32( z1.val[0], vHi);
+        
+        float32x2_t rLo = vpadd_f32( xy0, xy1);
+        float32x2_t rHi = vpadd_f32( xy2, xy3);
+        rLo = vadd_f32(rLo, zLo);
+        rHi = vadd_f32(rHi, zHi);
+        
+        uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
+        uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
+        dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+        dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
+        iLo = vbsl_u32(maskLo, indexLo, iLo);
+        iHi = vbsl_u32(maskHi, indexHi, iHi);
+        indexLo = vadd_u32(indexLo, four);
+        indexHi = vadd_u32(indexHi, four);
+    }
+    switch( count & 3 )
+    {
+        case 3:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+            
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+            float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo);
+            
+            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+            float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi);
+            
+            float32x2_t rLo = vpadd_f32( xy0, xy1);
+            float32x2_t rHi = vpadd_f32( xy2, xy2);
+            rLo = vadd_f32(rLo, zLo);
+            rHi = vadd_f32(rHi, zHi);
+            
+            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
+            uint32x2_t maskHi = vclt_f32( rHi, dotMinHi );
+            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+            dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+            iHi = vbsl_u32(maskHi, indexHi, iHi);
+        }
+            break;
+        case 2:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo);
+            
+            float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x2_t zLo = vmul_f32( z0.val[0], vHi);
+            
+            float32x2_t rLo = vpadd_f32( xy0, xy1);
+            rLo = vadd_f32(rLo, zLo);
+            
+            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
+            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+        }
+            break;
+        case 1:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo);
+            float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0);
+            float32x2_t zLo = vmul_f32( z0, vHi);
+            float32x2_t rLo = vpadd_f32( xy0, xy0);
+            rLo = vadd_f32(rLo, zLo);
+            uint32x2_t maskLo = vclt_f32( rLo, dotMinLo );
+            dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo);
+            iLo = vbsl_u32(maskLo, indexLo, iLo);
+        }
+            break;
+            
+        default:
+            break;
+    }
+    
+    // select best answer between hi and lo results
+    uint32x2_t mask = vclt_f32( dotMinHi, dotMinLo );
+    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+    iLo = vbsl_u32(mask, iHi, iLo);
+    
+    // select best answer between even and odd results
+    dotMinHi = vdup_lane_f32(dotMinLo, 1);
+    iHi = vdup_lane_u32(iLo, 1);
+    mask = vclt_f32( dotMinHi, dotMinLo );
+    dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo);
+    iLo = vbsl_u32(mask, iHi, iLo);
+    
+    *dotResult = vget_lane_f32( dotMinLo, 0);
+    return vget_lane_u32(iLo, 0);
+}
+
+long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult )
+{
+    float32x4_t vvec = vld1q_f32_aligned_postincrement( vec );
+    float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec));
+    float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0);
+    const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 };
+    uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3};
+    uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 };
+    float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY };
+    
+    unsigned long i = 0;
+    for( ; i + 8 <= count; i += 8 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        float32x4x2_t zb = vuzpq_f32( z0, z1);
+        float32x4_t z = vmulq_f32( zb.val[0], vHi);
+        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        uint32x4_t mask = vcltq_f32(x, minDot);
+        minDot = vbslq_f32( mask, x, minDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+        
+        v0 = vld1q_f32_aligned_postincrement( vv );
+        v1 = vld1q_f32_aligned_postincrement( vv );
+        v2 = vld1q_f32_aligned_postincrement( vv );
+        v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        // the next two lines should resolve to a single vswp d, d
+        xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        zb = vuzpq_f32( z0, z1);
+        z = vmulq_f32( zb.val[0], vHi);
+        xy = vuzpq_f32( xy0, xy1);
+        x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        mask = vcltq_f32(x, minDot);
+        minDot = vbslq_f32( mask, x, minDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+    }
+    
+    for( ; i + 4 <= count; i += 4 )
+    {
+        float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+        float32x4_t v3 = vld1q_f32_aligned_postincrement( vv );
+        
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+        float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3));
+        // the next two lines should resolve to a single vswp d, d
+        float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+        float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3));
+        
+        xy0 = vmulq_f32(xy0, vLo);
+        xy1 = vmulq_f32(xy1, vLo);
+        
+        float32x4x2_t zb = vuzpq_f32( z0, z1);
+        float32x4_t z = vmulq_f32( zb.val[0], vHi);
+        float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+        float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+        x = vaddq_f32(x, z);
+        
+        uint32x4_t mask = vcltq_f32(x, minDot);
+        minDot = vbslq_f32( mask, x, minDot);
+        index = vbslq_u32(mask, local_index, index);
+        local_index = vaddq_u32(local_index, four);
+    }
+    
+    switch (count & 3) {
+        case 3:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v2 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+            float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+            float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2));
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            xy1 = vmulq_f32(xy1, vLo);
+            
+            float32x4x2_t zb = vuzpq_f32( z0, z1);
+            float32x4_t z = vmulq_f32( zb.val[0], vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy1);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcltq_f32(x, minDot);
+            minDot = vbslq_f32( mask, x, minDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+            
+        case 2:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            float32x4_t v1 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1));
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            
+            float32x4x2_t zb = vuzpq_f32( z0, z0);
+            float32x4_t z = vmulq_f32( zb.val[0], vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcltq_f32(x, minDot);
+            minDot = vbslq_f32( mask, x, minDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+            
+        case 1:
+        {
+            float32x4_t v0 = vld1q_f32_aligned_postincrement( vv );
+            
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0));
+            // the next two lines should resolve to a single vswp d, d
+            float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); 
+            
+            xy0 = vmulq_f32(xy0, vLo);
+            
+            z = vmulq_f32( z, vHi);
+            float32x4x2_t xy = vuzpq_f32( xy0, xy0);
+            float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]);
+            x = vaddq_f32(x, z);
+            
+            uint32x4_t mask = vcltq_f32(x, minDot);
+            minDot = vbslq_f32( mask, x, minDot);
+            index = vbslq_u32(mask, local_index, index);
+            local_index = vaddq_u32(local_index, four);
+        }
+            break;
+            
+        default:
+            break;
+    }
+    
+    
+    // select best answer between hi and lo results
+    uint32x2_t mask = vclt_f32( vget_high_f32(minDot), vget_low_f32(minDot));
+    float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot));
+    uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index));
+    
+    // select best answer between even and odd results
+    float32x2_t minDotO = vdup_lane_f32(minDot2, 1);
+    uint32x2_t indexHi = vdup_lane_u32(index2, 1);
+    mask = vclt_f32( minDotO, minDot2 );
+    minDot2 = vbsl_f32(mask, minDotO, minDot2);
+    index2 = vbsl_u32(mask, indexHi, index2);
+    
+    *dotResult = vget_lane_f32( minDot2, 0);
+    return vget_lane_u32(index2, 0);
+    
+}
+
+#else
+    #error Unhandled __APPLE__ arch
+#endif
+
+#endif  /* __APPLE__ */
+
+
diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h
index d99b7c83ae3..1cf65358803 100644
--- a/extern/bullet2/src/LinearMath/btVector3.h
+++ b/extern/bullet2/src/LinearMath/btVector3.h
@@ -17,9 +17,10 @@ subject to the following restrictions:
 #ifndef BT_VECTOR3_H
 #define BT_VECTOR3_H
 
-
+//#include <stdint.h>
 #include "btScalar.h"
 #include "btMinMax.h"
+#include "btAlignedAllocator.h"
 
 #ifdef BT_USE_DOUBLE_PRECISION
 #define btVector3Data btVector3DoubleData
@@ -29,8 +30,46 @@ subject to the following restrictions:
 #define btVector3DataName "btVector3FloatData"
 #endif //BT_USE_DOUBLE_PRECISION
 
+#if defined BT_USE_SSE
+
+//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));
+
+#ifdef _MSC_VER
+#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
+#endif
+
+
+#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
+//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
+#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
+#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) )
+#define bt_splat_ps( _a, _i )  bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) )
+
+#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
+#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
+#define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
+#define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
+#define btvxyzMaskf btvFFF0fMask
+#define btvAbsfMask btCastiTo128f(btvAbsMask)
+
+
+
+const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
+const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
+const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
+const __m128 ATTRIBUTE_ALIGNED16(v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};
+
+#endif
 
+#ifdef BT_USE_NEON
 
+const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
+const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0x0};
+const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
+const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
+
+#endif
 
 /**@brief btVector3 can be used to represent 3D points and vectors.
  * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
@@ -40,6 +79,8 @@ ATTRIBUTE_ALIGNED16(class) btVector3
 {
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 #if defined (__SPU__) && defined (__CELLOS_LV2__)
 		btScalar	m_floats[4];
 public:
@@ -49,28 +90,31 @@ public:
 	}
 public:
 #else //__CELLOS_LV2__ __SPU__
-#ifdef BT_USE_SSE // _WIN32
-	union {
-		__m128 mVec128;
-		btScalar	m_floats[4];
-	};
-	SIMD_FORCE_INLINE	__m128	get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE	void	set128(__m128 v128)
-	{
-		mVec128 = v128;
-	}
-#else
-	btScalar	m_floats[4];
-#endif
+    #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM
+        union {
+            btSimdFloat4      mVec128;
+            btScalar	m_floats[4];
+        };
+        SIMD_FORCE_INLINE	btSimdFloat4	get128() const
+        {
+            return mVec128;
+        }
+        SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
+        {
+            mVec128 = v128;
+        }
+    #else
+        btScalar	m_floats[4];
+    #endif
 #endif //__CELLOS_LV2__ __SPU__
 
 	public:
 
   /**@brief No initialization constructor */
-	SIMD_FORCE_INLINE btVector3() {}
+	SIMD_FORCE_INLINE btVector3() 
+	{
+
+	}
 
  
 	
@@ -79,21 +123,50 @@ public:
    * @param y Y value 
    * @param z Z value 
    */
-	SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z)
+	SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z)
 	{
-		m_floats[0] = x;
-		m_floats[1] = y;
-		m_floats[2] = z;
-		m_floats[3] = btScalar(0.);
+		m_floats[0] = _x;
+		m_floats[1] = _y;
+		m_floats[2] = _z;
+		m_floats[3] = btScalar(0.f);
 	}
 
-	
+#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON)
+	// Set Vector 
+	SIMD_FORCE_INLINE btVector3( btSimdFloat4 v)
+	{
+		mVec128 = v;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btVector3& 
+	operator=(const btVector3& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
+    
 /**@brief Add a vector to this one 
  * @param The vector to add to this one */
 	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
 	{
-
-		m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2];
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_add_ps(mVec128, v.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vaddq_f32(mVec128, v.mVec128);
+#else
+		m_floats[0] += v.m_floats[0]; 
+		m_floats[1] += v.m_floats[1];
+		m_floats[2] += v.m_floats[2];
+#endif
 		return *this;
 	}
 
@@ -102,14 +175,33 @@ public:
    * @param The vector to subtract */
 	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
 	{
-		m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vsubq_f32(mVec128, v.mVec128);
+#else
+		m_floats[0] -= v.m_floats[0]; 
+		m_floats[1] -= v.m_floats[1];
+		m_floats[2] -= v.m_floats[2];
+#endif
 		return *this;
 	}
+	
   /**@brief Scale the vector
    * @param s Scale factor */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
 	{
-		m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		mVec128 = _mm_mul_ps(mVec128, vs);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmulq_n_f32(mVec128, s);
+#else
+		m_floats[0] *= s; 
+		m_floats[1] *= s;
+		m_floats[2] *= s;
+#endif
 		return *this;
 	}
 
@@ -118,14 +210,42 @@ public:
 	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
 	{
 		btFullAssert(s != btScalar(0.0));
+
+#if 0 //defined(BT_USE_SSE_IN_API)
+// this code is not faster !
+		__m128 vs = _mm_load_ss(&s);
+		vs = _mm_div_ss(v1110, vs);
+		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
+
+		mVec128 = _mm_mul_ps(mVec128, vs);
+		
+		return *this;
+#else
 		return *this *= btScalar(1.0) / s;
+#endif
 	}
 
   /**@brief Return the dot product
    * @param v The other vector in the dot product */
 	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
 	{
-		return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2];
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
+		__m128 z = _mm_movehl_ps(vd, vd);
+		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, y);
+		vd = _mm_add_ss(vd, z);
+		return _mm_cvtss_f32(vd);
+#elif defined(BT_USE_NEON)
+		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));  
+		x = vadd_f32(x, vget_high_f32(vd));
+		return vget_lane_f32(x, 0);
+#else	
+		return	m_floats[0] * v.m_floats[0] + 
+				m_floats[1] * v.m_floats[1] + 
+				m_floats[2] * v.m_floats[2];
+#endif
 	}
 
   /**@brief Return the length of the vector squared */
@@ -165,7 +285,44 @@ public:
    * x^2 + y^2 + z^2 = 1 */
 	SIMD_FORCE_INLINE btVector3& normalize() 
 	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)		
+        // dot product first
+		__m128 vd = _mm_mul_ps(mVec128, mVec128);
+		__m128 z = _mm_movehl_ps(vd, vd);
+		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, y);
+		vd = _mm_add_ss(vd, z);
+		
+        #if 0
+        vd = _mm_sqrt_ss(vd);
+		vd = _mm_div_ss(v1110, vd);
+		vd = bt_splat_ps(vd, 0x80);
+		mVec128 = _mm_mul_ps(mVec128, vd);
+        #else
+        
+        // NR step 1/sqrt(x) - vd is x, y is output 
+        y = _mm_rsqrt_ss(vd); // estimate 
+        
+        //  one step NR 
+        z = v1_5;
+        vd = _mm_mul_ss(vd, vHalf); // vd * 0.5	
+        //x2 = vd;
+        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
+        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
+        z = _mm_sub_ss(z, vd);  // 1.5 - vd * 0.5 * y0 * y0 
+
+        y = _mm_mul_ss(y, z);   // y0 * (1.5 - vd * 0.5 * y0 * y0)
+
+		y = bt_splat_ps(y, 0x80);
+		mVec128 = _mm_mul_ps(mVec128, y);
+
+        #endif
+
+		
+		return *this;
+#else	
 		return *this /= length();
+#endif
 	}
 
   /**@brief Return a normalized version of this vector */
@@ -184,29 +341,112 @@ public:
 		btFullAssert(s != btScalar(0.0));
 		return btAcos(dot(v) / s);
 	}
+	
   /**@brief Return a vector will the absolute values of each element */
 	SIMD_FORCE_INLINE btVector3 absolute() const 
 	{
+
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
+		return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
+#elif defined(BT_USE_NEON)
+		return btVector3(vabsq_f32(mVec128));
+#else	
 		return btVector3(
 			btFabs(m_floats[0]), 
 			btFabs(m_floats[1]), 
 			btFabs(m_floats[2]));
+#endif
 	}
+	
   /**@brief Return the cross product between this and another vector 
    * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
 	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	T, V;
+		
+		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		
+		V = _mm_mul_ps(V, mVec128);
+		T = _mm_mul_ps(T, v.mVec128);
+		V = _mm_sub_ps(V, T);
+		
+		V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
+		return btVector3(V);
+#elif defined(BT_USE_NEON)
+		float32x4_t T, V;
+		// form (Y, Z, X, _) of mVec128 and v.mVec128
+		float32x2_t Tlow = vget_low_f32(mVec128);
+		float32x2_t Vlow = vget_low_f32(v.mVec128);
+		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
+		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
+		
+		V = vmulq_f32(V, mVec128);
+		T = vmulq_f32(T, v.mVec128);
+		V = vsubq_f32(V, T);
+		Vlow = vget_low_f32(V);
+		// form (Y, Z, X, _);
+		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
+		V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
+		
+		return btVector3(V);
+#else
 		return btVector3(
-			m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1],
+			m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
 			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
 			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
+#endif
 	}
 
 	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
 	{
-		return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		// cross:
+		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
+		
+		V = _mm_mul_ps(V, v1.mVec128);
+		T = _mm_mul_ps(T, v2.mVec128);
+		V = _mm_sub_ps(V, T);
+		
+		V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));
+
+		// dot: 
+		V = _mm_mul_ps(V, mVec128);
+		__m128 z = _mm_movehl_ps(V, V);
+		__m128 y = _mm_shuffle_ps(V, V, 0x55);
+		V = _mm_add_ss(V, y);
+		V = _mm_add_ss(V, z);
+		return _mm_cvtss_f32(V);
+
+#elif defined(BT_USE_NEON)
+		// cross:
+		float32x4_t T, V;
+		// form (Y, Z, X, _) of mVec128 and v.mVec128
+		float32x2_t Tlow = vget_low_f32(v1.mVec128);
+		float32x2_t Vlow = vget_low_f32(v2.mVec128);
+		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
+		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
+		
+		V = vmulq_f32(V, v1.mVec128);
+		T = vmulq_f32(T, v2.mVec128);
+		V = vsubq_f32(V, T);
+		Vlow = vget_low_f32(V);
+		// form (Y, Z, X, _);
+		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
+
+		// dot: 
+		V = vmulq_f32(mVec128, V);
+		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));  
+		x = vadd_f32(x, vget_high_f32(V));
+		return vget_lane_f32(x, 0);
+#else
+		return 
+			m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
 			m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 
 			m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
+#endif
 	}
 
   /**@brief Return the axis with the smallest value 
@@ -233,14 +473,31 @@ public:
 		return absolute().maxAxis();
 	}
 
+	
 	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
 	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vrt = _mm_load_ss(&rt);	//	(rt 0 0 0)
+		btScalar s = btScalar(1.0) - rt;
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
+		vrt = bt_pshufd_ps(vrt, 0x80);	//	(rt rt rt 0.0)
+		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
+		__m128 tmp3 = _mm_add_ps(r0,r1);
+		mVec128 = tmp3;
+#elif defined(BT_USE_NEON)
+		mVec128 = vsubq_f32(v1.mVec128, v0.mVec128);
+		mVec128 = vmulq_n_f32(mVec128, rt);
+		mVec128 = vaddq_f32(mVec128, v0.mVec128);
+#else	
 		btScalar s = btScalar(1.0) - rt;
 		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
 		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
 		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
 		//don't do the unused w component
 		//		m_co[3] = s * v0[3] + rt * v1[3];
+#endif
 	}
 
   /**@brief Return the linear interpolation between this and another vector 
@@ -248,16 +505,41 @@ public:
    * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
 	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
 	{
-		return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
-			m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
-			m_floats[2] + (v.m_floats[2] -m_floats[2]) * t);
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vt = _mm_load_ss(&t);	//	(t 0 0 0)
+		vt = bt_pshufd_ps(vt, 0x80);	//	(rt rt rt 0.0)
+		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
+		vl = _mm_mul_ps(vl, vt);
+		vl = _mm_add_ps(vl, mVec128);
+		
+		return btVector3(vl);
+#elif defined(BT_USE_NEON)
+		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
+		vl = vmulq_n_f32(vl, t);
+		vl = vaddq_f32(vl, mVec128);
+		
+		return btVector3(vl);
+#else	
+		return 
+			btVector3(	m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
+						m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
+						m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
+#endif
 	}
 
   /**@brief Elementwise multiply this vector by the other 
    * @param v The other vector */
 	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
 	{
-		m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2];
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmulq_f32(mVec128, v.mVec128);
+#else	
+		m_floats[0] *= v.m_floats[0]; 
+		m_floats[1] *= v.m_floats[1];
+		m_floats[2] *= v.m_floats[2];
+#endif
 		return *this;
 	}
 
@@ -268,13 +550,13 @@ public:
   /**@brief Return the z value */
 		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
   /**@brief Set the x value */
-		SIMD_FORCE_INLINE void	setX(btScalar x) { m_floats[0] = x;};
+		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
   /**@brief Set the y value */
-		SIMD_FORCE_INLINE void	setY(btScalar y) { m_floats[1] = y;};
+		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
   /**@brief Set the z value */
-		SIMD_FORCE_INLINE void	setZ(btScalar z) {m_floats[2] = z;};
+		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
   /**@brief Set the w value */
-		SIMD_FORCE_INLINE void	setW(btScalar w) { m_floats[3] = w;};
+		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
   /**@brief Return the y value */
@@ -292,7 +574,14 @@ public:
 
 	SIMD_FORCE_INLINE	bool	operator==(const btVector3& other) const
 	{
-		return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else 
+		return ((m_floats[3]==other.m_floats[3]) && 
+                (m_floats[2]==other.m_floats[2]) && 
+                (m_floats[1]==other.m_floats[1]) && 
+                (m_floats[0]==other.m_floats[0]));
+#endif
 	}
 
 	SIMD_FORCE_INLINE	bool	operator!=(const btVector3& other) const
@@ -300,103 +589,230 @@ public:
 		return !(*this == other);
 	}
 
-	 /**@brief Set each element to the max of the current values and the values of another btVector3
+  /**@brief Set each element to the max of the current values and the values of another btVector3
    * @param other The other btVector3 to compare with 
    */
-		SIMD_FORCE_INLINE void	setMax(const btVector3& other)
-		{
-			btSetMax(m_floats[0], other.m_floats[0]);
-			btSetMax(m_floats[1], other.m_floats[1]);
-			btSetMax(m_floats[2], other.m_floats[2]);
-			btSetMax(m_floats[3], other.w());
-		}
+	SIMD_FORCE_INLINE void	setMax(const btVector3& other)
+	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_max_ps(mVec128, other.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmaxq_f32(mVec128, other.mVec128);
+#else
+		btSetMax(m_floats[0], other.m_floats[0]);
+		btSetMax(m_floats[1], other.m_floats[1]);
+		btSetMax(m_floats[2], other.m_floats[2]);
+		btSetMax(m_floats[3], other.w());
+#endif
+	}
+
   /**@brief Set each element to the min of the current values and the values of another btVector3
    * @param other The other btVector3 to compare with 
    */
-		SIMD_FORCE_INLINE void	setMin(const btVector3& other)
-		{
-			btSetMin(m_floats[0], other.m_floats[0]);
-			btSetMin(m_floats[1], other.m_floats[1]);
-			btSetMin(m_floats[2], other.m_floats[2]);
-			btSetMin(m_floats[3], other.w());
-		}
-
-		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
-		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
-			m_floats[3] = btScalar(0.);
-		}
-
-		void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
-		{
-			v0->setValue(0.		,-z()		,y());
-			v1->setValue(z()	,0.			,-x());
-			v2->setValue(-y()	,x()	,0.);
-		}
-
-		void	setZero()
-		{
-			setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-		}
-
-		SIMD_FORCE_INLINE bool isZero() const 
-		{
-			return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
-		}
-
-		SIMD_FORCE_INLINE bool fuzzyZero() const 
-		{
-			return length2() < SIMD_EPSILON;
-		}
-
-		SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;
+	SIMD_FORCE_INLINE void	setMin(const btVector3& other)
+	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_min_ps(mVec128, other.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vminq_f32(mVec128, other.mVec128);
+#else
+		btSetMin(m_floats[0], other.m_floats[0]);
+		btSetMin(m_floats[1], other.m_floats[1]);
+		btSetMin(m_floats[2], other.m_floats[2]);
+		btSetMin(m_floats[3], other.w());
+#endif
+	}
 
-		SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);
+	SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
+	{
+		m_floats[0]=_x;
+		m_floats[1]=_y;
+		m_floats[2]=_z;
+		m_floats[3] = btScalar(0.f);
+	}
 
-		SIMD_FORCE_INLINE	void	serializeFloat(struct	btVector3FloatData& dataOut) const;
+	void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
+	{
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+ 
+		__m128 V  = _mm_and_ps(mVec128, btvFFF0fMask);
+		__m128 V0 = _mm_xor_ps(btvMzeroMask, V);
+		__m128 V2 = _mm_movelh_ps(V0, V);
+		
+		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
+		
+        V0 = _mm_shuffle_ps(V0, V, 0xDB);
+		V2 = _mm_shuffle_ps(V2, V, 0xF9);
+		
+		v0->mVec128 = V0;
+		v1->mVec128 = V1;
+		v2->mVec128 = V2;
+#else
+		v0->setValue(0.		,-z()		,y());
+		v1->setValue(z()	,0.			,-x());
+		v2->setValue(-y()	,x()	,0.);
+#endif
+	}
 
-		SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btVector3FloatData& dataIn);
+	void setZero()
+	{
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
+#elif defined(BT_USE_NEON)
+		int32x4_t vi = vdupq_n_s32(0); 
+		mVec128 = vreinterpretq_f32_s32(vi);
+#else	
+		setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+#endif
+	}
 
-		SIMD_FORCE_INLINE	void	serializeDouble(struct	btVector3DoubleData& dataOut) const;
+	SIMD_FORCE_INLINE bool isZero() const 
+	{
+		return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
+	}
 
-		SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btVector3DoubleData& dataIn);
+	SIMD_FORCE_INLINE bool fuzzyZero() const 
+	{
+		return length2() < SIMD_EPSILON;
+	}
 
+	SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);
+
+	SIMD_FORCE_INLINE	void	serializeFloat(struct	btVector3FloatData& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btVector3FloatData& dataIn);
+
+	SIMD_FORCE_INLINE	void	serializeDouble(struct	btVector3DoubleData& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btVector3DoubleData& dataIn);
+    
+        /**@brief returns index of maximum dot product between this and vectors in array[]
+         * @param array The other vectors 
+         * @param array_count The number of other vectors 
+         * @param dotOut The maximum dot product */
+        SIMD_FORCE_INLINE   long    maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 
+
+        /**@brief returns index of minimum dot product between this and vectors in array[]
+         * @param array The other vectors 
+         * @param array_count The number of other vectors 
+         * @param dotOut The minimum dot product */    
+        SIMD_FORCE_INLINE   long    minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 
+
+    /* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
+    SIMD_FORCE_INLINE btVector3  dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const
+    {
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+
+        __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 );
+        __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 );
+        __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 );
+        __m128 b0 = _mm_unpacklo_ps( a0, a1 );
+        __m128 b1 = _mm_unpackhi_ps( a0, a1 );
+        __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() );
+        __m128 r = _mm_movelh_ps( b0, b2 );
+        r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
+        a2 = _mm_and_ps( a2, btvxyzMaskf);
+        r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) )));
+        return btVector3(r);
+        
+#elif defined(BT_USE_NEON)
+        static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 };
+        float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128);
+        float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128);
+        float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128);
+        float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1));
+        a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask );
+        float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] );
+        float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
+        return btVector3( vcombine_f32(b0, b1) );
+#else	
+		return btVector3( dot(v0), dot(v1), dot(v2));
+#endif
+    }
 };
 
 /**@brief Return the sum of two vectors (Point symantics)*/
 SIMD_FORCE_INLINE btVector3 
 operator+(const btVector3& v1, const btVector3& v2) 
 {
-	return btVector3(v1.m_floats[0] + v2.m_floats[0], v1.m_floats[1] + v2.m_floats[1], v1.m_floats[2] + v2.m_floats[2]);
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
+#elif defined(BT_USE_NEON)
+	return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
+#else
+	return btVector3(
+			v1.m_floats[0] + v2.m_floats[0], 
+			v1.m_floats[1] + v2.m_floats[1], 
+			v1.m_floats[2] + v2.m_floats[2]);
+#endif
 }
 
 /**@brief Return the elementwise product of two vectors */
 SIMD_FORCE_INLINE btVector3 
 operator*(const btVector3& v1, const btVector3& v2) 
 {
-	return btVector3(v1.m_floats[0] * v2.m_floats[0], v1.m_floats[1] * v2.m_floats[1], v1.m_floats[2] * v2.m_floats[2]);
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
+#elif defined(BT_USE_NEON)
+	return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
+#else
+	return btVector3(
+			v1.m_floats[0] * v2.m_floats[0], 
+			v1.m_floats[1] * v2.m_floats[1], 
+			v1.m_floats[2] * v2.m_floats[2]);
+#endif
 }
 
 /**@brief Return the difference between two vectors */
 SIMD_FORCE_INLINE btVector3 
 operator-(const btVector3& v1, const btVector3& v2)
 {
-	return btVector3(v1.m_floats[0] - v2.m_floats[0], v1.m_floats[1] - v2.m_floats[1], v1.m_floats[2] - v2.m_floats[2]);
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)  && defined(BT_USE_SSE))
+
+	//	without _mm_and_ps this code causes slowdown in Concave moving
+	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
+	return btVector3(_mm_and_ps(r, btvFFF0fMask));
+#elif defined(BT_USE_NEON)
+	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
+	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
+#else
+	return btVector3(
+			v1.m_floats[0] - v2.m_floats[0], 
+			v1.m_floats[1] - v2.m_floats[1], 
+			v1.m_floats[2] - v2.m_floats[2]);
+#endif
 }
+
 /**@brief Return the negative of the vector */
 SIMD_FORCE_INLINE btVector3 
 operator-(const btVector3& v)
 {
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
+	__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
+	return btVector3(_mm_and_ps(r, btvFFF0fMask)); 
+#elif defined(BT_USE_NEON)
+	return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
+#else	
 	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
+#endif
 }
 
 /**@brief Return the vector scaled by s */
 SIMD_FORCE_INLINE btVector3 
 operator*(const btVector3& v, const btScalar& s)
 {
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+	vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
+	return btVector3(_mm_mul_ps(v.mVec128, vs));
+#elif defined(BT_USE_NEON)
+	float32x4_t r = vmulq_n_f32(v.mVec128, s);
+	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
+#else
 	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
+#endif
 }
 
 /**@brief Return the vector scaled by s */
@@ -411,14 +827,46 @@ SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v, const btScalar& s)
 {
 	btFullAssert(s != btScalar(0.0));
+#if 0 //defined(BT_USE_SSE_IN_API)
+// this code is not faster !
+	__m128 vs = _mm_load_ss(&s);
+    vs = _mm_div_ss(v1110, vs);
+	vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
+
+	return btVector3(_mm_mul_ps(v.mVec128, vs));
+#else
 	return v * (btScalar(1.0) / s);
+#endif
 }
 
 /**@brief Return the vector inversely scaled by s */
 SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v1, const btVector3& v2)
 {
-	return btVector3(v1.m_floats[0] / v2.m_floats[0],v1.m_floats[1] / v2.m_floats[1],v1.m_floats[2] / v2.m_floats[2]);
+#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE))
+	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
+	vec = _mm_and_ps(vec, btvFFF0fMask);
+	return btVector3(vec); 
+#elif defined(BT_USE_NEON)
+	float32x4_t x, y, v, m;
+
+	x = v1.mVec128;
+	y = v2.mVec128;
+	
+	v = vrecpeq_f32(y);			// v ~ 1/y
+	m = vrecpsq_f32(y, v);		// m = (2-v*y)
+	v = vmulq_f32(v, m);		// vv = v*m ~~ 1/y
+	m = vrecpsq_f32(y, v);		// mm = (2-vv*y)
+	v = vmulq_f32(v, x);		// x*vv
+	v = vmulq_f32(v, m);		// (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
+
+	return btVector3(v);
+#else
+	return btVector3(
+			v1.m_floats[0] / v2.m_floats[0], 
+			v1.m_floats[1] / v2.m_floats[1],
+			v1.m_floats[2] / v2.m_floats[2]);
+#endif
 }
 
 /**@brief Return the dot product between two vectors */
@@ -488,22 +936,133 @@ SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
 
 SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
 {
+#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	btVector3 norm = *this;
+
+	return norm.normalize();
+#else
 	return *this / length();
+#endif
 } 
 
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const
+SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const
 {
 	// wAxis must be a unit lenght vector
 
+#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+
+    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
+	btScalar ssin = btSin( _angle );
+    __m128 C = wAxis.cross( mVec128 ).mVec128;
+	O = _mm_and_ps(O, btvFFF0fMask);
+    btScalar scos = btCos( _angle );
+	
+	__m128 vsin = _mm_load_ss(&ssin);	//	(S 0 0 0)
+    __m128 vcos = _mm_load_ss(&scos);	//	(S 0 0 0)
+	
+	__m128 Y = bt_pshufd_ps(O, 0xC9);	//	(Y Z X 0)
+	__m128 Z = bt_pshufd_ps(O, 0xD2);	//	(Z X Y 0)
+	O = _mm_add_ps(O, Y);
+	vsin = bt_pshufd_ps(vsin, 0x80);	//	(S S S 0)
+	O = _mm_add_ps(O, Z);
+    vcos = bt_pshufd_ps(vcos, 0x80);	//	(S S S 0)
+	
+    vsin = vsin * C; 
+	O = O * wAxis.mVec128; 
+	__m128 X = mVec128 - O; 
+	
+    O = O + vsin;
+	vcos = vcos * X;
+	O = O + vcos;	
+	
+	return btVector3(O);
+#else
 	btVector3 o = wAxis * wAxis.dot( *this );
-	btVector3 x = *this - o;
-	btVector3 y;
+	btVector3 _x = *this - o;
+	btVector3 _y;
 
-	y = wAxis.cross( *this );
+	_y = wAxis.cross( *this );
 
-	return ( o + x * btCos( angle ) + y * btSin( angle ) );
+	return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) );
+#endif
+}
+
+SIMD_FORCE_INLINE   long    btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
+{
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+    #if defined _WIN32 || defined (BT_USE_SSE)
+        const long scalar_cutoff = 10;
+        long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #elif defined BT_USE_NEON
+        const long scalar_cutoff = 4;
+        extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #endif
+    if( array_count < scalar_cutoff )	
+#endif
+    {
+        btScalar maxDot = -SIMD_INFINITY;
+        int i = 0;
+        int ptIndex = -1;
+        for( i = 0; i < array_count; i++ )
+        {
+            btScalar dot = array[i].dot(*this);
+            
+            if( dot > maxDot )
+            {
+                maxDot = dot;
+                ptIndex = i;
+            }
+        }
+        
+        dotOut = maxDot;
+        return ptIndex;
+    }
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+    return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+#endif
 }
 
+SIMD_FORCE_INLINE   long    btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
+{
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+    #if defined BT_USE_SSE
+        const long scalar_cutoff = 10;
+        long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #elif defined BT_USE_NEON
+        const long scalar_cutoff = 4;
+        extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
+    #else
+        #error unhandled arch!
+    #endif
+    
+    if( array_count < scalar_cutoff )
+#endif
+    {
+        btScalar  minDot = SIMD_INFINITY;
+        int i = 0;
+        int ptIndex = -1;
+        
+        for( i = 0; i < array_count; i++ )
+        {
+            btScalar dot = array[i].dot(*this);
+            
+            if( dot < minDot )
+            {
+                minDot = dot;
+                ptIndex = i;
+            }
+        }
+        
+        dotOut = minDot;
+        
+        return ptIndex;
+    }
+#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
+    return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
+#endif//BT_USE_SIMD_VECTOR3
+}
+
+
 class btVector4 : public btVector3
 {
 public:
@@ -511,24 +1070,47 @@ public:
 	SIMD_FORCE_INLINE btVector4() {}
 
 
-	SIMD_FORCE_INLINE btVector4(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
-		: btVector3(x,y,z)
+	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
+		: btVector3(_x,_y,_z)
+	{
+		m_floats[3] = _w;
+	}
+
+#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) 
+	SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
 	{
-		m_floats[3] = w;
+		mVec128 = rhs.mVec128;
 	}
 
+	SIMD_FORCE_INLINE btVector4& 
+	operator=(const btVector4& v) 
+	{
+		mVec128 = v.mVec128;
+		return *this;
+	}
+#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
 
 	SIMD_FORCE_INLINE btVector4 absolute4() const 
 	{
+#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
+		return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
+#elif defined(BT_USE_NEON)
+		return btVector4(vabsq_f32(mVec128));
+#else	
 		return btVector4(
 			btFabs(m_floats[0]), 
 			btFabs(m_floats[1]), 
 			btFabs(m_floats[2]),
 			btFabs(m_floats[3]));
+#endif
 	}
 
 
-
 	btScalar	getW() const { return m_floats[3];}
 
 
@@ -556,12 +1138,8 @@ public:
 			maxIndex = 3;
 			maxVal = m_floats[3];
 		}
-		
-		
-		
 
 		return maxIndex;
-
 	}
 
 
@@ -591,7 +1169,6 @@ public:
 		}
 		
 		return minIndex;
-
 	}
 
 
@@ -623,12 +1200,12 @@ public:
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE void	setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
+		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
 		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
-			m_floats[3]=w;
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3]=_w;
 		}
 
 
@@ -762,5 +1339,4 @@ SIMD_FORCE_INLINE void	btVector3::deSerialize(const struct	btVector3Data& dataIn
 		m_floats[i] = dataIn.m_floats[i];
 }
 
-
 #endif //BT_VECTOR3_H
diff --git a/extern/bullet2/src/SConscript b/extern/bullet2/src/SConscript
index 8a3db17f6d1..3ffff9c80fc 100644
--- a/extern/bullet2/src/SConscript
+++ b/extern/bullet2/src/SConscript
@@ -35,4 +35,7 @@ bullet2_src += env.Glob("BulletSoftBody/*.cpp")
 
 incs = '. BulletCollision BulletDynamics LinearMath BulletSoftBody'
 
-env.BlenderLib ( libname = 'extern_bullet2', sources=bullet2_src, includes=Split(incs), defines=Split(defs), libtype=['extern','player'], priority=[20,137], compileflags=cflags )
+if sys.platform=='darwin' and env['CC'][:-2].endswith('4.6'): # workaround for an gcc-4.6 compiler bug
+	env.BlenderLib ( libname = 'extern_bullet2', sources=bullet2_src, includes=Split(incs), defines=Split(defs), libtype=['extern','player'], priority=[20,137], compileflags=cflags, cc_compilerchange='/usr/bin/gcc', cxx_compilerchange='/usr/bin/g++' )
+else:
+	env.BlenderLib ( libname = 'extern_bullet2', sources=bullet2_src, includes=Split(incs), defines=Split(defs), libtype=['extern','player'], priority=[20,137], compileflags=cflags )
diff --git a/extern/bullet2/src/btBulletCollisionCommon.h b/extern/bullet2/src/btBulletCollisionCommon.h
index 472690c1573..af981b5d36d 100644
--- a/extern/bullet2/src/btBulletCollisionCommon.h
+++ b/extern/bullet2/src/btBulletCollisionCommon.h
@@ -45,7 +45,6 @@ subject to the following restrictions:
 ///Narrowphase Collision Detector
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
 
-//btSphereBoxCollisionAlgorithm is broken, use gjk for now
 //#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
 
diff --git a/extern/bullet2/src/btBulletDynamicsCommon.h b/extern/bullet2/src/btBulletDynamicsCommon.h
index ccfad19b87a..dbd175c3fe6 100644
--- a/extern/bullet2/src/btBulletDynamicsCommon.h
+++ b/extern/bullet2/src/btBulletDynamicsCommon.h
@@ -32,6 +32,7 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h"
+#include "BulletDynamics/ConstraintSolver/btGearConstraint.h"
 
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
 
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index a85c3268b16..eccf6fb7cb6 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -821,6 +821,13 @@ struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libm
 	return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
 }
 
+struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNewEmpty(void)
+{
+	libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
+
+	return (struct libmv_CameraIntrinsics *) camera_intrinsics;
+}
+
 struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
 {
 	libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
@@ -884,6 +891,13 @@ void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsic
 	}
 }
 
+void libmv_CameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads)
+{
+	libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
+
+	camera_intrinsics->SetThreads(threads);
+}
+
 void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
 			double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height)
 {
diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h
index c90322c56c5..c3debe45fd1 100644
--- a/extern/libmv/libmv-capi.h
+++ b/extern/libmv/libmv-capi.h
@@ -132,6 +132,8 @@ void libmv_destroyFeatures(struct libmv_Features *libmv_features);
 /* camera intrinsics */
 struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
 
+struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNewEmpty(void);
+
 struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
 
 struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
@@ -141,6 +143,8 @@ void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsi
 void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
                                   libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
 
+void libmv_CameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
+
 void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
 			double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
 
diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
index 658f65c1367..543fddedd0c 100644
--- a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
+++ b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
@@ -62,7 +62,8 @@ CameraIntrinsics::CameraIntrinsics()
       p1_(0),
       p2_(0),
       distort_(0),
-      undistort_(0) {}
+      undistort_(0),
+      threads_(1) {}
 
 CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from)
     : K_(from.K_),
@@ -72,7 +73,8 @@ CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from)
       k2_(from.k2_),
       k3_(from.k3_),
       p1_(from.p1_),
-      p2_(from.p2_)
+      p2_(from.p2_),
+      threads_(from.threads_)
 {
   distort_ = copyGrid(from.distort_);
   undistort_ = copyGrid(from.undistort_);
@@ -120,6 +122,11 @@ void CameraIntrinsics::SetTangentialDistortion(double p1, double p2) {
   FreeLookupGrid();
 }
 
+void CameraIntrinsics::SetThreads(int threads)
+{
+	threads_ = threads;
+}
+
 void CameraIntrinsics::ApplyIntrinsics(double normalized_x,
                                        double normalized_y,
                                        double *image_x,
@@ -188,6 +195,7 @@ void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height, doub
   double aspx = (double)w / image_width_;
   double aspy = (double)h / image_height_;
 
+  #pragma omp parallel for schedule(dynamic) num_threads(threads_) if (threads_ > 1 && height > 100)
   for (int y = 0; y < height; y++) {
     for (int x = 0; x < width; x++) {
       double src_x = (x - 0.5 * overscan * w) / aspx, src_y = (y - 0.5 * overscan * h) / aspy;
@@ -214,7 +222,8 @@ void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height, doub
 // TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
 template<typename T,int N>
 static void Warp(const Grid* grid, const T* src, T* dst,
-                 int width, int height) {
+                 int width, int height, int threads) {
+  #pragma omp parallel for schedule(dynamic) num_threads(threads) if (threads > 1 && height > 100)
   for (int y = 0; y < height; y++) {
     for (int x = 0; x < width; x++) {
       Offset offset = grid->offset[y*width+x];
@@ -306,37 +315,37 @@ void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height, double ov
 
 void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, double overscan, int channels) {
   CheckDistortLookupGrid(width, height, overscan);
-       if(channels==1) Warp<float,1>(distort_,src,dst,width,height);
-  else if(channels==2) Warp<float,2>(distort_,src,dst,width,height);
-  else if(channels==3) Warp<float,3>(distort_,src,dst,width,height);
-  else if(channels==4) Warp<float,4>(distort_,src,dst,width,height);
+       if(channels==1) Warp<float,1>(distort_,src,dst,width,height,threads_);
+  else if(channels==2) Warp<float,2>(distort_,src,dst,width,height,threads_);
+  else if(channels==3) Warp<float,3>(distort_,src,dst,width,height,threads_);
+  else if(channels==4) Warp<float,4>(distort_,src,dst,width,height,threads_);
   //else assert("channels must be between 1 and 4");
 }
 
 void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
   CheckDistortLookupGrid(width, height, overscan);
-       if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height);
-  else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height);
-  else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height);
-  else if(channels==4) Warp<unsigned char,4>(distort_,src,dst,width,height);
+       if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height,threads_);
+  else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height,threads_);
+  else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height,threads_);
+  else if(channels==4) Warp<unsigned char,4>(distort_,src,dst,width,height,threads_);
   //else assert("channels must be between 1 and 4");
 }
 
 void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, double overscan, int channels) {
   CheckUndistortLookupGrid(width, height, overscan);
-       if(channels==1) Warp<float,1>(undistort_,src,dst,width,height);
-  else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height);
-  else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height);
-  else if(channels==4) Warp<float,4>(undistort_,src,dst,width,height);
+       if(channels==1) Warp<float,1>(undistort_,src,dst,width,height,threads_);
+  else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height,threads_);
+  else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height,threads_);
+  else if(channels==4) Warp<float,4>(undistort_,src,dst,width,height,threads_);
   //else assert("channels must be between 1 and 4");
 }
 
 void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
   CheckUndistortLookupGrid(width, height, overscan);
-       if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height);
-  else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height);
-  else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height);
-  else if(channels==4) Warp<unsigned char,4>(undistort_,src,dst,width,height);
+       if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height,threads_);
+  else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height,threads_);
+  else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height,threads_);
+  else if(channels==4) Warp<unsigned char,4>(undistort_,src,dst,width,height,threads_);
   //else assert("channels must be between 1 and 4");
 }
 
diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h
index b51b28a4bfb..632922c38ff 100644
--- a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h
+++ b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h
@@ -68,6 +68,9 @@ class CameraIntrinsics {
 
   void SetTangentialDistortion(double p1, double p2);
 
+  /// Set number of threads using for buffer distortion/undistortion
+  void SetThreads(int threads);
+
   /*!
       Apply camera intrinsics to the normalized point to get image coordinates.
 
@@ -153,6 +156,8 @@ class CameraIntrinsics {
 
   struct Grid *distort_;
   struct Grid *undistort_;
+
+  int threads_;
 };
 
 /// A human-readable representation of the camera intrinsic parameters.
diff --git a/extern/libmv/libmv/simple_pipeline/intersect.cc b/extern/libmv/libmv/simple_pipeline/intersect.cc
index 660b4b21ece..d0f139a991a 100644
--- a/extern/libmv/libmv/simple_pipeline/intersect.cc
+++ b/extern/libmv/libmv/simple_pipeline/intersect.cc
@@ -117,7 +117,7 @@ bool EuclideanIntersect(const vector<Marker> &markers,
 
   // Configure the solve.
   ceres::Solver::Options solver_options;
-  solver_options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY;
+  solver_options.linear_solver_type = ceres::DENSE_QR;
   solver_options.max_num_iterations = 50;
   solver_options.update_state_every_iteration = true;
   solver_options.parameter_tolerance = 1e-16;
diff --git a/extern/libmv/libmv/simple_pipeline/modal_solver.cc b/extern/libmv/libmv/simple_pipeline/modal_solver.cc
index 169c53bb601..d79c71508cc 100644
--- a/extern/libmv/libmv/simple_pipeline/modal_solver.cc
+++ b/extern/libmv/libmv/simple_pipeline/modal_solver.cc
@@ -200,7 +200,7 @@ void ModalSolver(Tracks &tracks,
     if (num_residuals) {
       // Configure the solve.
       ceres::Solver::Options solver_options;
-      solver_options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY;
+      solver_options.linear_solver_type = ceres::DENSE_QR;
       solver_options.max_num_iterations = 50;
       solver_options.update_state_every_iteration = true;
       solver_options.gradient_tolerance = 1e-36;
diff --git a/extern/libmv/libmv/tracking/track_region.cc b/extern/libmv/libmv/tracking/track_region.cc
index 472d58a1547..036b7c94966 100644
--- a/extern/libmv/libmv/tracking/track_region.cc
+++ b/extern/libmv/libmv/tracking/track_region.cc
@@ -1404,7 +1404,7 @@ void TemplatedTrackRegion(const FloatImage &image1,
 
   // Configure the solve.
   ceres::Solver::Options solver_options;
-  solver_options.linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY;
+  solver_options.linear_solver_type = ceres::DENSE_QR;
   solver_options.max_num_iterations = options.max_iterations;
   solver_options.update_state_every_iteration = true;
   solver_options.parameter_tolerance = 1e-16;
diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog
index ebfb771be02..67a1cac9d76 100644
--- a/extern/libmv/third_party/ceres/ChangeLog
+++ b/extern/libmv/third_party/ceres/ChangeLog
@@ -1,3 +1,251 @@
+commit e7148795c3f2ce1f6625a7c81545707a6cbde3eb
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Mar 4 10:17:30 2013 -0800
+
+    Fix a memory leak in CXSparse::SolveCholesky.
+    
+    Thanks to Alexander Mordvintsev for reporting this.
+    
+    Change-Id: I5c6be4d3d28f062e83a1ad41cb8089c19362a005
+
+commit 480f9b8551c02c429bc027197f3d868c5cc522c9
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 20:15:22 2013 -0800
+
+    Add gerrit instructions to the docs.
+    
+    Change-Id: Ic98f20273f3ccbaeb8b4ca00c4ce0042a0d262f8
+
+commit 7c60b5c2c6170f0f81a29dbaa2ca7d8031db843b
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 18:28:02 2013 -0800
+
+    version history update
+    
+    Change-Id: Ia92caeb0f6659667ce1e56eefd0e3c87b3f6e538
+
+commit a363a7b69c7b97e17ad671ba1aee30f201eafdd1
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 18:06:00 2013 -0800
+
+    Multithread DENSE_SCHUR
+    
+    Replace the global lock in BlockRandomAccessDenseMatrix
+    with a per cell lock.
+    
+    Change-Id: Iddbe38616157b6e0d3770eede3335a056c3ba18c
+
+commit 31730ef55df802d1e251edab3bac3c0cdcb30647
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Thu Feb 28 11:20:28 2013 -0800
+
+    DenseSparseMatrix is now column-major.
+    
+    1. Introduce new typdefs in eigen.h to allow for column
+       major matrices.
+    
+    2. Clean up old unused typedefs, and the aligned typedefs
+       since they do not actually add any real performance.
+    
+    3. Made eigen.h conform to the google style guide by removing
+       the using directives. They were polluting the ceres namespace.
+    
+    4. Made the template specialization generator work again.
+    
+    Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
+
+commit f8e43f7f2724c5413015e1f113ce860ee8b30428
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Feb 27 08:55:20 2013 -0800
+
+    version history update
+    
+    Change-Id: Ibd412a9e5beac3b3ac3e15b26fb11aa061956095
+
+commit fef82b3a7af1e44f18f5343601fb19a4dd6f89ad
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Wed Feb 27 10:44:12 2013 +0000
+
+    Bugfix - commenting-out unused member which results in build error on OS X with latest Xcode.
+    
+    - Build error due to -Werror,-Wunused-private-field clang args.
+    - Raised with gtest group (as it also occurs with latest gtest:master but for a different
+      variable) with patch, but they don't want to fix for compatibility with legacy compilers/OS
+      see here: https://groups.google.com/forum/?fromgroups=#!topic/googletestframework/S1KLl2jkzws
+    
+    Change-Id: I99984bcd9d07f6eb0e3fac58e27ddf0ac9e54265
+
+commit 0bc3540b66cf9de4d4a317c6a760849aa66d414e
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Feb 27 08:46:48 2013 -0800
+
+    Version history update
+    
+    Change-Id: I6f79dd87e45bedf4bcf821e7b44f8b9553c39a7b
+
+commit b59ac43b9d1122da3d00882efa7c5d6833c06ea7
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Wed Feb 27 09:10:19 2013 +0000
+
+    Issue 83 fix: use correct pthread linker flags with clang.
+    
+    1. -lpthreads was previously added to the CMAKE_CXX_FLAGS which are
+    not passed to the linker thus linking would fail.
+    2. Clang would emit a warning about -lpthreads being added to a
+    build instruction with -c (compile only).
+    
+    This patch fixes both of these issues by adding -lpthreads to the
+    linker flags (and removes them from the CXX flags).
+    
+    Change-Id: I5e54de3ab7eced177aa31f311926893598af5b56
+
+commit 6fb1024ed5b197da261f71d1bb02716661da2fff
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Feb 26 22:20:18 2013 -0800
+
+    Fix a small bug in evaluator.h
+    
+    Change-Id: I2c4b8637e0ac8645721109f8b6bb2396ce8bb37b
+
+commit 039ff07dd1a02e6c9cff335551f05bfe8269224b
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Feb 26 09:15:39 2013 -0800
+
+    Evaluate ResidualBlocks without LossFunction if needed.
+    
+    1. Add the ability to evaluate the problem without loss function.
+    2. Remove static Evaluator::Evaluate
+    3. Refactor the common code from problem_test.cc and
+       evaluator_test.cc into evaluator_test_utils.cc
+    
+    Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827
+
+commit c3fd3b960e489348d5b2c8b8f0167760e52ecbd9
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Tue Feb 26 00:30:35 2013 -0500
+
+    Only use cmake28 macro for RHEL6
+    
+    This makes it possible to use the same spec to build on Fedora. It drops any
+    chance of building on RHEL5, but I doubt that was possible anyway.
+    
+    Change-Id: Ia956eb6416504e520962ec2f617e03b40ca18203
+
+commit b73148b9f38fe41032e696436566b78043a368db
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Mon Feb 25 02:34:00 2013 -0500
+
+    Remove -Wno-return-type-c-linkage option when using gcc
+    
+    Only use this option when compiling with CLang which supports it.
+    
+    Change-Id: I8555c16e82d61302f6a43672d0d63e5d4800c6b6
+
+commit ba9442160dabf612a1dc51baf098937459b4b5ca
+Author: Keir Mierle <mierle@gmail.com>
+Date:   Mon Feb 25 12:46:44 2013 -0800
+
+    Add the number of effective parameters to the final report.
+    
+    Here is an example report, obtained by running:
+    
+      bin/Debug/bundle_adjuster \
+      --input=../ceres-solver/data/problem-16-22106-pre.txt \
+      --linear_solver=iterative_schur \
+      --num_iterations=1 \
+      --alsologtostderr \
+      --use_local_parameterization \
+      --use_quaternions
+    
+    Note that effective parameters is less than parameters by 16, which is the
+    number of cameras. In this case the local parameterization has a 3 dimensional
+    tangent space for the 4-dimensional quaternions.
+    
+    Ceres Solver Report
+    -------------------
+                                         Original                  Reduced
+    Parameter blocks                        22138                    22138
+    Parameters                              66478                    66478
+    Effective parameters                    66462                    66462
+    Residual blocks                         83718                    83718
+    Residual                               167436                   167436
+    
+    Minimizer                        TRUST_REGION
+    Trust Region Strategy     LEVENBERG_MARQUARDT
+    
+                                            Given                     Used
+    Linear solver                 ITERATIVE_SCHUR          ITERATIVE_SCHUR
+    Preconditioner                         JACOBI                   JACOBI
+    Threads:                                    1                        1
+    Linear solver threads                       1                        1
+    Linear solver ordering              AUTOMATIC                22106, 32
+    
+    Cost:
+    Initial                          4.185660e+06
+    Final                            7.221647e+04
+    Change                           4.113443e+06
+    
+    Number of iterations:
+    Successful                                  1
+    Unsuccessful                                0
+    Total                                       1
+    
+    Time (in seconds):
+    Preprocessor                            0.697
+    
+      Residual Evaluations                  0.063
+      Jacobian Evaluations                 27.608
+      Linear Solver                        13.360
+    Minimizer                              43.973
+    
+    Postprocessor                           0.004
+    Total                                  44.756
+    
+    Termination:                   NO_CONVERGENCE
+    
+    Change-Id: I6b6b8ac24f71bd187e67d95651290917642be74f
+
+commit 36dc14ddf2fd53238c2ce21f172aa1989b31c0fd
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Feb 25 10:33:10 2013 -0800
+
+    Fix a clang warning
+    
+    Change-Id: I5ef32c6329f1f75efb30b16519b8de146a8339fa
+
+commit 931c309b2734329ec6e5f0b88ce4a0b488ac47e5
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Feb 25 09:46:21 2013 -0800
+
+    Cleanup based on comments by William Rucklidge
+    
+    Change-Id: If269ba8e388965a8ea32260fd6f17a133a19ab9b
+
+commit df36218c953e05d665df2cc96a6d7625e2307d97
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Fri Feb 15 18:28:11 2013 -0500
+
+    Add support for the CMake "LIB_SUFFIX" convention
+    
+    Allows `make install` to work correctly on e.g. 64-bit systems where the
+    native libraries are installed to /usr/lib64
+    
+    Change-Id: I71b4fae7b459c003cb5fac981278c668f2e29779
+
+commit 70701745b85fef7eeba2c978ae849fd48927699c
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Fri Feb 15 19:09:48 2013 -0500
+
+    Add RPM .spec file
+    
+    Tested on RHEL6.1 (with epel repository for dependencies).
+    
+    make_release checks that that the version string in the .spec file is in
+    sync with the rest of the project and reminds the user to bump the
+    release string if necessary and to build/upload the RPM package.
+    
+    Change-Id: I5f454f2a7301d1e0e120cb3c0e13a68d03bca917
+
 commit d2a5195b512164fec286c6a52b40d7766977caa3
 Author: Sameer Agarwal <sameeragarwal@google.com>
 Date:   Sun Feb 24 15:09:17 2013 -0800
@@ -377,196 +625,3 @@ Date:   Sat Feb 2 00:49:31 2013 -0800
     and coverage than the latex documentation now.
     
     Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
-
-commit 71c8058478311ff9b3087360827e048dec5dd69a
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Jan 31 17:33:01 2013 -0800
-
-    Remove ExecutionSummary from Evaluator and LinearSolver
-    
-    Change-Id: If4dbaf516a8b14e0a79e1a2116ce66a99ed4a592
-
-commit fa1c31eee33051d6483bc90fa7b66c3664b23bf3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 17:24:54 2013 -0800
-
-    Correct the documentation for crs_matrix.h
-    
-    Thanks to Joydeep Biswas for reporting this.
-    
-    Change-Id: Iae5fc2274644aab40f2f922a671f65da15ae71fc
-
-commit bdd87c03ed1cbac62990bf79aa6faed0a132bba9
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 16:24:31 2013 -0800
-
-    Add an ExecutionSummary object that the Evaluator and LinearSolver can use to
-    report execution statistics of all kinds.
-    
-    Currently a single map which maps arbitrary strings to doubles is supported,
-    which allows for precise timing information to be communicated.
-    
-    Change-Id: Ibd930aca5c9e6cae89bcfeffe9b13e2887644881
-
-commit a2fd9ca8beb5aa11fcc5d2b32e23f161edc93d28
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 16:02:41 2013 -0800
-
-    Fix Android.mk
-    
-    Change-Id: I1093c2731283890d1f3792bf8e6741f448f1465d
-
-commit 977be7cac37316524038fa0168cc5994a5654acd
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Sat Jan 26 16:01:54 2013 -0800
-
-    Add support for reporting linear solver and inner iteration
-    orderings.
-    
-    Change-Id: I0588a4285e0925ce689e47bd48ddcc61ce596a1f
-
-commit 146b9acb4d5570da311fedb5222ad65fe12f233c
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Jan 21 16:16:58 2013 -0800
-
-    Update include/ceres.h to export headers.
-    Update the ABI version.
-    
-    Change-Id: I5c1c4f110cddc816bbb5a737634f55b4cbea98e1
-
-commit e837aeaf9e63936d745519fa53c726a2ca9d5822
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Jan 21 13:05:01 2013 -0800
-
-    Documentation update.
-    
-    Change-Id: Ica8681f4bb58c60349d0dae453c652f2522eebf6
-
-commit 2f0d7249ccedac8183e6e5a9cb45ca7c51bb6b41
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Jan 18 13:11:32 2013 -0800
-
-    NumericDiffFunctor.
-    
-    A wrapper class that takes a variadic functor evaluating a
-    function, numerically differentiates it and makes it available as a
-    templated functor so that it can be easily used as part of Ceres'
-    automatic differentiation framework.
-    
-    The tests for NumericDiffCostFunction and NumericDiffFunctor have
-    a lot of stuff that is common, so refactor them to reduce code.
-    
-    Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
-
-commit 2fc0ed6143ad499d6dc82d621ff5ec69170beb52
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 15 11:34:10 2013 -0800
-
-    Change NumericDiffCostFunction to accept variadic functors.
-    
-    The interface for NumericDiffCostFunction and AutoDiffCostFunction
-    are not comparable. They both accept variadic functors.
-    
-    The change is backward compatible, as it still supports numeric
-    differentiation of CostFunction objects.
-    
-    Some refactoring of documentation and code in auto_diff_cost_function
-    and its relatives was also done to make things consistent.
-    
-    Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
-
-commit 9c5acce674e3ec1ba08509123ff519f106cc4348
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Sun Jan 13 22:14:12 2013 -0800
-
-    Add CostFunctionToFunctor.
-    
-    CostFunctionToFunctor wraps a CostFunction, and makes it available
-    as a templated functor that can be called from other templated
-    functors. This is useful for when one wants to mix automatic,
-    numeric and analytic differentiated functions.
-    
-    Also a bug fix in autodiff.h
-    
-    Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
-
-commit c89ea4b9de588e2e2e82c54cd1c30cddb11454c5
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Jan 9 16:09:35 2013 -0800
-
-    Minor corrections based on Jim Roseborough's comments
-    
-    Change-Id: I4a8c7a454ddf038a3ed2567c101f9aee582044bf
-
-commit 00c8a061929b912bda3cfd4615fb8688c246c969
-Author: Keir Mierle <mierle@gmail.com>
-Date:   Sat Dec 1 13:22:59 2012 -0800
-
-    Fix bug in DenseSparseMatrix::ToDenseMatrix().
-    
-    Change-Id: I74a1a03149d74fbc4268ec3ce9d20e09746a7227
-
-commit bcac4de5b75cae210c5557c81239222176d2709a
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Nov 30 23:11:26 2012 -0800
-
-    Speedup corrector.cc
-    
-    Add a specialization for the common case where the residual block
-    outputs exactly one residual.
-    
-    The matrix routines used by Corrector can be then specialized to
-    a scalar and be made considerably faster.
-    
-    For denoising upto 400% speedup is observed.
-    
-    Change-Id: I8e3f24b8ba41caa8e62ad97c5f5e96ab6ea47150
-
-commit 9883fc396b2913fbc597afa795c39d365229c299
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Nov 30 12:32:43 2012 -0800
-
-    Refactoring of the LineSearchMinimizer.
-    
-    1. New LineSearchDirection interface, factory and instances.
-    2. Cleanup of LineSearchMinimizer to use the State and Direction objects.
-    3. LBFGS -> LowRankInverseHessian.
-    4. Refactoring of the RunCallbacks function and share it across
-       LineSearchMinimizer and TrustRegionMinimizer.
-    
-    Change-Id: I19354afc6f5d6567b28918710c2012dc30ef8f32
-
-commit 2293cb5bc96a5b317ed4ca52aa3494cadecbc07c
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 16:00:18 2012 -0800
-
-    Add missing documentation to solver.h
-    
-    Change-Id: I86e7c4f1f6cc1e15d5eb2cf23e73c32d94d458c1
-
-commit aed99615c017839df09c98f518dcc0a59a9819ec
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 10:33:19 2012 -0800
-
-    Expose lbfgs rank in solver.h
-    
-    Change-Id: Ibc184b1a2f94a4057fa6569d539ca3a55d6d6098
-
-commit 1afd498f50ef520868c18a0f26b55409d8471ceb
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 10:28:11 2012 -0800
-
-    String to and from enum conversion routines.
-    
-    Update types.h/cc with stringication and unstringication
-    routines for the newly introduced enums.
-    
-    Change-Id: I0fe2842b5b1c75ba351f4ab87ec9fa60af2f9ed2
-
-commit 3e8d192f2871bcf6d5f248c119c8a6eef19186d3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Nov 28 17:20:22 2012 -0800
-
-    Add a rough implementation of LBFGS.
-    
-    Change-Id: I2bc816adfe0c02773a23035ea31de3cddc1322a4
diff --git a/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h b/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
index 861164a8253..e4549c54b43 100644
--- a/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
+++ b/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
@@ -78,7 +78,7 @@ template <typename CostFunctor, int Stride = 4>
 class DynamicAutoDiffCostFunction : public CostFunction {
  public:
   explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
-  : functor_(functor) {}
+    : functor_(functor) {}
 
   virtual ~DynamicAutoDiffCostFunction() {}
 
diff --git a/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h b/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
index be76f9eff98..85df54b8f99 100644
--- a/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
+++ b/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
@@ -35,27 +35,40 @@
 
 namespace ceres {
 
-using Eigen::Dynamic;
-using Eigen::RowMajor;
-
-typedef Eigen::Matrix<double, Dynamic, 1> Vector;
-typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::RowMajor> Matrix;
 typedef Eigen::Map<Vector> VectorRef;
 typedef Eigen::Map<Matrix> MatrixRef;
-typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
 typedef Eigen::Map<const Vector> ConstVectorRef;
-typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
 typedef Eigen::Map<const Matrix> ConstMatrixRef;
 
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+                   0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
-  typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
   Matrix;
 
   typedef Eigen::Map<
-    Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   MatrixRef;
 
   typedef Eigen::Matrix <double, num_rows, 1>
@@ -67,7 +80,7 @@ struct EigenTypes {
 
 
   typedef Eigen::Map<
-    const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   ConstMatrixRef;
 
   typedef Eigen::Map <
diff --git a/extern/libmv/third_party/ceres/include/ceres/problem.h b/extern/libmv/third_party/ceres/include/ceres/problem.h
index bccb329dc55..b1ccbab5dbd 100644
--- a/extern/libmv/third_party/ceres/include/ceres/problem.h
+++ b/extern/libmv/third_party/ceres/include/ceres/problem.h
@@ -331,7 +331,8 @@ class Problem {
   // Options struct to control Problem::Evaluate.
   struct EvaluateOptions {
     EvaluateOptions()
-        : num_threads(1) {
+        : apply_loss_function(true),
+          num_threads(1) {
     }
 
     // The set of parameter blocks for which evaluation should be
@@ -345,7 +346,7 @@ class Problem {
     // problem.
     //
     // NOTE: This vector should contain the same pointers as the ones
-    // used to add parameter blocks to the Problem. These parmeter
+    // used to add parameter blocks to the Problem. These parameter
     // block should NOT point to new memory locations. Bad things will
     // happen otherwise.
     vector<double*> parameter_blocks;
@@ -360,6 +361,15 @@ class Problem {
     // they were added to the problem. But, this may change if the
     // user removes any residual blocks from the problem.
     vector<ResidualBlockId> residual_blocks;
+
+    // Even though the residual blocks in the problem may contain loss
+    // functions, setting apply_loss_function to false will turn off
+    // the application of the loss function to the output of the cost
+    // function. This is of use for example if the user wishes to
+    // analyse the solution quality by studying the distribution of
+    // residuals before and after the solve.
+    bool apply_loss_function;
+
     int num_threads;
   };
 
@@ -390,7 +400,7 @@ class Problem {
   // the gradient vector (and the number of columns in the jacobian)
   // is the sum of the sizes of all the parameter blocks. If a
   // parameter block has a local parameterization, then it contributes
-  // "LocalSize" entries to the gradient vecto (and the number of
+  // "LocalSize" entries to the gradient vector (and the number of
   // columns in the jacobian).
   bool Evaluate(const EvaluateOptions& options,
                 double* cost,
diff --git a/extern/libmv/third_party/ceres/include/ceres/solver.h b/extern/libmv/third_party/ceres/include/ceres/solver.h
index 122870c86c8..8c2ff32d80b 100644
--- a/extern/libmv/third_party/ceres/include/ceres/solver.h
+++ b/extern/libmv/third_party/ceres/include/ceres/solver.h
@@ -611,11 +611,13 @@ class Solver {
     // Preprocessor summary.
     int num_parameter_blocks;
     int num_parameters;
+    int num_effective_parameters;
     int num_residual_blocks;
     int num_residuals;
 
     int num_parameter_blocks_reduced;
     int num_parameters_reduced;
+    int num_effective_parameters_reduced;
     int num_residual_blocks_reduced;
     int num_residuals_reduced;
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
index aedfc745f22..e5822792fa1 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
@@ -40,16 +40,21 @@ namespace internal {
 
 BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
     const vector<int>& blocks) {
-  block_layout_.resize(blocks.size(), 0);
+  const int num_blocks = blocks.size();
+  block_layout_.resize(num_blocks, 0);
   num_rows_ = 0;
-  for (int i = 0; i < blocks.size(); ++i) {
+  for (int i = 0; i < num_blocks; ++i) {
     block_layout_[i] = num_rows_;
     num_rows_ += blocks[i];
   }
 
   values_.reset(new double[num_rows_ * num_rows_]);
-  CHECK_NOTNULL(values_.get());
-  cell_info_.values = values_.get();
+
+  cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
+  for (int i = 0; i < num_blocks * num_blocks; ++i) {
+    cell_infos_[i].values = values_.get();
+  }
+
   SetZero();
 }
 
@@ -68,7 +73,7 @@ CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
   *col = block_layout_[col_block_id];
   *row_stride = num_rows_;
   *col_stride = num_rows_;
-  return &cell_info_;
+  return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
 }
 
 // Assume that the user does not hold any locks on any cell blocks
diff --git a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
index 9f27a4c30f3..d160fd96013 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
@@ -84,10 +84,10 @@ class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix {
   double* mutable_values() { return values_.get(); }
 
  private:
-  CellInfo cell_info_;
   int num_rows_;
   vector<int> block_layout_;
   scoped_array<double> values_;
+  scoped_array<CellInfo> cell_infos_;
 
   CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix);
 };
diff --git a/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc b/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
index 19fa17cc37d..3fbc2717f64 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
@@ -57,6 +57,7 @@ bool CXSparse::SolveCholesky(cs_di* A,
       cs_free(scratch_);
     }
     scratch_ = reinterpret_cast<CS_ENTRY*>(cs_malloc(A->n, sizeof(CS_ENTRY)));
+    scratch_size_ = A->n;
   }
 
   // Solve using Cholesky factorization
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc b/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
index a340e1664f0..96f55115a67 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
@@ -57,7 +57,7 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
   const int num_rows = A->num_rows();
   const int num_cols = A->num_cols();
 
-  ConstAlignedMatrixRef Aref = A->matrix();
+  ConstColMajorMatrixRef Aref = A->matrix();
   Matrix lhs(num_cols, num_cols);
   lhs.setZero();
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
index 978ac6abe15..9d58031ccfc 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
@@ -42,7 +42,6 @@ namespace internal {
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
-  // Allocate enough space for the diagonal.
   m_.resize(num_rows, num_cols);
   m_.setZero();
 }
@@ -52,8 +51,8 @@ DenseSparseMatrix::DenseSparseMatrix(int num_rows,
                                      bool reserve_diagonal)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(reserve_diagonal) {
-  // Allocate enough space for the diagonal.
   if (reserve_diagonal) {
+    // Allocate enough space for the diagonal.
     m_.resize(num_rows +  num_cols, num_cols);
   } else {
     m_.resize(num_rows, num_cols);
@@ -75,7 +74,7 @@ DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
     : m_(m),
       has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
@@ -141,7 +140,7 @@ void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
 void DenseSparseMatrix::AppendDiagonal(double *d) {
   CHECK(!has_diagonal_appended_);
   if (!has_diagonal_reserved_) {
-    Matrix tmp = m_;
+    ColMajorMatrix tmp = m_;
     m_.resize(m_.rows() + m_.cols(), m_.cols());
     m_.setZero();
     m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
@@ -177,22 +176,27 @@ int DenseSparseMatrix::num_nonzeros() const {
   return m_.rows() * m_.cols();
 }
 
-ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return ConstAlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+  return ConstColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
-AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return AlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+  return ColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
 }
 
+
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK_NOTNULL(file);
   const int active_rows =
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
index 1e4d499b631..6c7b60ade13 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
@@ -51,7 +51,7 @@ class DenseSparseMatrix : public SparseMatrix {
   // Build a matrix with the same content as the TripletSparseMatrix
   // m. This assumes that m does not have any repeated entries.
   explicit DenseSparseMatrix(const TripletSparseMatrix& m);
-  explicit DenseSparseMatrix(const Matrix& m);
+  explicit DenseSparseMatrix(const ColMajorMatrix& m);
 #ifndef CERES_NO_PROTOCOL_BUFFERS
   explicit DenseSparseMatrix(const SparseMatrixProto& proto);
 #endif
@@ -78,8 +78,8 @@ class DenseSparseMatrix : public SparseMatrix {
   virtual const double* values() const { return m_.data(); }
   virtual double* mutable_values() { return m_.data(); }
 
-  ConstAlignedMatrixRef matrix() const;
-  AlignedMatrixRef mutable_matrix();
+  ConstColMajorMatrixRef matrix() const;
+  ColMajorMatrixRef mutable_matrix();
 
   // Only one diagonal can be appended at a time. The diagonal is appended to
   // as a new set of rows, e.g.
@@ -106,7 +106,7 @@ class DenseSparseMatrix : public SparseMatrix {
   void RemoveDiagonal();
 
  private:
-  Matrix m_;
+  ColMajorMatrix m_;
   bool has_diagonal_appended_;
   bool has_diagonal_reserved_;
 };
diff --git a/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc b/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
index a3ce6f04bd4..31a417689e8 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
@@ -72,76 +72,5 @@ Evaluator* Evaluator::Create(const Evaluator::Options& options,
   }
 }
 
-bool Evaluator::Evaluate(Program* program,
-                         int num_threads,
-                         double* cost,
-                         vector<double>* residuals,
-                         vector<double>* gradient,
-                         CRSMatrix* output_jacobian) {
-  CHECK_GE(num_threads, 1)
-      << "This is a Ceres bug; please contact the developers!";
-  CHECK_NOTNULL(cost);
-
-  // Setup the Parameter indices and offsets before an evaluator can
-  // be constructed and used.
-  program->SetParameterOffsetsAndIndex();
-
-  Evaluator::Options evaluator_options;
-  evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
-  evaluator_options.num_threads = num_threads;
-
-  string error;
-  scoped_ptr<Evaluator> evaluator(
-      Evaluator::Create(evaluator_options, program, &error));
-  if (evaluator.get() == NULL) {
-    LOG(ERROR) << "Unable to create an Evaluator object. "
-               << "Error: " << error
-               << "This is a Ceres bug; please contact the developers!";
-    return false;
-  }
-
-  if (residuals !=NULL) {
-    residuals->resize(evaluator->NumResiduals());
-  }
-
-  if (gradient != NULL) {
-    gradient->resize(evaluator->NumEffectiveParameters());
-  }
-
-  scoped_ptr<CompressedRowSparseMatrix> jacobian;
-  if (output_jacobian != NULL) {
-    jacobian.reset(
-        down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
-  }
-
-  // Point the state pointers to the user state pointers. This is
-  // needed so that we can extract a parameter vector which is then
-  // passed to Evaluator::Evaluate.
-  program->SetParameterBlockStatePtrsToUserStatePtrs();
-
-  // Copy the value of the parameter blocks into a vector, since the
-  // Evaluate::Evaluate method needs its input as such. The previous
-  // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
-  // these values are the ones corresponding to the actual state of
-  // the parameter blocks, rather than the temporary state pointer
-  // used for evaluation.
-  Vector parameters(program->NumParameters());
-  program->ParameterBlocksToStateVector(parameters.data());
-
-  if (!evaluator->Evaluate(parameters.data(),
-                           cost,
-                           residuals != NULL ? &(*residuals)[0] : NULL,
-                           gradient != NULL ? &(*gradient)[0] : NULL,
-                           jacobian.get())) {
-    return false;
-  }
-
-  if (output_jacobian != NULL) {
-    jacobian->ToCRSMatrix(output_jacobian);
-  }
-
-  return true;
-}
-
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h b/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
index 14a88188145..3d2546224b8 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
@@ -72,7 +72,6 @@ class Evaluator {
                            Program* program,
                            string* error);
 
-
   // This is used for computing the cost, residual and Jacobian for
   // returning to the user. For actually solving the optimization
   // problem, the optimization algorithm uses the ProgramEvaluator
@@ -116,6 +115,18 @@ class Evaluator {
   // Schur complement based methods.
   virtual SparseMatrix* CreateJacobian() const = 0;
 
+
+  // Options struct to control Evaluator::Evaluate;
+  struct EvaluateOptions {
+    EvaluateOptions()
+        : apply_loss_function(true) {
+    }
+
+    // If false, the loss function correction is not applied to the
+    // residual blocks.
+    bool apply_loss_function;
+  };
+
   // Evaluate the cost function for the given state. Returns the cost,
   // residuals, and jacobian in the corresponding arguments. Both residuals and
   // jacobian are optional; to avoid computing them, pass NULL.
@@ -125,12 +136,29 @@ class Evaluator {
   //
   // state is an array of size NumParameters(), cost is a pointer to a single
   // double, and residuals is an array of doubles of size NumResiduals().
-  virtual bool Evaluate(const double* state,
+  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+                        const double* state,
                         double* cost,
                         double* residuals,
                         double* gradient,
                         SparseMatrix* jacobian) = 0;
 
+  // Variant of Evaluator::Evaluate where the user wishes to use the
+  // default EvaluateOptions struct. This is mostly here as a
+  // convenience method.
+  bool Evaluate(const double* state,
+                double* cost,
+                double* residuals,
+                double* gradient,
+                SparseMatrix* jacobian) {
+    return Evaluate(EvaluateOptions(),
+                    state,
+                    cost,
+                    residuals,
+                    gradient,
+                    jacobian);
+  }
+
   // Make a change delta (of size NumEffectiveParameters()) to state (of size
   // NumParameters()) and store the result in state_plus_delta.
   //
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py b/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
index af9873f94c0..60953513f4f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
+++ b/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
@@ -1,33 +1,31 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 #
-# Copyright 2011 Google Inc. All Rights Reserved.
 # Author: sameeragarwal@google.com (Sameer Agarwal)
 #
 # Script for explicitly generating template specialization of the
@@ -54,21 +52,48 @@
 SPECIALIZATIONS = [(2, 2, 2),
                    (2, 2, 3),
                    (2, 2, 4),
-                   (2, 2, "Dynamic"),
+                   (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
                    (2, 3, 9),
-                   (2, 3, "Dynamic"),
+                   (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
                    (2, 4, 4),
-                   (2, 4, "Dynamic"),
+                   (2, 4, "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
-                   (4, 4, "Dynamic"),
-                   ("Dynamic", "Dynamic", "Dynamic")]
+                   (4, 4, "Eigen::Dynamic"),
+                   ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
 
-SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // Template specialization of SchurEliminator.
@@ -134,7 +159,7 @@ FACTORY_FOOTER = """
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
@@ -143,7 +168,7 @@ FACTORY_FOOTER = """
 
 
 def SuffixForSize(size):
-  if size == "Dynamic":
+  if size == "Eigen::Dynamic":
     return "d"
   return str(size)
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
index 5529386e485..b4a2cfd123c 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
index fd7af95192e..2373c6b86e1 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
index 109483e9fc0..6253fe47410 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
index b93e82fe2fa..d773a4f9d7e 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 2, Dynamic>;
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
index 86352c07304..afb89b88891 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
index 200df7f5931..c883ee690dc 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
index 1fda3434bef..bdffdc5a98d 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
index 385cd2d70c9..5d4139c23c3 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 3, Dynamic>;
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
index 7b15d6366ac..06b99df6622 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
index 29a610d743e..4bc1f44c2cd 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
index a3bc4dc6f83..573e40ca73f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 4, Dynamic>;
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
index f71a4f62944..e1f17fedd1b 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
index 52259fb1a67..e7c750ade04 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
index 775424e6c8f..d60ad71eedd 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
index 97cde594059..12fa9789beb 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<4, 4, Dynamic>;
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
index 4cba32e26c8..fa34e39e42d 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
index 2f27a78301a..1fc4de57e91 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
@@ -81,7 +81,7 @@ class NonlinearConjugateGradient : public LineSearchDirection {
 
     *search_direction =  -current.gradient + beta * previous.search_direction;
     const double directional_derivative =
-        current. gradient.dot(*search_direction);
+        current.gradient.dot(*search_direction);
     if (directional_derivative > -function_tolerance_) {
       LOG(WARNING) << "Restarting non-linear conjugate gradients: "
                    << directional_derivative;
diff --git a/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h b/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
index a98051468e7..f4bd0fb6f9f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
@@ -79,9 +79,9 @@ class LinearSolver {
           max_num_iterations(1),
           num_threads(1),
           residual_reset_period(10),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     LinearSolverType type;
@@ -106,11 +106,11 @@ class LinearSolver {
     //
     // For example if elimination_groups is a vector of size k, then
     // the linear solver is informed that it should eliminate the
-    // parameter blocks 0 - elimination_groups[0] - 1 first, and then
-    // elimination_groups[0] - elimination_groups[1] and so on. Within
-    // each elimination group, the linear solver is free to choose how
-    // the parameter blocks are ordered. Different linear solvers have
-    // differing requirements on elimination_groups.
+    // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+    // on. Within each elimination group, the linear solver is free to
+    // choose how the parameter blocks are ordered. Different linear
+    // solvers have differing requirements on elimination_groups.
     //
     // The most common use is for Schur type solvers, where there
     // should be at least two elimination groups and the first
diff --git a/extern/libmv/third_party/ceres/internal/ceres/mutex.h b/extern/libmv/third_party/ceres/internal/ceres/mutex.h
index 410748ff0ab..0c48ed352b5 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/mutex.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/mutex.h
@@ -275,7 +275,8 @@ void Mutex::ReaderUnlock() { Unlock(); }
 // "MutexLock(x) COMPILE_ASSERT(false)". To work around this, "Ceres" is
 // prefixed to the class names; this permits defining the classes.
 
-// CeresMutexLock(mu) acquires mu when constructed and releases it when destroyed.
+// CeresMutexLock(mu) acquires mu when constructed and releases it
+// when destroyed.
 class CeresMutexLock {
  public:
   explicit CeresMutexLock(Mutex *mu) : mu_(mu) { mu_->Lock(); }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h b/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
index 5bb077e0e33..bfc8464db17 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
@@ -49,9 +49,9 @@ class Preconditioner : public LinearOperator {
           sparse_linear_algebra_library(SUITE_SPARSE),
           use_block_amd(true),
           num_threads(1),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     PreconditionerType type;
@@ -70,7 +70,7 @@ class Preconditioner : public LinearOperator {
     // For example if elimination_groups is a vector of size k, then
     // the linear solver is informed that it should eliminate the
     // parameter blocks 0 ... elimination_groups[0] - 1 first, and
-    // then elimination_groups[0] ... elimination_groups[1] and so
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
     // on. Within each elimination group, the linear solver is free to
     // choose how the parameter blocks are ordered. Different linear
     // solvers have differing requirements on elimination_groups.
diff --git a/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc b/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
index bc378aaafff..21d11442177 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
@@ -651,14 +651,19 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
   program.ParameterBlocksToStateVector(parameters.data());
 
   double tmp_cost = 0;
-  bool status = evaluator->Evaluate(parameters.data(),
+
+  Evaluator::EvaluateOptions evaluator_evaluate_options;
+  evaluator_evaluate_options.apply_loss_function =
+      evaluate_options.apply_loss_function;
+  bool status = evaluator->Evaluate(evaluator_evaluate_options,
+                                    parameters.data(),
                                     &tmp_cost,
                                     residuals != NULL ? &(*residuals)[0] : NULL,
                                     gradient != NULL ? &(*gradient)[0] : NULL,
                                     tmp_jacobian.get());
 
-  // Make the parameter blocks that were temporarirly marked
-  // constant, variable again.
+  // Make the parameter blocks that were temporarily marked constant,
+  // variable again.
   for (int i = 0; i < variable_parameter_blocks.size(); ++i) {
     variable_parameter_blocks[i]->SetVarying();
   }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h b/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
index a19cdf8a86a..de56ac25ff6 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
@@ -120,7 +120,8 @@ class ProgramEvaluator : public Evaluator {
     return jacobian_writer_.CreateJacobian();
   }
 
-  bool Evaluate(const double* state,
+  bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+                const double* state,
                 double* cost,
                 double* residuals,
                 double* gradient,
@@ -196,6 +197,7 @@ class ProgramEvaluator : public Evaluator {
       // Evaluate the cost, residuals, and jacobians.
       double block_cost;
       if (!residual_block->Evaluate(
+              evaluate_options.apply_loss_function,
               &block_cost,
               block_residuals,
               block_jacobians,
diff --git a/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc b/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
index 7f789605e5f..b91b0ed7843 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
@@ -62,7 +62,8 @@ ResidualBlock::ResidualBlock(const CostFunction* cost_function,
             parameter_blocks_.get());
 }
 
-bool ResidualBlock::Evaluate(double* cost,
+bool ResidualBlock::Evaluate(const bool apply_loss_function,
+                             double* cost,
                              double* residuals,
                              double** jacobians,
                              double* scratch) const {
@@ -154,7 +155,7 @@ bool ResidualBlock::Evaluate(double* cost,
     }
   }
 
-  if (loss_function_ == NULL) {
+  if (loss_function_ == NULL || !apply_loss_function) {
     *cost = 0.5 * squared_norm;
     return true;
   }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h b/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
index 3921d1d4678..9c3671bb0a4 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
@@ -93,11 +93,16 @@ class ResidualBlock {
   // parameterizations applied already; for example, the jacobian for a
   // 4-dimensional quaternion parameter using the "QuaternionParameterization"
   // is num_residuals by 3 instead of num_residuals by 4.
-  bool Evaluate(double* cost,
+  //
+  // apply_loss_function as the name implies allows the user to switch
+  // the application of the loss function on and off.
+  bool Evaluate(bool apply_loss_function,
+                double* cost,
                 double* residuals,
                 double** jacobians,
                 double* scratch) const;
 
+
   const CostFunction* cost_function() const { return cost_function_; }
   const LossFunction* loss_function() const { return loss_function_; }
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
index 44f5be3b4e9..8dbf30f0379 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
@@ -1,31 +1,4 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+// Copyright 2011 Google Inc. All Rights Reserved.
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // ========================================
@@ -65,8 +38,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 2) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 2, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
@@ -85,8 +58,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 3, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
@@ -100,8 +73,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
@@ -120,13 +93,13 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<4, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
   }
-  if ((options.row_block_size == Dynamic) &&
-      (options.e_block_size == Dynamic) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  if ((options.row_block_size == Eigen::Dynamic) &&
+      (options.e_block_size == Eigen::Dynamic) &&
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
   }
 
 #endif
@@ -134,7 +107,7 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
index c24fe435f54..877621bb48c 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
@@ -213,9 +213,9 @@ class SchurEliminatorBase {
 //
 // This implementation is mulithreaded using OpenMP. The level of
 // parallelism is controlled by LinearSolver::Options::num_threads.
-template <int kRowBlockSize = Dynamic,
-          int kEBlockSize = Dynamic,
-          int kFBlockSize = Dynamic >
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
 class SchurEliminator : public SchurEliminatorBase {
  public:
   explicit SchurEliminator(const LinearSolver::Options& options)
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver.cc b/extern/libmv/third_party/ceres/internal/ceres/solver.cc
index 6436d2df2a7..ea9ff1f488b 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver.cc
@@ -100,10 +100,12 @@ Solver::Summary::Summary()
       jacobian_evaluation_time_in_seconds(-1.0),
       num_parameter_blocks(-1),
       num_parameters(-1),
+      num_effective_parameters(-1),
       num_residual_blocks(-1),
       num_residuals(-1),
       num_parameter_blocks_reduced(-1),
       num_parameters_reduced(-1),
+      num_effective_parameters_reduced(-1),
       num_residual_blocks_reduced(-1),
       num_residuals_reduced(-1),
       num_threads_given(-1),
@@ -156,10 +158,12 @@ string Solver::Summary::FullReport() const {
 
   if (termination_type == DID_NOT_RUN) {
     StringAppendF(&report, "                      Original\n");
-    StringAppendF(&report, "Parameter blocks    % 10d\n",
-                  num_parameter_blocks);
-    StringAppendF(&report, "Parameters          % 10d\n",
-                  num_parameters);
+    StringAppendF(&report, "Parameter blocks    % 10d\n", num_parameter_blocks);
+    StringAppendF(&report, "Parameters          % 10d\n", num_parameters);
+    if (num_effective_parameters != num_parameters) {
+      StringAppendF(&report, "Effective parameters% 10d\n", num_parameters);
+    }
+
     StringAppendF(&report, "Residual blocks     % 10d\n",
                   num_residual_blocks);
     StringAppendF(&report, "Residuals           % 10d\n\n",
@@ -170,6 +174,10 @@ string Solver::Summary::FullReport() const {
                   num_parameter_blocks, num_parameter_blocks_reduced);
     StringAppendF(&report, "Parameters          % 25d% 25d\n",
                   num_parameters, num_parameters_reduced);
+    if (num_effective_parameters_reduced != num_parameters_reduced) {
+      StringAppendF(&report, "Effective parameters% 25d% 25d\n",
+                    num_effective_parameters, num_effective_parameters_reduced);
+    }
     StringAppendF(&report, "Residual blocks     % 25d% 25d\n",
                   num_residual_blocks, num_residual_blocks_reduced);
     StringAppendF(&report, "Residual            % 25d% 25d\n",
@@ -204,7 +212,7 @@ string Solver::Summary::FullReport() const {
     StringAppendF(&report, "\n");
     StringAppendF(&report, "\n");
 
-    StringAppendF(&report,   "%45s    %21s\n", "Given",  "Used");
+    StringAppendF(&report, "%45s    %21s\n", "Given",  "Used");
     StringAppendF(&report, "Linear solver       %25s%25s\n",
                   LinearSolverTypeToString(linear_solver_type_given),
                   LinearSolverTypeToString(linear_solver_type_used));
@@ -299,15 +307,15 @@ string Solver::Summary::FullReport() const {
     // LINE_SEARCH
     StringAppendF(&report, "\nMinimizer                 %19s\n", "LINE_SEARCH");
     if (line_search_direction_type == LBFGS) {
-      StringAppendF(&report,   "Line search direction     %19s(%d)\n",
+      StringAppendF(&report, "Line search direction     %19s(%d)\n",
                     LineSearchDirectionTypeToString(line_search_direction_type),
                     max_lbfgs_rank);
     } else {
-      StringAppendF(&report,   "Line search direction     %19s\n",
+      StringAppendF(&report, "Line search direction     %19s\n",
                     LineSearchDirectionTypeToString(
                         line_search_direction_type));
     }
-    StringAppendF(&report,   "Line search type          %19s\n",
+    StringAppendF(&report, "Line search type          %19s\n",
                   LineSearchTypeToString(line_search_type));
 
     StringAppendF(&report, "\n");
@@ -336,8 +344,8 @@ string Solver::Summary::FullReport() const {
                     initial_cost - final_cost);
     }
 
-    StringAppendF(&report, "\nNumber of iterations:    % 20ld\n",
-                  iterations.size() - 1);
+    StringAppendF(&report, "\nNumber of iterations:    % 20d\n",
+                  static_cast<int>(iterations.size() - 1));
 
     StringAppendF(&report, "\nTime (in seconds):\n");
     StringAppendF(&report, "Preprocessor        %25.3f\n",
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
index 5bcfdc6312f..e18d3b96333 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
@@ -335,6 +335,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
   summary->minimizer_type = TRUST_REGION;
   summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
   summary->num_parameters = problem_impl->NumParameters();
+  summary->num_effective_parameters =
+      original_program->NumEffectiveParameters();
   summary->num_residual_blocks = problem_impl->NumResidualBlocks();
   summary->num_residuals = problem_impl->NumResiduals();
 
@@ -447,6 +449,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
 
   summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
   summary->num_parameters_reduced = reduced_program->NumParameters();
+  summary->num_effective_parameters_reduced =
+      reduced_program->NumEffectiveParameters();
   summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
   summary->num_residuals_reduced = reduced_program->NumResiduals();
 
@@ -910,8 +914,11 @@ bool SolverImpl::RemoveFixedBlocksFromProgram(Program* program,
         // The residual is constant and will be removed, so its cost is
         // added to the variable fixed_cost.
         double cost = 0.0;
-        if (!residual_block->Evaluate(
-              &cost, NULL, NULL, residual_block_evaluate_scratch.get())) {
+        if (!residual_block->Evaluate(true,
+                                      &cost,
+                                      NULL,
+                                      NULL,
+                                      residual_block_evaluate_scratch.get())) {
           *error = StringPrintf("Evaluation of the residual %d failed during "
                                 "removal of fixed residual blocks.", i);
           return false;
@@ -1146,20 +1153,6 @@ LinearSolver* SolverImpl::CreateLinearSolver(Solver::Options* options,
       options->sparse_linear_algebra_library;
 
   linear_solver_options.num_threads = options->num_linear_solver_threads;
-  // The matrix used for storing the dense Schur complement has a
-  // single lock guarding the whole matrix. Running the
-  // SchurComplementSolver with multiple threads leads to maximum
-  // contention and slowdown. If the problem is large enough to
-  // benefit from a multithreaded schur eliminator, you should be
-  // using a SPARSE_SCHUR solver anyways.
-  if ((linear_solver_options.num_threads > 1) &&
-      (linear_solver_options.type == DENSE_SCHUR)) {
-    LOG(WARNING) << "Warning: Solver::Options::num_linear_solver_threads = "
-                 << options->num_linear_solver_threads
-                 << " with DENSE_SCHUR will result in poor performance; "
-                 << "switching to single-threaded.";
-    linear_solver_options.num_threads = 1;
-  }
   options->num_linear_solver_threads = linear_solver_options.num_threads;
 
   linear_solver_options.use_block_amd = options->use_block_amd;
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
index 8e80fd121bb..371bdfacd52 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
@@ -139,7 +139,8 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
     const int count = it->second;
     // Static cast necessary for Windows.
     const double weight = static_cast<double>(count) /
-        (sqrt(static_cast<double>(visibility[camera1].size() * visibility[camera2].size())));
+        (sqrt(static_cast<double>(
+                  visibility[camera1].size() * visibility[camera2].size())));
     graph->AddEdge(camera1, camera2, weight);
   }
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
index 8a09c78d36a..dae498730aa 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
@@ -38,7 +38,8 @@
 // documented here can be found in
 //
 // Visibility Based Preconditioning for Bundle Adjustment
-// A. Kushal & S. Agarwal, submitted to CVPR 2012
+// A. Kushal & S. Agarwal, CVPR 2012.
+//
 // http://www.cs.washington.edu/homes/sagarwal/vbp.pdf
 //
 // The two preconditioners share enough code that its most efficient
diff --git a/extern/wcwidth/CMakeLists.txt b/extern/wcwidth/CMakeLists.txt
new file mode 100644
index 00000000000..cf8d7d6d15e
--- /dev/null
+++ b/extern/wcwidth/CMakeLists.txt
@@ -0,0 +1,38 @@
+# ***** BEGIN GPL 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.
+#
+# 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# The Original Code is Copyright (C) 2013, Blender Foundation
+# All rights reserved.
+#
+# The Original Code is: all of this file.
+#
+# Contributor(s): none yet.
+#
+# ***** END GPL LICENSE BLOCK *****
+
+set(INC
+	.
+)
+
+set(INC_SYS
+
+)
+
+set(SRC
+	wcwidth.c
+)
+
+blender_add_lib(extern_wcwidth "${SRC}" "${INC}" "${INC_SYS}")
diff --git a/extern/wcwidth/SConscript b/extern/wcwidth/SConscript
new file mode 100644
index 00000000000..14fdaf3f738
--- /dev/null
+++ b/extern/wcwidth/SConscript
@@ -0,0 +1,9 @@
+#!/usr/bin/python
+
+Import('env')
+
+sources = env.Glob('*.c')
+
+incs = '.'
+
+env.BlenderLib ( 'extern_wcwidth', sources, Split(incs), [], libtype=['extern','player'], priority=[10, 185])
diff --git a/extern/wcwidth/wcwidth.c b/extern/wcwidth/wcwidth.c
new file mode 100644
index 00000000000..61e822ad679
--- /dev/null
+++ b/extern/wcwidth/wcwidth.c
@@ -0,0 +1,309 @@
+/*
+ * This is an implementation of wcwidth() and wcswidth() (defined in
+ * IEEE Std 1002.1-2001) for Unicode.
+ *
+ * http://www.opengroup.org/onlinepubs/007904975/functions/wcwidth.html
+ * http://www.opengroup.org/onlinepubs/007904975/functions/wcswidth.html
+ *
+ * In fixed-width output devices, Latin characters all occupy a single
+ * "cell" position of equal width, whereas ideographic CJK characters
+ * occupy two such cells. Interoperability between terminal-line
+ * applications and (teletype-style) character terminals using the
+ * UTF-8 encoding requires agreement on which character should advance
+ * the cursor by how many cell positions. No established formal
+ * standards exist at present on which Unicode character shall occupy
+ * how many cell positions on character terminals. These routines are
+ * a first attempt of defining such behavior based on simple rules
+ * applied to data provided by the Unicode Consortium.
+ *
+ * For some graphical characters, the Unicode standard explicitly
+ * defines a character-cell width via the definition of the East Asian
+ * FullWidth (F), Wide (W), Half-width (H), and Narrow (Na) classes.
+ * In all these cases, there is no ambiguity about which width a
+ * terminal shall use. For characters in the East Asian Ambiguous (A)
+ * class, the width choice depends purely on a preference of backward
+ * compatibility with either historic CJK or Western practice.
+ * Choosing single-width for these characters is easy to justify as
+ * the appropriate long-term solution, as the CJK practice of
+ * displaying these characters as double-width comes from historic
+ * implementation simplicity (8-bit encoded characters were displayed
+ * single-width and 16-bit ones double-width, even for Greek,
+ * Cyrillic, etc.) and not any typographic considerations.
+ *
+ * Much less clear is the choice of width for the Not East Asian
+ * (Neutral) class. Existing practice does not dictate a width for any
+ * of these characters. It would nevertheless make sense
+ * typographically to allocate two character cells to characters such
+ * as for instance EM SPACE or VOLUME INTEGRAL, which cannot be
+ * represented adequately with a single-width glyph. The following
+ * routines at present merely assign a single-cell width to all
+ * neutral characters, in the interest of simplicity. This is not
+ * entirely satisfactory and should be reconsidered before
+ * establishing a formal standard in this area. At the moment, the
+ * decision which Not East Asian (Neutral) characters should be
+ * represented by double-width glyphs cannot yet be answered by
+ * applying a simple rule from the Unicode database content. Setting
+ * up a proper standard for the behavior of UTF-8 character terminals
+ * will require a careful analysis not only of each Unicode character,
+ * but also of each presentation form, something the author of these
+ * routines has avoided to do so far.
+ *
+ * http://www.unicode.org/unicode/reports/tr11/
+ *
+ * Markus Kuhn -- 2007-05-26 (Unicode 5.0)
+ *
+ * Permission to use, copy, modify, and distribute this software
+ * for any purpose and without fee is hereby granted. The author
+ * disclaims all warranties with regard to this software.
+ *
+ * Latest version: http://www.cl.cam.ac.uk/~mgk25/ucs/wcwidth.c
+ */
+
+#include <wchar.h>
+
+struct interval {
+  int first;
+  int last;
+};
+
+/* auxiliary function for binary search in interval table */
+static int bisearch(wchar_t ucs, const struct interval *table, int max) {
+  int min = 0;
+  int mid;
+
+  if (ucs < table[0].first || ucs > table[max].last)
+    return 0;
+  while (max >= min) {
+    mid = (min + max) / 2;
+    if (ucs > table[mid].last)
+      min = mid + 1;
+    else if (ucs < table[mid].first)
+      max = mid - 1;
+    else
+      return 1;
+  }
+
+  return 0;
+}
+
+
+/* The following two functions define the column width of an ISO 10646
+ * character as follows:
+ *
+ *    - The null character (U+0000) has a column width of 0.
+ *
+ *    - Other C0/C1 control characters and DEL will lead to a return
+ *      value of -1.
+ *
+ *    - Non-spacing and enclosing combining characters (general
+ *      category code Mn or Me in the Unicode database) have a
+ *      column width of 0.
+ *
+ *    - SOFT HYPHEN (U+00AD) has a column width of 1.
+ *
+ *    - Other format characters (general category code Cf in the Unicode
+ *      database) and ZERO WIDTH SPACE (U+200B) have a column width of 0.
+ *
+ *    - Hangul Jamo medial vowels and final consonants (U+1160-U+11FF)
+ *      have a column width of 0.
+ *
+ *    - Spacing characters in the East Asian Wide (W) or East Asian
+ *      Full-width (F) category as defined in Unicode Technical
+ *      Report #11 have a column width of 2.
+ *
+ *    - All remaining characters (including all printable
+ *      ISO 8859-1 and WGL4 characters, Unicode control characters,
+ *      etc.) have a column width of 1.
+ *
+ * This implementation assumes that wchar_t characters are encoded
+ * in ISO 10646.
+ */
+
+int mk_wcwidth(wchar_t ucs)
+{
+  /* sorted list of non-overlapping intervals of non-spacing characters */
+  /* generated by "uniset +cat=Me +cat=Mn +cat=Cf -00AD +1160-11FF +200B c" */
+  static const struct interval combining[] = {
+    { 0x0300, 0x036F }, { 0x0483, 0x0486 }, { 0x0488, 0x0489 },
+    { 0x0591, 0x05BD }, { 0x05BF, 0x05BF }, { 0x05C1, 0x05C2 },
+    { 0x05C4, 0x05C5 }, { 0x05C7, 0x05C7 }, { 0x0600, 0x0603 },
+    { 0x0610, 0x0615 }, { 0x064B, 0x065E }, { 0x0670, 0x0670 },
+    { 0x06D6, 0x06E4 }, { 0x06E7, 0x06E8 }, { 0x06EA, 0x06ED },
+    { 0x070F, 0x070F }, { 0x0711, 0x0711 }, { 0x0730, 0x074A },
+    { 0x07A6, 0x07B0 }, { 0x07EB, 0x07F3 }, { 0x0901, 0x0902 },
+    { 0x093C, 0x093C }, { 0x0941, 0x0948 }, { 0x094D, 0x094D },
+    { 0x0951, 0x0954 }, { 0x0962, 0x0963 }, { 0x0981, 0x0981 },
+    { 0x09BC, 0x09BC }, { 0x09C1, 0x09C4 }, { 0x09CD, 0x09CD },
+    { 0x09E2, 0x09E3 }, { 0x0A01, 0x0A02 }, { 0x0A3C, 0x0A3C },
+    { 0x0A41, 0x0A42 }, { 0x0A47, 0x0A48 }, { 0x0A4B, 0x0A4D },
+    { 0x0A70, 0x0A71 }, { 0x0A81, 0x0A82 }, { 0x0ABC, 0x0ABC },
+    { 0x0AC1, 0x0AC5 }, { 0x0AC7, 0x0AC8 }, { 0x0ACD, 0x0ACD },
+    { 0x0AE2, 0x0AE3 }, { 0x0B01, 0x0B01 }, { 0x0B3C, 0x0B3C },
+    { 0x0B3F, 0x0B3F }, { 0x0B41, 0x0B43 }, { 0x0B4D, 0x0B4D },
+    { 0x0B56, 0x0B56 }, { 0x0B82, 0x0B82 }, { 0x0BC0, 0x0BC0 },
+    { 0x0BCD, 0x0BCD }, { 0x0C3E, 0x0C40 }, { 0x0C46, 0x0C48 },
+    { 0x0C4A, 0x0C4D }, { 0x0C55, 0x0C56 }, { 0x0CBC, 0x0CBC },
+    { 0x0CBF, 0x0CBF }, { 0x0CC6, 0x0CC6 }, { 0x0CCC, 0x0CCD },
+    { 0x0CE2, 0x0CE3 }, { 0x0D41, 0x0D43 }, { 0x0D4D, 0x0D4D },
+    { 0x0DCA, 0x0DCA }, { 0x0DD2, 0x0DD4 }, { 0x0DD6, 0x0DD6 },
+    { 0x0E31, 0x0E31 }, { 0x0E34, 0x0E3A }, { 0x0E47, 0x0E4E },
+    { 0x0EB1, 0x0EB1 }, { 0x0EB4, 0x0EB9 }, { 0x0EBB, 0x0EBC },
+    { 0x0EC8, 0x0ECD }, { 0x0F18, 0x0F19 }, { 0x0F35, 0x0F35 },
+    { 0x0F37, 0x0F37 }, { 0x0F39, 0x0F39 }, { 0x0F71, 0x0F7E },
+    { 0x0F80, 0x0F84 }, { 0x0F86, 0x0F87 }, { 0x0F90, 0x0F97 },
+    { 0x0F99, 0x0FBC }, { 0x0FC6, 0x0FC6 }, { 0x102D, 0x1030 },
+    { 0x1032, 0x1032 }, { 0x1036, 0x1037 }, { 0x1039, 0x1039 },
+    { 0x1058, 0x1059 }, { 0x1160, 0x11FF }, { 0x135F, 0x135F },
+    { 0x1712, 0x1714 }, { 0x1732, 0x1734 }, { 0x1752, 0x1753 },
+    { 0x1772, 0x1773 }, { 0x17B4, 0x17B5 }, { 0x17B7, 0x17BD },
+    { 0x17C6, 0x17C6 }, { 0x17C9, 0x17D3 }, { 0x17DD, 0x17DD },
+    { 0x180B, 0x180D }, { 0x18A9, 0x18A9 }, { 0x1920, 0x1922 },
+    { 0x1927, 0x1928 }, { 0x1932, 0x1932 }, { 0x1939, 0x193B },
+    { 0x1A17, 0x1A18 }, { 0x1B00, 0x1B03 }, { 0x1B34, 0x1B34 },
+    { 0x1B36, 0x1B3A }, { 0x1B3C, 0x1B3C }, { 0x1B42, 0x1B42 },
+    { 0x1B6B, 0x1B73 }, { 0x1DC0, 0x1DCA }, { 0x1DFE, 0x1DFF },
+    { 0x200B, 0x200F }, { 0x202A, 0x202E }, { 0x2060, 0x2063 },
+    { 0x206A, 0x206F }, { 0x20D0, 0x20EF }, { 0x302A, 0x302F },
+    { 0x3099, 0x309A }, { 0xA806, 0xA806 }, { 0xA80B, 0xA80B },
+    { 0xA825, 0xA826 }, { 0xFB1E, 0xFB1E }, { 0xFE00, 0xFE0F },
+    { 0xFE20, 0xFE23 }, { 0xFEFF, 0xFEFF }, { 0xFFF9, 0xFFFB },
+    { 0x10A01, 0x10A03 }, { 0x10A05, 0x10A06 }, { 0x10A0C, 0x10A0F },
+    { 0x10A38, 0x10A3A }, { 0x10A3F, 0x10A3F }, { 0x1D167, 0x1D169 },
+    { 0x1D173, 0x1D182 }, { 0x1D185, 0x1D18B }, { 0x1D1AA, 0x1D1AD },
+    { 0x1D242, 0x1D244 }, { 0xE0001, 0xE0001 }, { 0xE0020, 0xE007F },
+    { 0xE0100, 0xE01EF }
+  };
+
+  /* test for 8-bit control characters */
+  if (ucs == 0)
+    return 0;
+  if (ucs < 32 || (ucs >= 0x7f && ucs < 0xa0))
+    return -1;
+
+  /* binary search in table of non-spacing characters */
+  if (bisearch(ucs, combining,
+	       sizeof(combining) / sizeof(struct interval) - 1))
+    return 0;
+
+  /* if we arrive here, ucs is not a combining or C0/C1 control character */
+
+  return 1 + 
+    (ucs >= 0x1100 &&
+     (ucs <= 0x115f ||                    /* Hangul Jamo init. consonants */
+      ucs == 0x2329 || ucs == 0x232a ||
+      (ucs >= 0x2e80 && ucs <= 0xa4cf &&
+       ucs != 0x303f) ||                  /* CJK ... Yi */
+      (ucs >= 0xac00 && ucs <= 0xd7a3) || /* Hangul Syllables */
+      (ucs >= 0xf900 && ucs <= 0xfaff) || /* CJK Compatibility Ideographs */
+      (ucs >= 0xfe10 && ucs <= 0xfe19) || /* Vertical forms */
+      (ucs >= 0xfe30 && ucs <= 0xfe6f) || /* CJK Compatibility Forms */
+      (ucs >= 0xff00 && ucs <= 0xff60) || /* Fullwidth Forms */
+      (ucs >= 0xffe0 && ucs <= 0xffe6) ||
+      (ucs >= 0x20000 && ucs <= 0x2fffd) ||
+      (ucs >= 0x30000 && ucs <= 0x3fffd)));
+}
+
+
+int mk_wcswidth(const wchar_t *pwcs, size_t n)
+{
+  int w, width = 0;
+
+  for (;*pwcs && n-- > 0; pwcs++)
+    if ((w = mk_wcwidth(*pwcs)) < 0)
+      return -1;
+    else
+      width += w;
+
+  return width;
+}
+
+
+/*
+ * The following functions are the same as mk_wcwidth() and
+ * mk_wcswidth(), except that spacing characters in the East Asian
+ * Ambiguous (A) category as defined in Unicode Technical Report #11
+ * have a column width of 2. This variant might be useful for users of
+ * CJK legacy encodings who want to migrate to UCS without changing
+ * the traditional terminal character-width behaviour. It is not
+ * otherwise recommended for general use.
+ */
+int mk_wcwidth_cjk(wchar_t ucs)
+{
+  /* sorted list of non-overlapping intervals of East Asian Ambiguous
+   * characters, generated by "uniset +WIDTH-A -cat=Me -cat=Mn -cat=Cf c" */
+  static const struct interval ambiguous[] = {
+    { 0x00A1, 0x00A1 }, { 0x00A4, 0x00A4 }, { 0x00A7, 0x00A8 },
+    { 0x00AA, 0x00AA }, { 0x00AE, 0x00AE }, { 0x00B0, 0x00B4 },
+    { 0x00B6, 0x00BA }, { 0x00BC, 0x00BF }, { 0x00C6, 0x00C6 },
+    { 0x00D0, 0x00D0 }, { 0x00D7, 0x00D8 }, { 0x00DE, 0x00E1 },
+    { 0x00E6, 0x00E6 }, { 0x00E8, 0x00EA }, { 0x00EC, 0x00ED },
+    { 0x00F0, 0x00F0 }, { 0x00F2, 0x00F3 }, { 0x00F7, 0x00FA },
+    { 0x00FC, 0x00FC }, { 0x00FE, 0x00FE }, { 0x0101, 0x0101 },
+    { 0x0111, 0x0111 }, { 0x0113, 0x0113 }, { 0x011B, 0x011B },
+    { 0x0126, 0x0127 }, { 0x012B, 0x012B }, { 0x0131, 0x0133 },
+    { 0x0138, 0x0138 }, { 0x013F, 0x0142 }, { 0x0144, 0x0144 },
+    { 0x0148, 0x014B }, { 0x014D, 0x014D }, { 0x0152, 0x0153 },
+    { 0x0166, 0x0167 }, { 0x016B, 0x016B }, { 0x01CE, 0x01CE },
+    { 0x01D0, 0x01D0 }, { 0x01D2, 0x01D2 }, { 0x01D4, 0x01D4 },
+    { 0x01D6, 0x01D6 }, { 0x01D8, 0x01D8 }, { 0x01DA, 0x01DA },
+    { 0x01DC, 0x01DC }, { 0x0251, 0x0251 }, { 0x0261, 0x0261 },
+    { 0x02C4, 0x02C4 }, { 0x02C7, 0x02C7 }, { 0x02C9, 0x02CB },
+    { 0x02CD, 0x02CD }, { 0x02D0, 0x02D0 }, { 0x02D8, 0x02DB },
+    { 0x02DD, 0x02DD }, { 0x02DF, 0x02DF }, { 0x0391, 0x03A1 },
+    { 0x03A3, 0x03A9 }, { 0x03B1, 0x03C1 }, { 0x03C3, 0x03C9 },
+    { 0x0401, 0x0401 }, { 0x0410, 0x044F }, { 0x0451, 0x0451 },
+    { 0x2010, 0x2010 }, { 0x2013, 0x2016 }, { 0x2018, 0x2019 },
+    { 0x201C, 0x201D }, { 0x2020, 0x2022 }, { 0x2024, 0x2027 },
+    { 0x2030, 0x2030 }, { 0x2032, 0x2033 }, { 0x2035, 0x2035 },
+    { 0x203B, 0x203B }, { 0x203E, 0x203E }, { 0x2074, 0x2074 },
+    { 0x207F, 0x207F }, { 0x2081, 0x2084 }, { 0x20AC, 0x20AC },
+    { 0x2103, 0x2103 }, { 0x2105, 0x2105 }, { 0x2109, 0x2109 },
+    { 0x2113, 0x2113 }, { 0x2116, 0x2116 }, { 0x2121, 0x2122 },
+    { 0x2126, 0x2126 }, { 0x212B, 0x212B }, { 0x2153, 0x2154 },
+    { 0x215B, 0x215E }, { 0x2160, 0x216B }, { 0x2170, 0x2179 },
+    { 0x2190, 0x2199 }, { 0x21B8, 0x21B9 }, { 0x21D2, 0x21D2 },
+    { 0x21D4, 0x21D4 }, { 0x21E7, 0x21E7 }, { 0x2200, 0x2200 },
+    { 0x2202, 0x2203 }, { 0x2207, 0x2208 }, { 0x220B, 0x220B },
+    { 0x220F, 0x220F }, { 0x2211, 0x2211 }, { 0x2215, 0x2215 },
+    { 0x221A, 0x221A }, { 0x221D, 0x2220 }, { 0x2223, 0x2223 },
+    { 0x2225, 0x2225 }, { 0x2227, 0x222C }, { 0x222E, 0x222E },
+    { 0x2234, 0x2237 }, { 0x223C, 0x223D }, { 0x2248, 0x2248 },
+    { 0x224C, 0x224C }, { 0x2252, 0x2252 }, { 0x2260, 0x2261 },
+    { 0x2264, 0x2267 }, { 0x226A, 0x226B }, { 0x226E, 0x226F },
+    { 0x2282, 0x2283 }, { 0x2286, 0x2287 }, { 0x2295, 0x2295 },
+    { 0x2299, 0x2299 }, { 0x22A5, 0x22A5 }, { 0x22BF, 0x22BF },
+    { 0x2312, 0x2312 }, { 0x2460, 0x24E9 }, { 0x24EB, 0x254B },
+    { 0x2550, 0x2573 }, { 0x2580, 0x258F }, { 0x2592, 0x2595 },
+    { 0x25A0, 0x25A1 }, { 0x25A3, 0x25A9 }, { 0x25B2, 0x25B3 },
+    { 0x25B6, 0x25B7 }, { 0x25BC, 0x25BD }, { 0x25C0, 0x25C1 },
+    { 0x25C6, 0x25C8 }, { 0x25CB, 0x25CB }, { 0x25CE, 0x25D1 },
+    { 0x25E2, 0x25E5 }, { 0x25EF, 0x25EF }, { 0x2605, 0x2606 },
+    { 0x2609, 0x2609 }, { 0x260E, 0x260F }, { 0x2614, 0x2615 },
+    { 0x261C, 0x261C }, { 0x261E, 0x261E }, { 0x2640, 0x2640 },
+    { 0x2642, 0x2642 }, { 0x2660, 0x2661 }, { 0x2663, 0x2665 },
+    { 0x2667, 0x266A }, { 0x266C, 0x266D }, { 0x266F, 0x266F },
+    { 0x273D, 0x273D }, { 0x2776, 0x277F }, { 0xE000, 0xF8FF },
+    { 0xFFFD, 0xFFFD }, { 0xF0000, 0xFFFFD }, { 0x100000, 0x10FFFD }
+  };
+
+  /* binary search in table of non-spacing characters */
+  if (bisearch(ucs, ambiguous,
+	       sizeof(ambiguous) / sizeof(struct interval) - 1))
+    return 2;
+
+  return mk_wcwidth(ucs);
+}
+
+
+int mk_wcswidth_cjk(const wchar_t *pwcs, size_t n)
+{
+  int w, width = 0;
+
+  for (;*pwcs && n-- > 0; pwcs++)
+    if ((w = mk_wcwidth_cjk(*pwcs)) < 0)
+      return -1;
+    else
+      width += w;
+
+  return width;
+}
diff --git a/extern/wcwidth/wcwidth.h b/extern/wcwidth/wcwidth.h
new file mode 100644
index 00000000000..e327921b6ea
--- /dev/null
+++ b/extern/wcwidth/wcwidth.h
@@ -0,0 +1,36 @@
+/*
+ * ***** BEGIN GPL 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.
+ *
+ * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2013 Blender Foundation.
+ * All rights reserved.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+#ifndef __WCWIDTH_H__
+#define __WCWIDTH_H__
+
+#include <wchar.h>
+
+int mk_wcwidth(wchar_t ucs);
+int mk_wcswidth(const wchar_t *pwcs, size_t n);
+int mk_wcwidth_cjk(wchar_t ucs);
+int mk_wcswidth_cjk(const wchar_t *pwcs, size_t n);
+
+#endif