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diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONTACT_CONSTRAINT_H
+#define CONTACT_CONSTRAINT_H
+
+//todo: make into a proper class working with the iterative constraint solver
+
+class btRigidBody;
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btScalar.h"
+struct btContactSolverInfo;
+class btManifoldPoint;
+
+enum {
+	DEFAULT_CONTACT_SOLVER_TYPE=0,
+	CONTACT_SOLVER_TYPE1,
+	CONTACT_SOLVER_TYPE2,
+	USER_CONTACT_SOLVER_TYPE1,
+	MAX_CONTACT_SOLVER_TYPES
+};
+
+
+typedef float (*ContactSolverFunc)(btRigidBody& body1,
+									 btRigidBody& body2,
+									 class btManifoldPoint& contactPoint,
+									 const btContactSolverInfo& info);
+
+///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
+struct btConstraintPersistentData
+{
+	inline btConstraintPersistentData()
+	:m_appliedImpulse(0.f),
+	m_prevAppliedImpulse(0.f),
+	m_accumulatedTangentImpulse0(0.f),
+	m_accumulatedTangentImpulse1(0.f),
+	m_jacDiagABInv(0.f),
+	m_persistentLifeTime(0),
+	m_restitution(0.f),
+	m_friction(0.f),
+	m_penetration(0.f),
+	m_contactSolverFunc(0),
+	m_frictionSolverFunc(0)
+	{
+	}
+	
+					
+				/// total applied impulse during most recent frame
+			float	m_appliedImpulse;
+			float	m_prevAppliedImpulse;
+			float	m_accumulatedTangentImpulse0;
+			float	m_accumulatedTangentImpulse1;
+			
+			float	m_jacDiagABInv;
+			float	m_jacDiagABInvTangent0;
+			float	m_jacDiagABInvTangent1;
+			int		m_persistentLifeTime;
+			float	m_restitution;
+			float	m_friction;
+			float	m_penetration;
+			btVector3	m_frictionWorldTangential0;
+			btVector3	m_frictionWorldTangential1;
+		
+			ContactSolverFunc	m_contactSolverFunc;
+			ContactSolverFunc	m_frictionSolverFunc;
+
+};
+
+///bilateral constraint between two dynamic objects
+///positive distance = separation, negative distance = penetration
+void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
+                      btRigidBody& body2, const btVector3& pos2,
+                      btScalar distance, const btVector3& normal,btScalar& impulse ,float timeStep);
+
+
+///contact constraint resolution:
+///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+///positive distance = separation, negative distance = penetration
+float resolveSingleCollision(
+	btRigidBody& body1,
+	btRigidBody& body2,
+		btManifoldPoint& contactPoint,
+		 const btContactSolverInfo& info);
+
+float resolveSingleFriction(
+	btRigidBody& body1,
+	btRigidBody& body2,
+	btManifoldPoint& contactPoint,
+	const btContactSolverInfo& solverInfo
+		);
+
+#endif //CONTACT_CONSTRAINT_H