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diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
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+++ b/extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h
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+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef SOLVE_2LINEAR_CONSTRAINT_H
+#define SOLVE_2LINEAR_CONSTRAINT_H
+
+#include "SimdMatrix3x3.h"
+#include "SimdVector3.h"
+
+
+class RigidBody;
+
+
+
+/// constraint class used for lateral tyre friction.
+class	Solve2LinearConstraint
+{
+	SimdScalar	m_tau;
+	SimdScalar	m_damping;
+
+public:
+
+	Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
+	{
+		m_tau = tau;
+		m_damping = damping;
+	}
+	//
+	// solve unilateral constraint (equality, direct method)
+	//
+	void resolveUnilateralPairConstraint(		
+														   RigidBody* body0,
+		RigidBody* body1,
+
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	//
+	// solving 2x2 lcp problem (inequality, direct solution )
+	//
+	void resolveBilateralPairConstraint(
+			RigidBody* body0,
+						RigidBody* body1,
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	void resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdMatrix3x3& invInertiaBWS,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+};
+
+#endif //SOLVE_2LINEAR_CONSTRAINT_H