added more debug text, enabled the bullet penalty solver, instead of ode solver by default, added a better demo.

21 files changed, 181 insertions, 262 deletions

diff --git a/extern/bullet/Bullet/Bullet3_vc8.vcproj b/extern/bullet/Bullet/Bullet3_vc8.vcproj
index c2f3e70180f..b9046f451e5 100644
--- a/extern/bullet/Bullet/Bullet3_vc8.vcproj
+++ b/extern/bullet/Bullet/Bullet3_vc8.vcproj
@@ -4,7 +4,6 @@
 	Version="8.00"
 	Name="Bullet3ContinuousCollision"
 	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
-	SignManifests="true"
 	>
 	<Platforms>
 		<Platform
@@ -278,14 +277,6 @@
 				>
 			</File>
 			<File
-				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
-				>
-			</File>
-			<File
-				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
-				>
-			</File>
-			<File
 				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
 				>
 			</File>
@@ -438,6 +429,14 @@
 				>
 			</File>
 			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.h"
+				>
+			</File>
+			<File
 				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
 				>
 			</File>
@@ -510,6 +509,10 @@
 				>
 			</File>
 			<File
+				RelativePath="..\LinearMath\IDebugDraw.h"
+				>
+			</File>
+			<File
 				RelativePath="..\LinearMath\SimdMatrix3x3.h"
 				>
 			</File>
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
index 727af3ae499..6cbab4ff03a 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -29,10 +29,6 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
 		  abs_b[2].dot(halfExtents));
 	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
 
-
-	//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
-	extent += SimdVector3(.2f,.2f,.2f);
-
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
index 5376d1f51aa..11b573c98c0 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h
@@ -19,7 +19,8 @@ class ManifoldPoint
 					m_localPointB( pointB ), 
 					m_normalWorldOnB( normal ), 
 					m_distance1( distance )
-					,m_appliedImpulse(0.f)
+					,m_appliedImpulse(0.f),
+					m_lifeTime(0)
 			{}
 
 			SimdVector3 m_localPointA;			
@@ -31,11 +32,16 @@ class ManifoldPoint
 			float	m_distance1;
 			/// total applied impulse during most recent frame
 			float	m_appliedImpulse;
+			int		m_lifeTime;//lifetime of the contactpoint in frames
 			
 			float GetDistance() const
 			{
 				return m_distance1;
 			}
+			int	GetLifeTime() const
+			{
+				return m_lifeTime;
+			}
 
 			SimdVector3 GetPositionWorldOnA() {
 				return m_positionWorldOnA;
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
index f8679addd18..1926501b84b 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
@@ -8,15 +8,21 @@
 struct MyResult : public DiscreteCollisionDetectorInterface::Result
 {
 
+	MyResult():m_hasResult(false)
+	{
+	}
+	
 	SimdVector3 m_normalOnBInWorld;
 	SimdVector3 m_pointInWorld;
 	float m_depth;
+	bool	m_hasResult;
 
 	void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
 	{
 		m_normalOnBInWorld = normalOnBInWorld;
 		m_pointInWorld = pointInWorld;
 		m_depth = depth;
+		m_hasResult = true;
 	}
 };
 
@@ -37,6 +43,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 	SimdVector3 minVertex;
 	SimdVector3 minA,minB;
 
+	//not so good, lots of directions overlap, better to use gauss map
 	for (int i=-N;i<N;i++)
 	{
 		for (int j = -N;j<N;j++)
@@ -122,11 +129,10 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
 	MyResult res;
 	gjkdet.GetClosestPoints(input,res);
 
-	SimdVector3 halfV = v*0.5f;
-
-	//approximate pa and pb
-	pa = res.m_pointInWorld - halfV;
-	pb = res.m_pointInWorld +halfV;
-
-	return true;
+	if (res.m_hasResult)
+	{
+		pa = res.m_pointInWorld - res.m_normalOnBInWorld*res.m_depth;
+		pb = res.m_pointInWorld;
+	}
+	return res.m_hasResult;
 }
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index 3c094d0bab8..2d4e7f01420 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -14,7 +14,7 @@
 #include "SimdTransform.h"
 #include <assert.h>
 
-float gContactBreakingTreshold = 0.002f;
+float gContactBreakingTreshold = 0.02f;
 
 PersistentManifold::PersistentManifold()
 :m_body0(0),
@@ -128,6 +128,7 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim
 		manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
 		manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
 		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA -  manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
+		manifoldPoint.m_lifeTime++;
 	}
 
 	/// then 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
index ca02aa9c9a4..2d91a08602b 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
@@ -101,7 +101,7 @@ public:
 
 	bool ValidContactDistance(const ManifoldPoint& pt) const
 	{
-		return pt.m_distance1 < GetManifoldMargin();
+		return pt.m_distance1 <= GetManifoldMargin();
 	}
 	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
 	void	RefreshContactPoints(  const SimdTransform& trA,const SimdTransform& trB);
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
index 9450eb2e845..c29df9f3807 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -36,8 +36,12 @@
 
 ///Solid3EpaPenetrationDepth is not shipped by default, the license doesn't allow commercial, closed source. contact if you want the file
 ///It improves the penetration depth handling dramatically
+//#define USE_EPA
 #ifdef USE_EPA
 #include "NarrowPhaseCollision/Solid3EpaPenetrationDepth.h"
+bool gUseEpa = true;
+#else
+bool gUseEpa = false;
 #endif// USE_EPA
 
 #ifdef WIN32
@@ -57,7 +61,6 @@ bool gForceBoxBox = false;//false;//true;
 bool gBoxBoxUseGjk = true;//true;//false;
 bool gDisableConvexCollision = false;
 
-bool gUseEpa = false;
 
 
 ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
@@ -144,7 +147,10 @@ void	ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
 			//not distributed, see top of this file
 			#ifdef USE_EPA
 			m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
+			#else
+			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
 			#endif
+			
 		} else
 		{
 			m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
index 64db510e97e..3845f307a60 100644
--- a/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
+++ b/extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp
@@ -7,7 +7,6 @@
 #include "CollisionDispatch/EmptyCollisionAlgorithm.h"
 #include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
 
-#define MAX_RIGIDBODIES 128
 
 
 void ToiContactDispatcher::FindUnions()
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index 10bb4af0a7d..8345e23517f 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -17,23 +17,20 @@
 
 #define ASSERT2 assert
 
-
+//some values to find stable penalty method tresholds
+float MAX_FRICTION = 100.f;
 static SimdScalar ContactThreshold = -10.0f;  
-
 float useGlobalSettingContacts = false;//true;
-
 SimdScalar contactDamping = 0.2f;
 SimdScalar contactTau = .02f;//0.02f;//*0.02f;
 
 
-
 SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 {
 	return 0.f;
 //	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
 }
 
-float MAX_FRICTION = 100.f;
 
 SimdScalar	calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
 {
@@ -46,54 +43,11 @@ SimdScalar	calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
 
 }
 
-void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-		const SimdVector3& normal,float normalImpulse, 
-		const ContactSolverInfo& solverInfo)
-{
-
-
-	if (normalImpulse>0.f)
-	{
-		SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-		SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-
-		SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-		SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-		SimdVector3 vel = vel1 - vel2;
-	
-		SimdScalar rel_vel = normal.dot(vel);
-
-		float combinedFriction = calculateCombinedFriction(body1,body2);
-
-#define PER_CONTACT_FRICTION
-#ifdef PER_CONTACT_FRICTION
-		SimdVector3 lat_vel = vel - normal * rel_vel;
-		SimdScalar lat_rel_vel = lat_vel.length();
-
-		if (lat_rel_vel > SIMD_EPSILON)
-		{
-			lat_vel /= lat_rel_vel;
-			SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(lat_vel); 
-			SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel); 
-			SimdScalar frictionMaxImpulse = lat_rel_vel / 
-				(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
-			SimdScalar frictionImpulse = (normalImpulse) * combinedFriction;
-			GEN_set_min(frictionImpulse,frictionMaxImpulse );
-			
-			body1.applyImpulse(lat_vel * -frictionImpulse, rel_pos1);
-			body2.applyImpulse(lat_vel * frictionImpulse, rel_pos2);
-			
-		}
-#endif
-		}
-}
-
 
 //bilateral constraint between two dynamic objects
 void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
                       RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
+                      SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
 {
 	float normalLenSqr = normal.length2();
 	ASSERT2(fabs(normalLenSqr) < 1.1f);
@@ -110,10 +64,7 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
 	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
 	SimdVector3 vel = vel1 - vel2;
 	
-	SimdScalar rel_vel;
 
-	/*
-	
 	  JacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
 		body2.getCenterOfMassTransform().getBasis().transpose(),
 		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
@@ -130,100 +81,22 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
 	float a;
 	a=jacDiagABInv;
 
-	*/
-	rel_vel = normal.dot(vel);
-	
-
-
-
-	/*int color = 255+255*256;
-
-	DrawRasterizerLine(pos1,pos1+normal,color);
-*/
 
+	rel_vel = normal.dot(vel);
 		
-	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
-
-	impulse = - contactDamping * rel_vel * massTerm;//jacDiagABInv;
-
-	//SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
-	//impulse = velocityImpulse;
 
+#ifdef ONLY_USE_LINEAR_MASS
+	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+	impulse = - contactDamping * rel_vel * massTerm;
+#else	
+	SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
+	impulse = velocityImpulse;
+#endif
 }
 
 
 
 
-
-//velocity + friction
-//response  between two dynamic objects with friction
-float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar depth, const SimdVector3& normal, 
-					  		const ContactSolverInfo& solverInfo
-					  )
-{
-	
-	float normalLenSqr = normal.length2();
-	ASSERT2(fabs(normalLenSqr) < 1.1f);
-	if (normalLenSqr > 1.1f)
-		return 0.f;
-
-	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
-	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-	//this jacobian entry could be re-used for all iterations
-	
-	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
-	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
-	SimdVector3 vel = vel1 - vel2;
-	SimdScalar rel_vel;
-	rel_vel = normal.dot(vel);
-	
-//	if (rel_vel< 0.f)//-SIMD_EPSILON) 
-//	{
-	float combinedRestitution = body1.getRestitution() * body2.getRestitution();
-
-	SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
-
-	SimdScalar timeCorrection =  360.f*solverInfo.m_timeStep;
-	float damping = solverInfo.m_damping ;
-	float tau = solverInfo.m_tau;
-
-	if (useGlobalSettingContacts)
-	{
-		damping = contactDamping;
-		tau = contactTau;
-	} 
-
-	if (depth < 0.f)
-		return 0.f;//bdepth = 0.f;
-
-	SimdScalar penetrationImpulse = (depth*tau*timeCorrection);// * massTerm;//jacDiagABInv
-	
-	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel;
-
-	SimdScalar impulse = penetrationImpulse + velocityImpulse;
-	SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(normal); 
-		SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(normal); 
-		impulse /=
-			(body1.getInvMass() + body2.getInvMass() + normal.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
-	
-	if (impulse > 0.f)
-	{
-	
-		body1.applyImpulse(normal*(impulse), rel_pos1);
-		body2.applyImpulse(-normal*(impulse), rel_pos2);
-	} else
-	{
-		impulse = 0.f;
-	}
-
-	return impulse;//velocityImpulse;//impulse;
-	
-}
-
-
-
 //velocity + friction
 //response  between two dynamic objects with friction
 float resolveSingleCollisionWithFriction(
@@ -232,7 +105,7 @@ float resolveSingleCollisionWithFriction(
 		const SimdVector3& pos1,
         RigidBody& body2, 
 		const SimdVector3& pos2,
-        SimdScalar depth, 
+        SimdScalar distance, 
 		const SimdVector3& normal, 
 
 		const ContactSolverInfo& solverInfo
@@ -283,22 +156,17 @@ SimdScalar rel_vel;
 		damping = contactDamping;
 		tau = contactTau;
 	} 
-	SimdScalar penetrationImpulse = (depth* tau *timeCorrection)  * jacDiagABInv;
+	SimdScalar penetrationImpulse = (-distance* tau *timeCorrection)  * jacDiagABInv;
 		
-		if (penetrationImpulse  < 0.f)
-			penetrationImpulse  = 0.f;
-
 
 
 	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel * jacDiagABInv;
 
 	SimdScalar friction_impulse = 0.f;
 
-	if (velocityImpulse <= 0.f)
-		velocityImpulse = 0.f;
+	SimdScalar totalimpulse = penetrationImpulse+velocityImpulse;
 
-//	SimdScalar impulse = penetrationImpulse + velocityImpulse;
-	//if (impulse > 0.f)
+	if (totalimpulse > 0.f)
 	{
 //		SimdVector3 impulse_vector = normal * impulse;
 		body1.applyImpulse(normal*(velocityImpulse+penetrationImpulse), rel_pos1);
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h
index 0f835546783..1a1e4b3f150 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h
@@ -19,30 +19,18 @@ class RigidBody;
 struct ContactSolverInfo;
 
 ///bilateral constraint between two dynamic objects
+///positive distance = separation, negative distance = penetration
 void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
                       RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
+                      SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
 
 
-//contact constraint resolution:
-//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
-float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar depth, const SimdVector3& normal, 
-					  const ContactSolverInfo& info);
-
-
-/// apply friction force to simulate friction in a contact point related to the normal impulse
-void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
-                      RigidBody& body2, const SimdVector3& pos2,
-                      const SimdVector3& normal,float normalImpulse,
-					  const ContactSolverInfo& info);
-
-//contact constraint resolution:
-//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+///contact constraint resolution:
+///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+///positive distance = separation, negative distance = penetration
 float resolveSingleCollisionWithFriction(RigidBody& body1, const SimdVector3& pos1,
                       RigidBody& body2, const SimdVector3& pos2,
-                      SimdScalar depth, const SimdVector3& normal, 
+                      SimdScalar distance, const SimdVector3& normal, 
 					  const ContactSolverInfo& info);
 
 #endif //CONTACT_CONSTRAINT_H
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
index 0399fdb8a37..b834eb9a417 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp
@@ -45,7 +45,7 @@ class BU_Joint;
 
 OdeConstraintSolver::OdeConstraintSolver():
 m_cfm(1e-5f),
-m_erp(0.2f)
+m_erp(0.3f)
 {
 }
 
@@ -62,10 +62,10 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 	m_CurJoint = 0;
 
 
-	RigidBody* bodies [128];
+	RigidBody* bodies [MAX_RIGIDBODIES];
 
 	int numBodies = 0;
-	BU_Joint* joints [128*5];
+	BU_Joint* joints [MAX_RIGIDBODIES*4];
 	int numJoints = 0;
 
 	for (int j=0;j<numManifolds;j++)
@@ -158,27 +158,6 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
 	body->m_I[2+2*4] = 1.f/body->getInvInertiaDiagLocal()[2];
 	
 
-	/*
-	
-	SimdMatrix3x3 invI;
-	invI.setIdentity();
-	invI[0][0] = body->getInvInertiaDiagLocal()[0];
-	invI[1][1] = body->getInvInertiaDiagLocal()[1];
-	invI[2][2] = body->getInvInertiaDiagLocal()[2];
-	SimdMatrix3x3 inertia = invI.inverse();
-
-	for (i=0;i<3;i++)
-	{
-		for (j=0;j<3;j++)
-		{
-			body->m_I[i+4*j] = inertia[i][j];
-		}
-	}
-	*/
-//	body->m_I[3+0*4] = 0.f;
-//	body->m_I[3+1*4] = 0.f;
-//	body->m_I[3+2*4] = 0.f;
-//	body->m_I[3+3*4] = 0.f;
 	
 	
 	dQuaternion q;
@@ -241,13 +220,19 @@ void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Join
 
 		if (debugDrawer)
 		{
-			debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
-			debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
+			const ManifoldPoint& cp = manifold->GetContactPoint(i);
+
+			debugDrawer->DrawContactPoint(
+				cp.m_positionWorldOnB,
+				cp.m_normalWorldOnB,
+				cp.GetDistance(),
+				cp.GetLifeTime(),
+				color);
 
 		}
 		assert (m_CurJoint < MAX_JOINTS_1);
 
-		if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
+//		if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
 		{
 			ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
 
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
index 501b0a763e2..43b5dc32281 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
@@ -42,7 +42,11 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
 	{
 		for (int j=0;j<numManifolds;j++)
 		{
-			Solve(manifoldPtr[j],info,i,debugDrawer);
+			int k=j;
+			if (i % 2)
+				k = numManifolds-1-j;
+
+			Solve(manifoldPtr[k],info,i,debugDrawer);
 		}
 	}
 	return 0.f;
@@ -86,35 +90,29 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 
 			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
 			
-			if (debugDrawer)
-				debugDrawer->DrawLine(cp.m_positionWorldOnA,cp.m_positionWorldOnB,color);
-
-
+			if (iter == 0)
 			{
+				if (debugDrawer)
+					debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
+			}
 
+			{
 
-				float dist =  invNumIterFl * cp.GetDistance() * penetrationResolveFactor / info.m_timeStep;// / timeStep;//penetrationResolveFactor*cp.m_solveDistance /timeStep;//cp.GetDistance();
 
+				float actualDist =  cp.GetDistance();
+#define MAXPENETRATIONPERFRAME -0.2f
+				float dist = actualDist< MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:actualDist;
 
-				float impulse = 0.f;
 
-				if (doApplyImpulse)
-				{
-					impulse = resolveSingleCollision(*body0, 
+				float impulse = resolveSingleCollisionWithFriction(
+					*body0, 
 						cp.GetPositionWorldOnA(),
 						*body1, 
 						cp.GetPositionWorldOnB(),
-						-dist,
+						dist,
 						cp.m_normalWorldOnB,
 						info);
-
-					if (useImpulseFriction)
-					{
-						applyFrictionInContactPointOld(
-							*body0,cp.GetPositionWorldOnA(),*body1,cp.GetPositionWorldOnB(),
-							cp.m_normalWorldOnB,impulse,info) ;
-					}
-				}
+				
 				if (iter == 0)
 				{
 					cp.m_appliedImpulse = impulse;
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
index 4ceb000d111..aecf137a904 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp
@@ -206,7 +206,7 @@ void dSetValue1 (SimdScalar *a, int n, SimdScalar value)
 // during the solution. depending on the situation, this can help a lot
 // or hardly at all, but it doesn't seem to hurt.
 
-//#define RANDOMLY_REORDER_CONSTRAINTS 1
+#define RANDOMLY_REORDER_CONSTRAINTS 1
 
 
 
@@ -764,7 +764,7 @@ void SolveInternal1 (float global_cfm,
 
 		// scale CFM
 		for (i=0; i<m; i++) 
-			cfm[i] =0.f;//*= stepsize1;
+			cfm[i] *= stepsize1;
 
 		// load lambda from the value saved on the previous iteration
 		dRealAllocaArray (lambda,m);
diff --git a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
index 0830e871199..07ad818888f 100644
--- a/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp
@@ -124,13 +124,20 @@ void ContactJoint::GetInfo2(Info2 *info)
 	SimdScalar k = info->fps * info->erp;
 	
 	float depth = -point.GetDistance();
-	if (depth < 0.f)
-		depth = 0.f;
+//	if (depth < 0.f)
+//		depth = 0.f;
 	
 	info->c[0] = k * depth;
-	info->cfm[0] = 0.f;
-	info->cfm[1] = 0.f;
-	info->cfm[2] = 0.f;
+	float maxvel = .2f;
+
+//	if (info->c[0] > maxvel)
+//		info->c[0] = maxvel;
+
+
+	//can override it, not necessary
+//	info->cfm[0] = 0.f;
+//	info->cfm[1] = 0.f;
+//	info->cfm[2] = 0.f;
 	
 	
 	
@@ -158,7 +165,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 	c2[2] = ccc2[2];
 	
 	
-	float friction = 30.f;//0.01f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
+	float friction = 10.1f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
 	
 	// first friction direction
 	if (m_numRows >= 2) 
@@ -198,7 +205,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 			//	info->cfm[1] = j->contact.surface.slip1;
 		} else
 		{
-			info->cfm[1] = 0.f;
+			//info->cfm[1] = 0.f;
 		}
 	}
 	
@@ -214,6 +221,7 @@ void ContactJoint::GetInfo2(Info2 *info)
 			info->J2l[s2+2] = -t2[2];
 			dCROSS (info->J2a+s2,= -,c2,t2);
 		}
+
 		// set right hand side
 		if (0){//j->contact.surface.mode & dContactMotion2) {
 			//info->c[2] = j->contact.surface.motion2;
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
index c0927a96915..8c82397988d 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp
@@ -33,6 +33,11 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
 
 }
 
+void RigidBody::activate()
+{
+		SetActivationState(1);
+		m_deactivationTime = 0.f;
+}
 void RigidBody::setLinearVelocity(const SimdVector3& lin_vel)
 { 
 
diff --git a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
index 4ff987f6eaa..9b213635616 100644
--- a/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
+++ b/extern/bullet/BulletDynamics/Dynamics/RigidBody.h
@@ -12,6 +12,8 @@ typedef SimdScalar dMatrix3[4*3];
 extern float gLinearAirDamping;
 extern bool gUseEpa;
 
+#define MAX_RIGIDBODIES 1024
+
 
 /// RigidBody class for RigidBody Dynamics
 /// 
@@ -142,6 +144,7 @@ public:
 	{
 		return m_friction;
 	}
+	void	activate();
 
 private:
 	SimdTransform	m_worldTransform;
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index c16a31ee18d..03c9cab53bf 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -7,8 +7,12 @@
 
 class BP_Proxy;
 
+///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
+
 //'temporarily' global variables
 float	gDeactivationTime = 2.f;
+bool	gDisableDeactivation = false;
+
 float gLinearSleepingTreshold = 0.8f;
 float gAngularSleepingTreshold = 1.0f;
 
@@ -121,12 +125,26 @@ void		CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
 }
 void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
 {
+
 }
 void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
 {
+	m_body->activate();
+
+	SimdTransform xform  = m_body->getCenterOfMassTransform();
+	xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
+	m_body->setCenterOfMassTransform(xform);
+
 }
+
 void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
 {
+	m_body->activate();
+
+	SimdTransform xform  = m_body->getCenterOfMassTransform();
+	xform.setOrigin(SimdVector3(posX,posY,posZ));
+	m_body->setCenterOfMassTransform(xform);
+
 }
 void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
 {
@@ -167,9 +185,7 @@ void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
 	SimdVector3 impulse(impulseX,impulseY,impulseZ);
 	SimdVector3 pos(attachX,attachY,attachZ);
 
-	//it might be sleeping... wake up !
-	m_body->SetActivationState(1);
-	m_body->m_deactivationTime = 0.f;
+	m_body->activate();
 
 	m_body->applyImpulse(impulse,pos);
 
@@ -226,7 +242,7 @@ bool CcdPhysicsController::wantsSleeping()
 {
 
 	//disable deactivation
-	if (gDeactivationTime == 0.f)
+	if (gDisableDeactivation || (gDeactivationTime == 0.f))
 		return false;
 	//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
 	if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index 8c87940721a..728a439866d 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -13,6 +13,7 @@ class CollisionShape;
 extern float gDeactivationTime;
 extern float gLinearSleepingTreshold;
 extern float gAngularSleepingTreshold;
+extern bool gDisableDeactivation;
 
 
 struct CcdConstructionInfo
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index fa3253003fc..5c117301ffb 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -306,6 +306,13 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	if (timeStep == 0.f)
 		return true;
 
+	if (m_debugDrawer)
+	{
+		gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
+	}
+
+
+
 	//clamp hardcoded for now
 	if (timeStep > 0.02)
 		timeStep = 0.02;
@@ -435,17 +442,17 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 				shapeinterface->GetAabb(body->getCenterOfMassTransform(),
 					minAabb,maxAabb);
 
+				SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
+				minAabb -= manifoldExtraExtents;
+				maxAabb += manifoldExtraExtents;
 				
 				BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
 				if (bp)
 				{
 					
 #ifdef WIN32
-					SimdVector3 color (1,0,0);
+					SimdVector3 color (1,1,0);
 					
-				
-
-				
 					if (m_debugDrawer)
 					{	
 						//draw aabb
@@ -453,7 +460,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 						{
 						case ISLAND_SLEEPING:
 							{
-								color.setValue(0,1,0);
+								color.setValue(1,1,1);
 								break;
 							}
 						case WANTS_DEACTIVATION:
@@ -465,11 +472,13 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 							{
 								break;
 							}
-
 							
 						};
 
-						DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
+						if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
+						{
+							DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
+						}
 					}
 #endif
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj
index 9204aff8adb..eb5a602e781 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj
@@ -5,6 +5,7 @@
 	Name="CcdPhysics"
 	ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
 	Keyword="Win32Proj"
+	SignManifests="true"
 	>
 	<Platforms>
 		<Platform
@@ -41,12 +42,12 @@
 				Optimization="0"
 				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
 				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
-				MinimalRebuild="TRUE"
+				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
 				RuntimeLibrary="1"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
 				DebugInformationFormat="4"
 			/>
 			<Tool
@@ -72,7 +73,7 @@
 				Name="VCBscMakeTool"
 			/>
 			<Tool
-				Name="VCAppVerifierTool"
+				Name="VCFxCopTool"
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
@@ -107,7 +108,7 @@
 				RuntimeLibrary="0"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
 				DebugInformationFormat="3"
 			/>
 			<Tool
@@ -133,7 +134,7 @@
 				Name="VCBscMakeTool"
 			/>
 			<Tool
-				Name="VCAppVerifierTool"
+				Name="VCFxCopTool"
 			/>
 			<Tool
 				Name="VCPostBuildEventTool"
@@ -182,4 +183,6 @@
 			>
 		</File>
 	</Files>
+	<Globals>
+	</Globals>
 </VisualStudioProject>
diff --git a/extern/bullet/LinearMath/IDebugDraw.h b/extern/bullet/LinearMath/IDebugDraw.h
index b5cb24f74e5..2f0b33a6129 100644
--- a/extern/bullet/LinearMath/IDebugDraw.h
+++ b/extern/bullet/LinearMath/IDebugDraw.h
@@ -30,12 +30,30 @@ DEALINGS IN THE SOFTWARE.
 
 #include "SimdVector3.h"
 
+
 class	IDebugDraw
 {
-public:
+	public:
+
+	enum	DebugDrawModes
+	{
+		DBG_NoDebug=0,
+		DBG_DrawAabb=1,
+		DBG_DrawText=2,
+		DBG_DrawFeaturesText=4,
+		DBG_DrawContactPoints=8,
+		DBG_NoDeactivation=16,
+		DBG_MAX_DEBUG_DRAW_MODE
+	};
+
 	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
 
+	virtual void	DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)=0;
+
 	virtual void	SetDebugMode(int debugMode) =0;
+	
+	virtual int		GetDebugMode() const = 0;
+
 
 };