2.50:

svn merge https://svn.blender.org/svnroot/bf-blender/trunk/blender -r19820:HEAD

Notes:
* Game and sequencer RNA, and sequencer header are now out of date
  a bit after changes in trunk.
* I didn't know how to port these bugfixes, most likely they are
  not needed anymore.
  * Fix "duplicate strip" always increase the user count for ipo.
  * IPO pinning on sequencer strips was lost during Undo.

13 files changed, 370 insertions, 113 deletions

diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt
index 45778e235cd..8dcace11e7d 100644
--- a/extern/CMakeLists.txt
+++ b/extern/CMakeLists.txt
@@ -25,19 +25,20 @@
 # ***** END GPL LICENSE BLOCK *****
 
 IF(WITH_GAMEENGINE)
-  SUBDIRS(qhull solid)
+  ADD_SUBDIRECTORY(qhull)
+  ADD_SUBDIRECTORY(solid)
 ENDIF(WITH_GAMEENGINE)
 
 IF(WITH_BULLET)
-  SUBDIRS(bullet2)
+  ADD_SUBDIRECTORY(bullet2)
 ENDIF(WITH_BULLET)
 
 IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
-  SUBDIRS(binreloc)
+  ADD_SUBDIRECTORY(binreloc)
 ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 
-SUBDIRS(glew)
+ADD_SUBDIRECTORY(glew)
 
 IF(WITH_OPENJPEG)
-  SUBDIRS(libopenjpeg)
+  ADD_SUBDIRECTORY(libopenjpeg)
 ENDIF(WITH_OPENJPEG)
diff --git a/extern/Makefile b/extern/Makefile
index 582d158b66f..8311006444f 100644
--- a/extern/Makefile
+++ b/extern/Makefile
@@ -41,9 +41,10 @@ ifeq ($(NAN_FFMPEG), $(LCGDIR)/gcc/ffmpeg)
 endif
 endif
 
-ifneq ($(NAN_NO_KETSJI), true)
-    DIRS += bullet2
-endif
+# Cloth requires it
+#ifneq ($(NAN_NO_KETSJI), true)
+DIRS += bullet2
+#endif
 
 ifeq ($(WITH_BINRELOC), true)
     DIRS += binreloc
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 29c8496c36f..50a79451f5d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -22,12 +22,13 @@ Written by: Marcus Hennix
 #include "LinearMath/btMinMax.h"
 #include <new>
 
-//-----------------------------------------------------------------------------
 
+
+//#define CONETWIST_USE_OBSOLETE_SOLVER true
 #define CONETWIST_USE_OBSOLETE_SOLVER false
 #define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
 
-//-----------------------------------------------------------------------------
+
 
 btConeTwistConstraint::btConeTwistConstraint()
 :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE),
@@ -63,13 +64,13 @@ void btConeTwistConstraint::init()
 	m_bMotorEnabled = false;
 	m_maxMotorImpulse = btScalar(-1);
 
-	setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
+	setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
 	m_damping = btScalar(0.01);
 	m_fixThresh = CONETWIST_DEF_FIX_THRESH;
 }
 
 
-//-----------------------------------------------------------------------------
+
 
 void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
 {
@@ -99,9 +100,9 @@ void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
 			info->nub--;
 		}
 	}
-} // btConeTwistConstraint::getInfo1()
+}
 	
-//-----------------------------------------------------------------------------
+
 
 void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
 {
@@ -230,7 +231,7 @@ void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
 	}
 }
 	
-//-----------------------------------------------------------------------------
+
 
 void	btConeTwistConstraint::buildJacobian()
 {
@@ -239,6 +240,7 @@ void	btConeTwistConstraint::buildJacobian()
 		m_appliedImpulse = btScalar(0.);
 		m_accTwistLimitImpulse = btScalar(0.);
 		m_accSwingLimitImpulse = btScalar(0.);
+		m_accMotorImpulse = btVector3(0.,0.,0.);
 
 		if (!m_angularOnly)
 		{
@@ -277,7 +279,7 @@ void	btConeTwistConstraint::buildJacobian()
 	}
 }
 
-//-----------------------------------------------------------------------------
+
 
 void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 {
@@ -406,10 +408,10 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 
 			}
 		}
-		else // no motor: do a little damping
+		else if (m_damping > SIMD_EPSILON) // no motor: do a little damping
 		{
-			const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
-			const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
+			btVector3 angVelA; bodyA.getAngularVelocity(angVelA);
+			btVector3 angVelB; bodyB.getAngularVelocity(angVelB);
 			btVector3 relVel = angVelB - angVelA;
 			if (relVel.length2() > SIMD_EPSILON)
 			{
@@ -490,7 +492,7 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
 {
@@ -498,7 +500,7 @@ void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btConeTwistConstraint::calcAngleInfo()
 {
@@ -584,12 +586,12 @@ void btConeTwistConstraint::calcAngleInfo()
 			m_twistAxis.normalize();
 		}
 	}
-} // btConeTwistConstraint::calcAngleInfo()
+}
 
 
 static btVector3 vTwist(1,0,0); // twist axis in constraint's space
 
-//-----------------------------------------------------------------------------
+
 
 void btConeTwistConstraint::calcAngleInfo2()
 {
@@ -597,13 +599,34 @@ void btConeTwistConstraint::calcAngleInfo2()
 	m_twistLimitSign = btScalar(0.);
 	m_solveTwistLimit = false;
 	m_solveSwingLimit = false;
+	// compute rotation of A wrt B (in constraint space)
+	if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
+	{	// it is assumed that setMotorTarget() was alredy called 
+		// and motor target m_qTarget is within constraint limits
+		// TODO : split rotation to pure swing and pure twist
+		// compute desired transforms in world
+		btTransform trPose(m_qTarget);
+		btTransform trA = getRigidBodyA().getCenterOfMassTransform() * m_rbAFrame;
+		btTransform trB = getRigidBodyB().getCenterOfMassTransform() * m_rbBFrame;
+		btTransform trDeltaAB = trB * trPose * trA.inverse();
+		btQuaternion qDeltaAB = trDeltaAB.getRotation();
+		btVector3 swingAxis = 	btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
+		m_swingAxis = swingAxis;
+		m_swingAxis.normalize();
+		m_swingCorrection = qDeltaAB.getAngle();
+		if(!btFuzzyZero(m_swingCorrection))
+		{
+			m_solveSwingLimit = true;
+		}
+		return;
+	}
+
 
 	{
 		// compute rotation of A wrt B (in constraint space)
 		btQuaternion qA = getRigidBodyA().getCenterOfMassTransform().getRotation() * m_rbAFrame.getRotation();
 		btQuaternion qB = getRigidBodyB().getCenterOfMassTransform().getRotation() * m_rbBFrame.getRotation();
 		btQuaternion qAB = qB.inverse() * qA;
-
 		// split rotation into cone and twist
 		// (all this is done from B's perspective. Maybe I should be averaging axes...)
 		btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
@@ -756,7 +779,7 @@ void btConeTwistConstraint::calcAngleInfo2()
 			m_twistAngle = btScalar(0.f);
 		}
 	}
-} // btConeTwistConstraint::calcAngleInfo2()
+}
 
 
 
@@ -982,8 +1005,5 @@ void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &
 }
 
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index 84ea9e04095..8a893d4fb8c 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -17,6 +17,22 @@ Written by: Marcus Hennix
 
 
 
+/*
+Overview:
+
+btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
+It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
+It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
+Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
+(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
+
+In the contraint's frame of reference:
+twist is along the x-axis,
+and swing 1 and 2 are along the z and y axes respectively.
+*/
+
+
+
 #ifndef CONETWISTCONSTRAINT_H
 #define CONETWISTCONSTRAINT_H
 
@@ -141,7 +157,18 @@ public:
 		};
 	}
 
-	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan,  btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	// setLimit(), a few notes:
+	// _softness:
+	//		0->1, recommend ~0.8->1.
+	//		describes % of limits where movement is free.
+	//		beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
+	// _biasFactor:
+	//		0->1?, recommend 0.3 +/-0.3 or so.
+	//		strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
+	// __relaxationFactor:
+	//		0->1, recommend to stay near 1.
+	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
+	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
 	{
 		m_swingSpan1 = _swingSpan1;
 		m_swingSpan2 = _swingSpan2;
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index e99430c00de..a11fc94ea11 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -77,7 +77,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_splitImpulsePenetrationThreshold = -0.02f;
 		m_linearSlop = btScalar(0.0);
 		m_warmstartingFactor=btScalar(0.85);
-		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_USE_2_FRICTION_DIRECTIONS |SOLVER_SIMD | SOLVER_RANDMIZE_ORDER;
 		m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
 	}
 };
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 6cbfe61f700..38e81688f02 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -22,11 +22,13 @@ http://gimpact.sf.net
 #include "btGeneric6DofConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btTransformUtil.h"
 #include <new>
 
 
+
 #define D6_USE_OBSOLETE_METHOD false
-//-----------------------------------------------------------------------------
+
 
 btGeneric6DofConstraint::btGeneric6DofConstraint()
 :btTypedConstraint(D6_CONSTRAINT_TYPE),
@@ -35,7 +37,7 @@ m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
 {
 }
 
-//-----------------------------------------------------------------------------
+
 
 btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
 : btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
@@ -46,12 +48,12 @@ m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
 {
 
 }
-//-----------------------------------------------------------------------------
+
 
 
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
-//-----------------------------------------------------------------------------
+
 
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
 btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
@@ -61,7 +63,7 @@ btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
 	return mat[i][j];
 }
 
-//-----------------------------------------------------------------------------
+
 
 ///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
 bool	matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
@@ -129,7 +131,7 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 btScalar btRotationalLimitMotor::solveAngularLimits(
 	btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
@@ -191,8 +193,8 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 
 
 	// sort with accumulated impulses
-	btScalar	lo = btScalar(-1e30);
-	btScalar	hi = btScalar(1e30);
+	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar	hi = btScalar(BT_LARGE_FLOAT);
 
 	btScalar oldaccumImpulse = m_accumulatedImpulse;
 	btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@@ -249,9 +251,9 @@ int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_valu
 	m_currentLimit[limitIndex] = 0;//Free from violation
 	m_currentLimitError[limitIndex] = btScalar(0.f);
 	return 0;
-} // btTranslationalLimitMotor::testLimitValue()
+}
+
 
-//-----------------------------------------------------------------------------
 
 btScalar btTranslationalLimitMotor::solveLinearAxis(
 	btScalar timeStep,
@@ -283,8 +285,8 @@ btScalar btTranslationalLimitMotor::solveLinearAxis(
 
 	//positional error (zeroth order error)
 	btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
-	btScalar	lo = btScalar(-1e30);
-	btScalar	hi = btScalar(1e30);
+	btScalar	lo = btScalar(-BT_LARGE_FLOAT);
+	btScalar	hi = btScalar(BT_LARGE_FLOAT);
 
 	btScalar minLimit = m_lowerLimit[limit_index];
 	btScalar maxLimit = m_upperLimit[limit_index];
@@ -372,7 +374,7 @@ void btGeneric6DofConstraint::calculateAngleInfo()
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::calculateTransforms()
 {
@@ -382,7 +384,7 @@ void btGeneric6DofConstraint::calculateTransforms()
 	calculateAngleInfo();
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::buildLinearJacobian(
 	btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -400,7 +402,7 @@ void btGeneric6DofConstraint::buildLinearJacobian(
         m_rbB.getInvMass());
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::buildAngularJacobian(
 	btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
@@ -413,17 +415,18 @@ void btGeneric6DofConstraint::buildAngularJacobian(
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
 {
 	btScalar angle = m_calculatedAxisAngleDiff[axis_index];
+	m_angularLimits[axis_index].m_currentPosition = angle;
 	//test limits
 	m_angularLimits[axis_index].testLimitValue(angle);
 	return m_angularLimits[axis_index].needApplyTorques();
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::buildJacobian()
 {
@@ -483,7 +486,7 @@ void btGeneric6DofConstraint::buildJacobian()
 	}
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
 {
@@ -519,7 +522,7 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
 	}
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
 {
@@ -528,7 +531,7 @@ void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
 	setAngularLimits(info, row);
 }
 
-//-----------------------------------------------------------------------------
+
 
 int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
 {
@@ -542,6 +545,7 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
 		{ // re-use rotational motor code
 			limot.m_bounce = btScalar(0.f);
 			limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+			limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
 			limot.m_currentLimitError  = m_linearLimits.m_currentLimitError[i];
 			limot.m_damping  = m_linearLimits.m_damping;
 			limot.m_enableMotor  = m_linearLimits.m_enableMotor[i];
@@ -559,7 +563,7 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
 	return row;
 }
 
-//-----------------------------------------------------------------------------
+
 
 int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset)
 {
@@ -582,7 +586,7 @@ int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_o
 	return row;
 }
 
-//-----------------------------------------------------------------------------
+
 
 void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 {
@@ -643,7 +647,7 @@ void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolv
 	}
 }
 
-//-----------------------------------------------------------------------------
+
 
 void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
 {
@@ -651,21 +655,26 @@ void	btGeneric6DofConstraint::updateRHS(btScalar	timeStep)
 
 }
 
-//-----------------------------------------------------------------------------
+
 
 btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
 {
 	return m_calculatedAxis[axis_index];
 }
 
-//-----------------------------------------------------------------------------
 
-btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
+btScalar	btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
 {
-	return m_calculatedAxisAngleDiff[axis_index];
+	return m_calculatedLinearDiff[axisIndex];
 }
 
-//-----------------------------------------------------------------------------
+
+btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
+{
+	return m_calculatedAxisAngleDiff[axisIndex];
+}
+
+
 
 void btGeneric6DofConstraint::calcAnchorPos(void)
 {
@@ -684,9 +693,9 @@ void btGeneric6DofConstraint::calcAnchorPos(void)
 	const btVector3& pB = m_calculatedTransformB.getOrigin();
 	m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
 	return;
-} // btGeneric6DofConstraint::calcAnchorPos()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btGeneric6DofConstraint::calculateLinearInfo()
 {
@@ -694,11 +703,12 @@ void btGeneric6DofConstraint::calculateLinearInfo()
 	m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
 	for(int i = 0; i < 3; i++)
 	{
+		m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
 		m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
 	}
-} // btGeneric6DofConstraint::calculateLinearInfo()
+}
+
 
-//-----------------------------------------------------------------------------
 
 int btGeneric6DofConstraint::get_limit_motor_info2(
 	btRotationalLimitMotor * limot,
@@ -721,7 +731,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
             J2[srow+1] = -ax1[1];
             J2[srow+2] = -ax1[2];
         }
-        if((!rotational) && limit)
+        if((!rotational))
         {
 			btVector3 ltd;	// Linear Torque Decoupling vector
 			btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
@@ -745,7 +755,14 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
             info->cfm[srow] = 0.0f;
             if(!limit)
             {
-                info->m_constraintError[srow] += limot->m_targetVelocity;
+				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
+
+				btScalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
+													limot->m_loLimit,
+													limot->m_hiLimit, 
+													tag_vel, 
+													info->fps * info->erp);
+				info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
                 info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
                 info->m_upperLimit[srow] = limot->m_maxMotorForce;
             }
@@ -824,6 +841,131 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
     else return 0;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
+
+
+
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
+	: btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
+{
+	for(int i = 0; i < 6; i++)
+	{
+		m_springEnabled[i] = false;
+		m_equilibriumPoint[i] = btScalar(0.f);
+		m_springStiffness[i] = btScalar(0.f);
+		m_springDamping[i] = btScalar(1.f);
+	}
+}
+
+
+void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springEnabled[index] = onOff;
+	if(index < 3)
+	{
+		m_linearLimits.m_enableMotor[index] = onOff;
+	}
+	else
+	{
+		m_angularLimits[index - 3].m_enableMotor = onOff;
+	}
+}
+
+
+
+void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springStiffness[index] = stiffness;
+}
+
+
+void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_springDamping[index] = damping;
+}
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint()
+{
+	calculateTransforms();
+	for(int i = 0; i < 3; i++)
+	{
+		m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
+	}
+	for(int i = 0; i < 3; i++)
+	{
+		m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
+	}
+}
+
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
+{
+	btAssert((index >= 0) && (index < 6));
+	calculateTransforms();
+	if(index < 3)
+	{
+		m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
+	}
+	else
+	{
+		m_equilibriumPoint[index + 3] = m_calculatedAxisAngleDiff[index];
+	}
+}
+
+
+
+void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
+{
+	calculateTransforms();
+	// it is assumed that calculateTransforms() have been called before this call
+	int i;
+	btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
+	for(i = 0; i < 3; i++)
+	{
+		if(m_springEnabled[i])
+		{
+			// get current position of constraint
+			btScalar currPos = m_calculatedLinearDiff[i];
+			// calculate difference
+			btScalar delta = currPos - m_equilibriumPoint[i];
+			// spring force is (delta * m_stiffness) according to Hooke's Law
+			btScalar force = delta * m_springStiffness[i];
+			btScalar velFactor = info->fps * m_springDamping[i];
+			m_linearLimits.m_targetVelocity[i] =  velFactor * force;
+			m_linearLimits.m_maxMotorForce[i] =  btFabs(force) / info->fps;
+		}
+	}
+	for(i = 0; i < 3; i++)
+	{
+		if(m_springEnabled[i + 3])
+		{
+			// get current position of constraint
+			btScalar currPos = m_calculatedAxisAngleDiff[i];
+			// calculate difference
+			btScalar delta = currPos - m_equilibriumPoint[i+3];
+			// spring force is (-delta * m_stiffness) according to Hooke's Law
+			btScalar force = -delta * m_springStiffness[i+3];
+			btScalar velFactor = info->fps * m_springDamping[i+3];
+			m_angularLimits[i].m_targetVelocity = velFactor * force;
+			m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
+		}
+	}
+}
+
+
+void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
+{
+	// this will be called by constraint solver at the constraint setup stage
+	// set current motor parameters
+	internalUpdateSprings(info);
+	// do the rest of job for constraint setup
+	btGeneric6DofConstraint::getInfo2(info);
+}
+
+
+
+
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index 0ae161d5bdf..8082eb1f132 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -54,6 +54,7 @@ public:
     //! temp_variables
     //!@{
     btScalar m_currentLimitError;//!  How much is violated this limit
+    btScalar m_currentPosition;     //!  current value of angle 
     int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
     btScalar m_accumulatedImpulse;
     //!@}
@@ -134,6 +135,7 @@ public:
     btVector3	m_targetVelocity;//!< target motor velocity
     btVector3	m_maxMotorForce;//!< max force on motor
     btVector3	m_currentLimitError;//!  How much is violated this limit
+    btVector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
     int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     btTranslationalLimitMotor()
@@ -380,14 +382,21 @@ public:
 
     //! Get the relative Euler angle
     /*!
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     btScalar getAngle(int axis_index) const;
 
+	//! Get the relative position of the constraint pivot
+    /*!
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+	btScalar getRelativePivotPosition(int axis_index) const;
+
+
 	//! Test angular limit.
 	/*!
 	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     bool testAngularLimitMotor(int axis_index);
 
@@ -477,4 +486,34 @@ public:
 
 };
 
+
+/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
+
+/// DOF index used in enableSpring() and setStiffness() means:
+/// 0 : translation X
+/// 1 : translation Y
+/// 2 : translation Z
+/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
+/// 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
+{
+protected:
+	bool		m_springEnabled[6];
+	btScalar	m_equilibriumPoint[6];
+	btScalar	m_springStiffness[6];
+	btScalar	m_springDamping[6]; // between 0 and 1 (1 == no damping)
+	void internalUpdateSprings(btConstraintInfo2* info);
+public: 
+    btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+	void enableSpring(int index, bool onOff);
+	void setStiffness(int index, btScalar stiffness);
+	void setDamping(int index, btScalar damping);
+	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
+	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
+	virtual void getInfo2 (btConstraintInfo2* info);
+};
+
+
 #endif //GENERIC_6DOF_CONSTRAINT_H
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 685a812d427..dbd09b39238 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -490,7 +490,7 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 
 
 				///warm starting (or zero if disabled)
-				if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+				if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
 				{
 					solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
 					if (rb0)
@@ -539,9 +539,6 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 						if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 						{
 							cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -550,21 +547,26 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								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,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							cp.m_lateralFrictionInitialized = true;
 						} else
 						{
 							//re-calculate friction direction every frame, todo: check if this is really needed
 							btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								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,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
 							cp.m_lateralFrictionInitialized = true;
 						}
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index 50d06960379..133aed7271b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -18,14 +18,14 @@ Added by Roman Ponomarev (rponom@gmail.com)
 April 04, 2008
 */
 
-//-----------------------------------------------------------------------------
+
 
 #include "btSliderConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
 #include <new>
 
-//-----------------------------------------------------------------------------
+
 
 void btSliderConstraint::initParams()
 {
@@ -62,9 +62,9 @@ void btSliderConstraint::initParams()
     m_maxAngMotorForce = btScalar(0.);
 	m_accumulatedAngMotorImpulse = btScalar(0.0);
 
-} // btSliderConstraint::initParams()
+}
+
 
-//-----------------------------------------------------------------------------
 
 btSliderConstraint::btSliderConstraint()
         :btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
@@ -73,9 +73,9 @@ btSliderConstraint::btSliderConstraint()
 //		m_useSolveConstraintObsolete(true)
 {
 	initParams();
-} // btSliderConstraint::btSliderConstraint()
+}
+
 
-//-----------------------------------------------------------------------------
 
 btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
         : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
@@ -86,9 +86,25 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
 //		m_useSolveConstraintObsolete(true)
 {
 	initParams();
-} // btSliderConstraint::btSliderConstraint()
+}
+
+
+static btRigidBody s_fixed(0, 0, 0);
+btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+        : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB)
+        ,
+        m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameB),
+		m_useSolveConstraintObsolete(false)
+//		m_useSolveConstraintObsolete(true)
+{
+	///not providing rigidbody B means implicitly using worldspace for body B
+//	m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
+
+	initParams();
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::buildJacobian()
 {
@@ -104,9 +120,9 @@ void btSliderConstraint::buildJacobian()
 	{
 		buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
 	}
-} // btSliderConstraint::buildJacobian()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
 {
@@ -159,9 +175,9 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co
 	// clear accumulator for motors
 	m_accumulatedLinMotorImpulse = btScalar(0.0);
 	m_accumulatedAngMotorImpulse = btScalar(0.0);
-} // btSliderConstraint::buildJacobianInt()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::getInfo1(btConstraintInfo1* info)
 {
@@ -189,9 +205,9 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info)
 			info->nub--; 
 		}
 	}
-} // btSliderConstraint::getInfo1()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::getInfo2(btConstraintInfo2* info)
 {
@@ -499,9 +515,9 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info)
 			info->m_constraintError[srow] *= getSoftnessLimAng();
 		} // if(limit)
 	} // if angular limit or powered
-} // btSliderConstraint::getInfo2()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
 {
@@ -517,9 +533,9 @@ void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBod
 			solveConstraintInt(m_rbB,bodyB, m_rbA,bodyA);
 		}
 	}
-} // btSliderConstraint::solveConstraint()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB)
 {
@@ -703,11 +719,11 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& body
 			bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse);
 		}
 	}
-} // btSliderConstraint::solveConstraint()
+}
+
+
 
-//-----------------------------------------------------------------------------
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::calculateTransforms(void){
 	if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
@@ -740,9 +756,9 @@ void btSliderConstraint::calculateTransforms(void){
 		normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
 		m_depth[i] = m_delta.dot(normalWorld);
     }
-} // btSliderConstraint::calculateTransforms()
+}
  
-//-----------------------------------------------------------------------------
+
 
 void btSliderConstraint::testLinLimits(void)
 {
@@ -769,9 +785,9 @@ void btSliderConstraint::testLinLimits(void)
 	{
 		m_depth[0] = btScalar(0.);
 	}
-} // btSliderConstraint::testLinLimits()
+}
+
 
-//-----------------------------------------------------------------------------
 
 void btSliderConstraint::testAngLimits(void)
 {
@@ -795,9 +811,9 @@ void btSliderConstraint::testAngLimits(void)
 			m_solveAngLim = true;
 		}
 	}
-} // btSliderConstraint::testAngLimits()
+}
 	
-//-----------------------------------------------------------------------------
+
 
 btVector3 btSliderConstraint::getAncorInA(void)
 {
@@ -805,13 +821,13 @@ btVector3 btSliderConstraint::getAncorInA(void)
 	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
 	ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
 	return ancorInA;
-} // btSliderConstraint::getAncorInA()
+}
+
 
-//-----------------------------------------------------------------------------
 
 btVector3 btSliderConstraint::getAncorInB(void)
 {
 	btVector3 ancorInB;
 	ancorInB = m_frameInB.getOrigin();
 	return ancorInB;
-} // btSliderConstraint::getAncorInB();
+}
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 70fbce5d9b2..01cef59ed31 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -25,23 +25,23 @@ TODO:
 #ifndef SLIDER_CONSTRAINT_H
 #define SLIDER_CONSTRAINT_H
 
-//-----------------------------------------------------------------------------
+
 
 #include "LinearMath/btVector3.h"
 #include "btJacobianEntry.h"
 #include "btTypedConstraint.h"
 
-//-----------------------------------------------------------------------------
+
 
 class btRigidBody;
 
-//-----------------------------------------------------------------------------
+
 
 #define SLIDER_CONSTRAINT_DEF_SOFTNESS		(btScalar(1.0))
 #define SLIDER_CONSTRAINT_DEF_DAMPING		(btScalar(1.0))
 #define SLIDER_CONSTRAINT_DEF_RESTITUTION	(btScalar(0.7))
 
-//-----------------------------------------------------------------------------
+
 
 class btSliderConstraint : public btTypedConstraint
 {
@@ -126,6 +126,7 @@ protected:
 public:
 	// constructors
     btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
     btSliderConstraint();
 	// overrides
     virtual void	buildJacobian();
@@ -223,7 +224,7 @@ public:
 	btVector3 getAncorInB(void);
 };
 
-//-----------------------------------------------------------------------------
+
 
 #endif //SLIDER_CONSTRAINT_H
 
diff --git a/extern/bullet2/src/CMakeLists.txt b/extern/bullet2/src/CMakeLists.txt
index 043fd3f6e7f..9b8a5a7e00e 100644
--- a/extern/bullet2/src/CMakeLists.txt
+++ b/extern/bullet2/src/CMakeLists.txt
@@ -1 +1,4 @@
-SUBDIRS( BulletCollision BulletDynamics LinearMath BulletSoftBody )
+ADD_SUBDIRECTORY(BulletCollision)
+ADD_SUBDIRECTORY(BulletDynamics)
+ADD_SUBDIRECTORY(LinearMath)
+ADD_SUBDIRECTORY(BulletSoftBody )
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index 822296164c1..08b2dee8af3 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -168,8 +168,12 @@ inline int	btGetVersion()
 ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
 #if defined(BT_USE_DOUBLE_PRECISION)
 typedef double btScalar;
+//this number could be bigger in double precision
+#define BT_LARGE_FLOAT 1e30
 #else
 typedef float btScalar;
+//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
+#define BT_LARGE_FLOAT 1e18f
 #endif
 
 
diff --git a/extern/libopenjpeg/jp2.c b/extern/libopenjpeg/jp2.c
index 14f9493c401..b2831cfb0b5 100644
--- a/extern/libopenjpeg/jp2.c
+++ b/extern/libopenjpeg/jp2.c
@@ -561,6 +561,7 @@ opj_image_t* jp2_decode(opj_jp2_t *jp2, opj_cio_t *cio, opj_codestream_info_t *c
 	image = j2k_decode(jp2->j2k, cio, cstr_info);
 	if(!image) {
 		opj_event_msg(cinfo, EVT_ERROR, "Failed to decode J2K image\n");
+		return NULL;
 	}
 
 	/* Set Image Color Space */