upgrade to latest Bullet trunk, fix related to vehicle anti-roll, added constraint visualization.

This commit doesn't add new functionality, but more updates are planned before Blender 2.49 release.

14 files changed, 222 insertions, 161 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 6928bdb966b..685a812d427 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -76,8 +76,8 @@ 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,_mm_set1_ps(body1.m_invMass));
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
+	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
 	body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
 	body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
@@ -114,9 +114,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	{
 		c.m_appliedImpulse = sum;
 	}
-	if (body1.m_invMass)
 		body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
-	if (body2.m_invMass)
 		body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
 }
 
@@ -138,8 +136,8 @@ 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,_mm_set1_ps(body1.m_invMass));
-	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
+	__m128	linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
+	__m128	linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
 	__m128 impulseMagnitude = deltaImpulse;
 	body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
 	body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
@@ -169,10 +167,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
 	{
 		c.m_appliedImpulse = sum;
 	}
-	if (body1.m_invMass)
-		body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
-	if (body2.m_invMass)
-		body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
+	body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
+	body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
 }
 
 
@@ -224,14 +220,14 @@ void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
 
 	if (rb)
 	{
-		solverBody->m_invMass = rb->getInvMass();
+		solverBody->m_invMass = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
 		solverBody->m_originalBody = rb;
 		solverBody->m_angularFactor = rb->getAngularFactor();
 	} else
 	{
-		solverBody->m_invMass = 0.f;
+		solverBody->m_invMass.setValue(0,0,0);
 		solverBody->m_originalBody = 0;
-		solverBody->m_angularFactor = 1.f;
+		solverBody->m_angularFactor.setValue(1,1,1);
 	}
 }
 
@@ -394,6 +390,10 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 		solverBodyIdB = getOrInitSolverBody(*colObj1);
 	}
 
+	///avoid collision response between two static objects
+	if (!solverBodyIdA && !solverBodyIdB)
+		return;
+
 	btVector3 rel_pos1;
 	btVector3 rel_pos2;
 	btScalar relaxation;
@@ -490,13 +490,13 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 
 				///warm starting (or zero if disabled)
-				if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+				if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 				{
 					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
 					if (rb0)
-						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
+						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
 					if (rb1)
-						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
+						m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
 				} else
 				{
 					solverConstraint.m_appliedImpulse = 0.f;
@@ -583,9 +583,9 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 							{
 								frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
 								if (rb0)
-									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
 								if (rb1)
-									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
+									m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
 							} else
 							{
 								frictionConstraint1.m_appliedImpulse = 0.f;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 467e37bb91f..90e7fc8354d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -24,10 +24,7 @@ class btIDebugDraw;
 
 
 
-///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-///Applies impulses for combined restitution and penetration recovery and to simulate friction
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 protected:
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index 98c9876ae46..6b728959162 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -110,8 +110,8 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 	btVector3		m_deltaLinearVelocity;
 	btVector3		m_deltaAngularVelocity;
-	btScalar		m_angularFactor;
-	btScalar		m_invMass;
+	btVector3		m_angularFactor;
+	btVector3		m_invMass;
 	btScalar		m_friction;
 	btRigidBody*	m_originalBody;
 	btVector3		m_pushVelocity;
@@ -162,7 +162,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 
 	void	writebackVelocity(btScalar timeStep=0)
 	{
-		if (m_invMass)
+		if (m_originalBody)
 		{
 			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
 			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index 78a770231b3..14cbe831b40 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -30,7 +30,6 @@ enum btTypedConstraintType
 	HINGE_CONSTRAINT_TYPE,
 	CONETWIST_CONSTRAINT_TYPE,
 	D6_CONSTRAINT_TYPE,
-	VEHICLE_CONSTRAINT_TYPE,
 	SLIDER_CONSTRAINT_TYPE
 };
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h
new file mode 100644
index 00000000000..8348795ef70
--- /dev/null
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btActionInterface.h
@@ -0,0 +1,39 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef _BT_ACTION_INTERFACE_H
+#define _BT_ACTION_INTERFACE_H
+
+class btIDebugDraw;
+class btCollisionWorld;
+
+#include "LinearMath/btScalar.h"
+
+///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
+class btActionInterface
+{
+	public:
+
+	virtual ~btActionInterface()
+	{
+	}
+
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
+
+	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
+
+};
+
+#endif //_BT_ACTION_INTERFACE_H
\ No newline at end of file
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
index 19443adc723..fa0d63d74a1 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
@@ -90,8 +90,7 @@ void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 	integrateTransforms(timeStep * toi);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
-
+	updateActions(timeStep);
 
 	updateActivationState( timeStep );
 	
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index ec803df06f7..ea2e0ad2a2b 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -51,17 +51,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 
-
-//vehicle
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
-#include "BulletDynamics/Vehicle/btWheelInfo.h"
-#ifdef USE_CHARACTER
-//character
-#include "BulletDynamics/Character/btCharacterControllerInterface.h"
-#endif //USE_CHARACTER
-
-#include "LinearMath/btIDebugDraw.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
 
@@ -214,32 +204,11 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 		}
 	
-		for (  i=0;i<this->m_vehicles.size();i++)
+		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
 		{
-			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
+			for (i=0;i<m_actions.size();i++)
 			{
-				btVector3 wheelColor(0,255,255);
-				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
-				{
-					wheelColor.setValue(0,0,255);
-				} else
-				{
-					wheelColor.setValue(255,0,255);
-				}
-		
-				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
-
-				btVector3 axle = btVector3(	
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
-
-
-				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
-				//debug wheels (cylinders)
-				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
+				m_actions[i]->debugDraw(m_debugDrawer);
 			}
 		}
 	}
@@ -311,7 +280,7 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 				synchronizeSingleMotionState(body);
 		}
 	}
-
+/*
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
 	{
 		for ( int i=0;i<this->m_vehicles.size();i++)
@@ -323,6 +292,8 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 			}
 		}
 	}
+	*/
+
 
 }
 
@@ -428,10 +399,8 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	integrateTransforms(timeStep);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
+	updateActions(timeStep);
 	
-	updateCharacters(timeStep);
-
 	updateActivationState( timeStep );
 
 	if(0 != m_internalTickCallback) {
@@ -495,31 +464,15 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
 }
 
 
-void	btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
-{
-	BT_PROFILE("updateVehicles");
-	
-	for ( int i=0;i<m_vehicles.size();i++)
-	{
-		btRaycastVehicle* vehicle = m_vehicles[i];
-		vehicle->updateVehicle( timeStep);
-	}
-}
-
-void	btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
+void	btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
 {
-#ifdef USE_CHARACTER
-	BT_PROFILE("updateCharacters");
+	BT_PROFILE("updateActions");
 	
-	for ( int i=0;i<m_characters.size();i++)
+	for ( int i=0;i<m_actions.size();i++)
 	{
-		btCharacterControllerInterface* character = m_characters[i];
-		character->preStep (this);
-		character->playerStep (this,timeStep);
+		m_actions[i]->updateAction( this, timeStep);
 	}
-#endif //USE_CHARACTER
 }
-
 	
 	
 void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
@@ -576,28 +529,35 @@ void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
 	constraint->getRigidBodyB().removeConstraintRef(constraint);
 }
 
-void	btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::addAction(btActionInterface* action)
+{
+	m_actions.push_back(action);
+}
+
+void	btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
+{
+	m_actions.remove(action);
+}
+
+
+void	btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
 {
-	m_vehicles.push_back(vehicle);
+	addAction(vehicle);
 }
 
-void	btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
 {
-	m_vehicles.remove(vehicle);
+	removeAction(vehicle);
 }
 
-void	btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
+void	btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
 {
-#ifdef USE_CHARACTER
-	m_characters.push_back(character);
-#endif //USE_CHARACTER
+	addAction(character);
 }
 
-void	btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
+void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
 {
-#ifdef USE_CHARACTER
-	m_characters.remove(character);
-#endif //USE_CHARACTER
+	removeAction(character);
 }
 
 
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index 34d4e6b353f..4662cf5052a 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -23,10 +23,8 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
+class btActionInterface;
 
-
-class btRaycastVehicle;
-class btCharacterControllerInterface;
 class btIDebugDraw;
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -52,12 +50,8 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
+	btAlignedObjectArray<btActionInterface*>	m_actions;
 	
-	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
-	
-	btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
-	
-
 	int	m_profileTimings;
 
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
@@ -70,9 +64,7 @@ protected:
 	
 	void	updateActivationState(btScalar timeStep);
 
-	void	updateVehicles(btScalar timeStep);
-
-	void	updateCharacters(btScalar timeStep);
+	void	updateActions(btScalar timeStep);
 
 	void	startProfiling(btScalar timeStep);
 
@@ -105,15 +97,10 @@ public:
 
 	virtual void	removeConstraint(btTypedConstraint* constraint);
 
-	virtual void	addVehicle(btRaycastVehicle* vehicle);
+	virtual void	addAction(btActionInterface*);
 
-	virtual void	removeVehicle(btRaycastVehicle* vehicle);
+	virtual void	removeAction(btActionInterface*);
 	
-	virtual void	addCharacter(btCharacterControllerInterface* character);
-
-	virtual void	removeCharacter(btCharacterControllerInterface* character);
-		
-
 	btSimulationIslandManager*	getSimulationIslandManager()
 	{
 		return m_islandManager;
@@ -130,6 +117,7 @@ public:
 	}
 
 	virtual void	setGravity(const btVector3& gravity);
+
 	virtual btVector3 getGravity () const;
 
 	virtual void	addRigidBody(btRigidBody* body);
@@ -171,6 +159,21 @@ public:
         (void) numTasks;
 	}
 
+	///obsolete, use updateActions instead
+	virtual void updateVehicles(btScalar timeStep)
+	{
+		updateActions(timeStep);
+	}
+
+	///obsolete, use addAction instead
+	virtual void	addVehicle(btActionInterface* vehicle);
+	///obsolete, use removeAction instead
+	virtual void	removeVehicle(btActionInterface* vehicle);
+	///obsolete, use addAction instead
+	virtual void	addCharacter(btActionInterface* character);
+	///obsolete, use removeAction instead
+	virtual void	removeCharacter(btActionInterface* character);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 2d90e212f7a..ecf7a2f0c64 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -20,10 +20,10 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 class btTypedConstraint;
-class btRaycastVehicle;
+class btActionInterface;
 class btConstraintSolver;
 class btDynamicsWorld;
-class btCharacterControllerInterface;
+
 
 /// Type for the callback for each tick
 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
@@ -72,14 +72,9 @@ public:
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
 
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
-
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
-
-		virtual void	addCharacter(btCharacterControllerInterface* character) {(void)character;}
-
-		virtual void	removeCharacter(btCharacterControllerInterface* character) {(void)character;}
+		virtual void	addAction(btActionInterface* action) = 0;
 
+		virtual void	removeAction(btActionInterface* action) = 0;
 
 		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
 		//existing rigidbodies in the world get gravity assigned too, during this method
@@ -129,6 +124,16 @@ public:
 		}
 
 
+		///obsolete, use addAction instead.
+		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use removeAction instead
+		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use addAction instead.
+		virtual void	addCharacter(btActionInterface* character) {(void)character;}
+		///obsolete, use removeAction instead
+		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
+
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
index a2b8a7dade4..a4d8e1d77f6 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -44,7 +44,8 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 
 	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	m_angularFactor = btScalar(1.);
+	m_angularFactor.setValue(1,1,1);
+	m_linearFactor.setValue(1,1,1);
 	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
index ec570cab875..da1fcb78611 100644
--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -45,7 +45,8 @@ class btRigidBody  : public btCollisionObject
 	btVector3		m_linearVelocity;
 	btVector3		m_angularVelocity;
 	btScalar		m_inverseMass;
-	btScalar		m_angularFactor;
+	btVector3		m_angularFactor;
+	btVector3		m_linearFactor;
 
 	btVector3		m_gravity;	
 	btVector3		m_gravity_acceleration;
@@ -219,6 +220,14 @@ public:
 	
 	void			setMassProps(btScalar mass, const btVector3& inertia);
 	
+	const btVector3& getLinearFactor() const
+	{
+		return m_linearFactor;
+	}
+	void setLinearFactor(const btVector3& linearFactor)
+	{
+		m_linearFactor = linearFactor;
+	}
 	btScalar		getInvMass() const { return m_inverseMass; }
 	const btMatrix3x3& getInvInertiaTensorWorld() const { 
 		return m_invInertiaTensorWorld; 
@@ -230,7 +239,7 @@ public:
 
 	void			applyCentralForce(const btVector3& force)
 	{
-		m_totalForce += force;
+		m_totalForce += force*m_linearFactor;
 	}
 
 	const btVector3& getTotalForce()
@@ -261,23 +270,23 @@ public:
 
 	void	applyTorque(const btVector3& torque)
 	{
-		m_totalTorque += torque;
+		m_totalTorque += torque*m_angularFactor;
 	}
 	
 	void	applyForce(const btVector3& force, const btVector3& rel_pos) 
 	{
 		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force)*m_angularFactor);
+		applyTorque(rel_pos.cross(force*m_linearFactor));
 	}
 	
 	void applyCentralImpulse(const btVector3& impulse)
 	{
-		m_linearVelocity += impulse * m_inverseMass;
+		m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
 	}
 	
   	void applyTorqueImpulse(const btVector3& torque)
 	{
-			m_angularVelocity += m_invInertiaTensorWorld * torque;
+			m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
 	}
 	
 	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
@@ -287,7 +296,7 @@ public:
 			applyCentralImpulse(impulse);
 			if (m_angularFactor)
 			{
-				applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor);
+				applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
 			}
 		}
 	}
@@ -297,10 +306,10 @@ public:
 	{
 		if (m_inverseMass != btScalar(0.))
 		{
-			m_linearVelocity += linearComponent*impulseMagnitude;
+			m_linearVelocity += linearComponent*m_linearFactor*impulseMagnitude;
 			if (m_angularFactor)
 			{
-				m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
+				m_angularVelocity += angularComponent*m_angularFactor*impulseMagnitude;
 			}
 		}
 	}
@@ -450,11 +459,16 @@ public:
 	int	m_contactSolverType;
 	int	m_frictionSolverType;
 
-	void	setAngularFactor(btScalar angFac)
+	void	setAngularFactor(const btVector3& angFac)
 	{
 		m_angularFactor = angFac;
 	}
-	btScalar	getAngularFactor() const
+
+	void	setAngularFactor(btScalar angFac)
+	{
+		m_angularFactor.setValue(angFac,angFac,angFac);
+	}
+	const btVector3&	getAngularFactor() const
 	{
 		return m_angularFactor;
 	}
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index 4982e673053..031fcb5b447 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -19,15 +19,13 @@
 #include "btVehicleRaycaster.h"
 #include "btWheelInfo.h"
 #include "LinearMath/btMinMax.h"
-
-
+#include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
 static btRigidBody s_fixedObject( 0,0,0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE),
-m_vehicleRaycaster(raycaster),
+:m_vehicleRaycaster(raycaster),
 m_pitchControl(btScalar(0.))
 {
 	m_chassisBody = chassis;
@@ -691,7 +689,7 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 					
 					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
-					rel_pos[m_indexForwardAxis] *= wheelInfo.m_rollInfluence;
+					rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
 					m_chassisBody->applyImpulse(sideImp,rel_pos);
 
 					//apply friction impulse on the ground
@@ -704,6 +702,36 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 }
 
 
+
+void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
+{
+
+	for (int v=0;v<this->getNumWheels();v++)
+	{
+		btVector3 wheelColor(0,255,255);
+		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
+		{
+			wheelColor.setValue(0,0,255);
+		} else
+		{
+			wheelColor.setValue(255,0,255);
+		}
+
+		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
+
+		btVector3 axle = btVector3(	
+			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
+
+		//debug wheels (cylinders)
+		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
+	}
+}
+
+
 void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
 {
 //	RayResultCallback& resultCallback;
@@ -727,3 +755,4 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
 	}
 	return 0;
 }
+
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
index bfe0d7df2fb..d5a299c606f 100644
--- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -17,11 +17,12 @@
 class btDynamicsWorld;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btWheelInfo.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 
 class btVehicleTuning;
 
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btTypedConstraint
+class btRaycastVehicle : public btActionInterface
 {
 
 		btAlignedObjectArray<btVector3>	m_forwardWS;
@@ -29,6 +30,11 @@ class btRaycastVehicle : public btTypedConstraint
 		btAlignedObjectArray<btScalar>	m_forwardImpulse;
 		btAlignedObjectArray<btScalar>	m_sideImpulse;
 
+		int	m_userConstraintType;
+
+		int	m_userConstraintId;
+
+
 public:
 	class btVehicleTuning
 		{
@@ -73,13 +79,24 @@ public:
 
 	virtual ~btRaycastVehicle() ;
 
-		
+
+	///btActionInterface interface
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	{
+		updateVehicle(step);
+	}
+	
+
+	///btActionInterface interface
+	void	debugDraw(btIDebugDraw* debugDrawer);
+			
 	const btTransform& getChassisWorldTransform() const;
 	
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
-
+	
+	
 	void resetSuspension();
 
 	btScalar	getSteeringValue(int wheel) const;
@@ -175,26 +192,24 @@ public:
 		m_indexForwardAxis = forwardIndex;
 	}
 
-	virtual void	buildJacobian()
+	int getUserConstraintType() const
 	{
-		//not yet
+		return m_userConstraintType ;
 	}
 
-	virtual void getInfo1 (btConstraintInfo1* info)
+	void	setUserConstraintType(int userConstraintType)
 	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
+		m_userConstraintType = userConstraintType;
+	};
 
-	virtual void getInfo2 (btConstraintInfo2* info)
+	void	setUserConstraintId(int uid)
 	{
-		btAssert(0);
+		m_userConstraintId = uid;
 	}
 
-	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
+	int getUserConstraintId() const
 	{
-		(void)timeStep;
-		//not yet
+		return m_userConstraintId;
 	}
 
 
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp
index 16ababca522..419c752a1d9 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp
@@ -262,8 +262,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
 		int ma=-1;
 		for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
 		{
-			btScalar s = sinf(SIMD_RADS_PER_DEG*(x));
-			btScalar c = cosf(SIMD_RADS_PER_DEG*(x));
+			btScalar s = btSin(SIMD_RADS_PER_DEG*(x));
+			btScalar c = btCos(SIMD_RADS_PER_DEG*(x));
 			int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
 			if(ma==m && mb==m)
 			{
@@ -275,8 +275,8 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
 				int mc = ma;
 				for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0))
 				{
-					btScalar s = sinf(SIMD_RADS_PER_DEG*(xx));
-					btScalar c = cosf(SIMD_RADS_PER_DEG*(xx));
+					btScalar s = btSin(SIMD_RADS_PER_DEG*(xx));
+					btScalar c = btCos(SIMD_RADS_PER_DEG*(xx));
 					int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow);
 					if(mc==m && md==m)
 					{