fixed several internal Bullet rigidbody dynamics bugs:

- broadphase had bugs in removing objects,
- persistent manifold renamed value,
- cylinder penetration depth fixed,
- memory leak for persistent manifold

20 files changed, 123 insertions, 79 deletions

diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp
index f86ad9a7698..25abf92aea0 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.cpp
@@ -125,9 +125,10 @@ void AxisSweep3::Quantize(unsigned short* out, const SimdPoint3& point, int isMa
 	clampedPoint.setMin(m_worldAabbMax);
 
 	SimdVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
-	out[0] = (unsigned short)(((int)v.getX() & 0xfffe) | isMax);
-	out[1] = (unsigned short)(((int)v.getY() & 0xfffe) | isMax);
-	out[2] = (unsigned short)(((int)v.getZ() & 0xfffe) | isMax);
+	out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax);
+	out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax);
+	out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax);
+	
 }
 
 
@@ -164,7 +165,11 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3&
 
 	// allocate a handle
 	unsigned short handle = AllocHandle();
+	assert(handle!= 0xcdcd);
+
 	Handle* pHandle = GetHandle(handle);
+	
+
 	pHandle->m_handleId = handle;
 	//pHandle->m_pOverlaps = 0;
 	pHandle->m_clientObject = pOwner;
@@ -202,6 +207,7 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3&
 	return handle;
 }
 
+
 void AxisSweep3::RemoveHandle(unsigned short handle)
 {
 	Handle* pHandle = GetHandle(handle);
@@ -211,9 +217,19 @@ void AxisSweep3::RemoveHandle(unsigned short handle)
 
 	// compute current limit of edge arrays
 	int limit = m_numHandles * 2;
-	
+	int axis;
+
+	for (axis = 0;axis<3;axis++)
+	{
+		Edge* pEdges = m_pEdges[axis];
+		int maxEdge= pHandle->m_maxEdges[axis];
+		pEdges[maxEdge].m_pos = 0xffff;
+		int minEdge = pHandle->m_minEdges[axis];
+		pEdges[minEdge].m_pos = 0xffff;
+	}
+
 	// remove the edges by sorting them up to the end of the list
-	for (int axis = 0; axis < 3; axis++)
+	for ( axis = 0; axis < 3; axis++)
 	{
 		Edge* pEdges = m_pEdges[axis];
 		int max = pHandle->m_maxEdges[axis];
diff --git a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h
index 023f61e28c6..9591bdbb40e 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/AxisSweep3.h
@@ -43,6 +43,7 @@ public:
 	class Handle : public BroadphaseProxy
 	{
 	public:
+		
 		// indexes into the edge arrays
 		unsigned short m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
 		unsigned short m_handleId;
diff --git a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
index c50c4d42c7f..78bd7ab7697 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h
@@ -50,7 +50,7 @@ CONCAVE_SHAPES_START_HERE,
 ///BroadphaseProxy
 struct BroadphaseProxy
 {
-
+	
 	//Usually the client CollisionObject or Rigidbody class
 	void*	m_clientObject;
 
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
index c42386af580..c797ed96503 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp
@@ -23,6 +23,18 @@ subject to the following restrictions:
 #include <vector>
 
 
+void	SimpleBroadphase::validate()
+{
+	for (int i=0;i<m_numProxies;i++)
+	{
+		for (int j=i+1;j<m_numProxies;j++)
+		{
+			assert(m_pProxies[i] != m_pProxies[j]);
+		}
+	}
+	
+}
+
 SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
 	:m_firstFreeProxy(0),
 	m_numProxies(0),
@@ -34,7 +46,7 @@ SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
 
 	m_proxies = new SimpleBroadphaseProxy[maxProxies];
 	m_freeProxies = new int[maxProxies];
-	m_pProxies = new BroadphaseProxy*[maxProxies];
+	m_pProxies = new SimpleBroadphaseProxy*[maxProxies];
 	m_OverlappingPairs = new BroadphasePair[maxOverlap];
 
 
@@ -72,11 +84,17 @@ BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const
 	assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
 
 	int freeIndex= m_freeProxies[m_firstFreeProxy];
-	BroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
+	SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
 	m_firstFreeProxy++;
 
+	SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
+		
+	int index = proxy - proxy1;
+	assert(index == freeIndex);
+
 	m_pProxies[m_numProxies] = proxy;
 	m_numProxies++;
+	//validate();
 
 	return proxy;
 }
@@ -95,41 +113,34 @@ void	SimpleBroadphase::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* pr
 		}
 }
 
-void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxy)
+void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg)
 {
 		
 		int i;
 		
-		BroadphaseProxy* proxy1 = &m_proxies[0];
+		SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxyOrg);
+		SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
 	
-		int index = proxy - proxy1;
+		int index = proxy0 - proxy1;
+		assert (index < m_maxProxies);
 		m_freeProxies[--m_firstFreeProxy] = index;
 
-		RemoveOverlappingPairsContainingProxy(proxy);
+		RemoveOverlappingPairsContainingProxy(proxyOrg);
 
 		
 		for (i=0;i<m_numProxies;i++)
 		{
-			if (m_pProxies[i] == proxy)
+			if (m_pProxies[i] == proxyOrg)
 			{
-				m_proxies[i] = m_proxies[m_numProxies-1];
+				m_pProxies[i] = m_pProxies[m_numProxies-1];
 				break;
 			}
 		}
 		m_numProxies--;
+		//validate();
 		
 }
 
-SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
-{
-	SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
-
-	int index = proxy0 - &m_proxies[0];
-	//assert(index < m_numProxies);
-
-	SimpleBroadphaseProxy* sbp = &m_proxies[index];
-	return sbp;
-}
 void	SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
 {
 	SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy);
@@ -167,7 +178,8 @@ void	SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
 
 void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 {
-	
+	//don't add overlap with own
+	assert(proxy0 != proxy1);
 
 	BroadphasePair pair(*proxy0,*proxy1);
 	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
@@ -181,11 +193,14 @@ void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx
 
 	if (m_NumOverlapBroadphasePair >= m_maxOverlap)
 	{
-		printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
+		//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
 		assert(0);
+	} else
+	{
+		m_NumOverlapBroadphasePair++;
 	}
 
-	m_NumOverlapBroadphasePair++;
+	
 }
 	
 BroadphasePair*	SimpleBroadphase::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
diff --git a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h
index 4de7bb6c9d4..b61f82b62a8 100644
--- a/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h
+++ b/extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h
@@ -47,7 +47,7 @@ class SimpleBroadphase : public BroadphaseInterface
 	int*				m_freeProxies;
 	int				m_firstFreeProxy;
 
-	BroadphaseProxy** m_pProxies;
+	SimpleBroadphaseProxy** m_pProxies;
 	int				m_numProxies;
 
 	//during the dispatch, check that user doesn't destroy/create proxy
@@ -59,10 +59,16 @@ class SimpleBroadphase : public BroadphaseInterface
 	int m_maxProxies;
 	int m_maxOverlap;
 	
-	SimpleBroadphaseProxy*	GetSimpleProxyFromProxy(BroadphaseProxy* proxy);
+	inline SimpleBroadphaseProxy*	GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
+	{
+		SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
 
 	bool	AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
 
+	void	validate();
+
 protected:
 	void	RemoveOverlappingPair(BroadphasePair& pair);
 	void	CleanOverlappingPair(BroadphasePair& pair);
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
index a1e132c0f60..1a3f192e533 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
@@ -97,6 +97,8 @@ void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
 	{
 		std::swap(*i, m_manifoldsPtr.back());
 		m_manifoldsPtr.pop_back();
+		delete manifold;
+
 	}
 	
 	
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
index ad06b68aa92..2bb3016acdb 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.cpp
@@ -119,13 +119,6 @@ void	ConvexConvexAlgorithm ::SetLowLevelOfDetail(bool useLowLevel)
 	m_lowLevelOfDetail = useLowLevel;
 }
 
-float	ConvexConvexAlgorithm::GetCollisionImpulse() const
-{
-	if (m_manifoldPtr)
-		return m_manifoldPtr->GetCollisionImpulse();
-	
-	return 0.f;
-}
 
 
 class FlippedContactResult : public DiscreteCollisionDetectorInterface::Result
@@ -329,7 +322,7 @@ void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy
 	{
 		m_gjkPairDetector.SetMinkowskiA(min0);
 		m_gjkPairDetector.SetMinkowskiB(min1);
-		input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetManifoldMargin();
+		input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
 		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 	}
 
diff --git a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
index 6d8143df552..c96d03e3989 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
+++ b/extern/bullet/Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
@@ -55,7 +55,7 @@ public:
 
 	void	SetLowLevelOfDetail(bool useLowLevel);
 
-	float	GetCollisionImpulse() const;
+	
 
 	const PersistentManifold*	GetManifold()
 	{
diff --git a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp
index 3a3d60bf569..ccd9a4b2cbc 100644
--- a/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/ManifoldResult.cpp
@@ -27,7 +27,7 @@ ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,Per
 
 void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
 {
-	if (depth > m_manifoldPtr->GetManifoldMargin())
+	if (depth > m_manifoldPtr->GetContactBreakingTreshold())
 		return;
 
 	SimdTransform transAInv = m_body0->m_worldTransform.inverse();
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
index 71a74f65bc2..9ed5f240b9f 100644
--- a/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/ConvexTriangleCallback.cpp
@@ -68,7 +68,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle)
 
 	gjkDetector.SetMinkowskiA(&tm);
 	gjkDetector.SetMinkowskiB(m_convexShape);
-	input.m_maximumDistanceSquared = tm.GetMargin()+ m_convexShape->GetMargin() + m_manifoldPtr->GetManifoldMargin();
+	input.m_maximumDistanceSquared = tm.GetMargin()+ m_convexShape->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
 	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 
 	input.m_maximumDistanceSquared = 1e30f;//?
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp b/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp
index d533cc29aac..49163b4579e 100644
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp
@@ -35,7 +35,7 @@ CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
 
 
 
-SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) 
+inline SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) 
 {
 const int cylinderUpAxis = 0;
 const int XX = 1;
@@ -78,7 +78,7 @@ const int ZZ = 2;
 
 
 
-SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) 
+inline  SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) 
 {
 
 const int cylinderUpAxis = 1;
@@ -113,7 +113,7 @@ const int ZZ = 2;
 
 }
 
-SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) 
+inline SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) 
 {
 const int cylinderUpAxis = 2;
 const int XX = 0;
@@ -155,6 +155,8 @@ SimdVector3	CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVect
 {
 	return CylinderLocalSupportX(GetHalfExtents(),vec);
 }
+
+
 SimdVector3	CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
 {
 	return CylinderLocalSupportZ(GetHalfExtents(),vec);
@@ -164,9 +166,31 @@ SimdVector3	CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVecto
 	return CylinderLocalSupportY(GetHalfExtents(),vec);
 }
 
+void	CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]);
+	}
+}
 
+void	CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]);
+	}
+}
 
 
 
 
+void	CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]);
+	}
+}
+
 
diff --git a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
index 2c0c8008d71..49e3c0ab3ee 100644
--- a/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/CylinderShape.h
@@ -36,6 +36,8 @@ public:
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
+
 	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const
 	{
 
@@ -74,6 +76,7 @@ public:
 	CylinderShapeX (const SimdVector3& halfExtents);
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
 };
 
 class CylinderShapeZ : public CylinderShape
@@ -82,6 +85,7 @@ public:
 	CylinderShapeZ (const SimdVector3& halfExtents);
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
 
 };
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
index 627c4f7ae09..ad97b9579b0 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
@@ -27,7 +27,7 @@ ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTran
 
 void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
 {
-	if (depth > m_manifoldPtr->GetManifoldMargin())
+	if (depth > m_manifoldPtr->GetContactBreakingTreshold())
 		return;
 
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
index befed5379be..7aa225cdce2 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp
@@ -82,7 +82,7 @@ int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
 
 int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
 {
-	SimdScalar shortestDist =  GetManifoldMargin() * GetManifoldMargin();
+	SimdScalar shortestDist =  GetContactBreakingTreshold() * GetContactBreakingTreshold();
 	int size = GetNumContacts();
 	int nearestPoint = -1;
 	for( int i = 0; i < size; i++ )
@@ -121,7 +121,7 @@ void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
 	ReplaceContactPoint(newPoint,insertIndex);
 }
 
-float	PersistentManifold::GetManifoldMargin() const
+float	PersistentManifold::GetContactBreakingTreshold() const
 {
 	return gContactBreakingTreshold;
 }
@@ -157,7 +157,7 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim
 			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
 			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
 			distance2d = projectedDifference.dot(projectedDifference);
-			if (distance2d  > GetManifoldMargin()*GetManifoldMargin() )
+			if (distance2d  > GetContactBreakingTreshold()*GetContactBreakingTreshold() )
 			{
 				RemoveContactPoint(i);
 			}
@@ -166,32 +166,6 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim
 }
 
 
-//todo: remove this treshold
-float gPenetrationDistanceCheck = -0.05f;
 
-float	PersistentManifold::GetCollisionImpulse() const
-{
-	float averageImpulse = 0.f;
-	if (GetNumContacts() > 0)
-	{
-		float totalImpulse = 0.f;
-
-		//return the sum of the applied impulses on the box
-		for (int i=0;i<GetNumContacts();i++)
-		{
-			const ManifoldPoint& cp = GetContactPoint(i);
-			//avoid conflic noice
-			if ( cp.GetDistance() <gPenetrationDistanceCheck)
-				return 0.f;
-
-			totalImpulse += cp.m_appliedImpulse;
-
-		}
-		averageImpulse = totalImpulse / ((float)GetNumContacts());
-
-	}
-	return averageImpulse;
-
-}
 
 
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
index 7f4c9a0e401..235f604a2f8 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
@@ -86,7 +86,7 @@ public:
 	}
 
 	/// todo: get this margin from the current physics / collision environment
-	float	GetManifoldMargin() const;
+	float	GetContactBreakingTreshold() const;
 	
 	int GetCacheEntry(const ManifoldPoint& newPoint) const;
 
@@ -105,14 +105,13 @@ public:
 
 	bool ValidContactDistance(const ManifoldPoint& pt) const
 	{
-		return pt.m_distance1 <= GetManifoldMargin();
+		return pt.m_distance1 <= GetContactBreakingTreshold();
 	}
 	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
 	void	RefreshContactPoints(  const SimdTransform& trA,const SimdTransform& trB);
 
 	void	ClearManifold();
 
-	float	GetCollisionImpulse() const;
 
 
 };
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h b/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h
index b4edda15b32..8cefc900d29 100644
--- a/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 #include "SimdVector3.h"
 #include "SimdPoint3.h"
 
-#define NO_VIRTUAL_INTERFACE
+#define NO_VIRTUAL_INTERFACE 1
 #ifdef NO_VIRTUAL_INTERFACE
 #include "VoronoiSimplexSolver.h"
 #define SimplexSolverInterface VoronoiSimplexSolver
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
index 07e1502e7d0..be1025bb994 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp
@@ -30,7 +30,7 @@ subject to the following restrictions:
 #include "quickprof.h"
 #endif //USE_PROFILE
 
-//iterative lcp and penalty method
+/// SimpleConstraintSolver Sequentially applies impulses
 float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
 {
 	ContactSolverInfo info = infoGlobal;
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h
index b6f12db6c45..e58f8020a7a 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h
@@ -19,7 +19,9 @@ subject to the following restrictions:
 #include "ConstraintSolver.h"
 class IDebugDraw;
 
-/// SimpleConstraintSolver uses a Propagation Method
+/// SimpleConstraintSolver uses a Propagation Method and Sequentially applies impulses
+/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
+/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
 /// Applies impulses for combined restitution and penetration recovery and to simulate friction
 class SimpleConstraintSolver : public ConstraintSolver
 {
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index cbe7961773d..68010b85180 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -328,6 +328,10 @@ void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
 	SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
 	if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
+		m_body->activate();
+	}
+
+	{
 		SimdTransform xform = m_body->getCenterOfMassTransform();
 		if (local)
 		{
@@ -345,6 +349,9 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 	if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON))
 	{
 		m_body->activate();
+	}
+	
+	{
 		SimdTransform xform = m_body->getCenterOfMassTransform();
 		if (local)
 		{
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
index 2c5e01dd4b0..e670755b1f2 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
@@ -29,6 +29,7 @@ struct CcdConstructionInfo
 		: m_gravity(0,0,0),
 		m_mass(0.f),
 		m_restitution(0.1f),
+		m_friction(0.5f),
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
 		m_MotionState(0),