Merge branch 'master' of https://github.com/erwincoumans/bullet3

data/cube.urdf

@@ -1,5 +1,5 @@
 <?xml version="0.0" ?>
-<robot name="cube.urdf">
+<robot name="cube">
   <link name="baseLink">
     <contact>
       <lateral_friction value="1.0"/>

data/plane.urdf

@@ -1,5 +1,5 @@
 <?xml version="0.0" ?>
-<robot name="cube.urdf">
+<robot name="plane">
   <link name="planeLink">
   <contact>
       <lateral_friction value="1"/>

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -871,6 +871,16 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	
 	int width = 1024;
     int height=768;
+
+	if (args.CheckCmdLineFlag("width"))
+	{
+		args.GetCmdLineArgument("width",width );
+	}
+	if (args.CheckCmdLineFlag("height"))
+	{
+		args.GetCmdLineArgument("height",height);
+	}
+
 #ifndef NO_OPENGL3
     SimpleOpenGL3App* simpleApp=0;
 	sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -1026,6 +1026,11 @@ struct BulletMJCFImporterInternalData
 			{
 				handled = true;
 			}
+			if (n=="site")
+			{
+				handled = true;
+			}
+
 			if (!handled)
 			{
 				logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );
@@ -1323,6 +1328,11 @@ int BulletMJCFImporter::getRootLinkIndex() const
 	return "";
  }
 
+std::string BulletMJCFImporter::getBodyName() const
+{
+	return m_data->m_fileModelName;
+}
+
 bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 {
 //	UrdfLink* link = m_data->getLink(linkIndex);

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -41,6 +41,8 @@ public:
     
     ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
     virtual std::string getLinkName(int linkIndex) const;
+    
+	virtual std::string getBodyName() const;
 
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -269,6 +269,11 @@ std::string BulletURDFImporter::getLinkName(int linkIndex) const
 	}
 	return "";
 }
+
+std::string BulletURDFImporter::getBodyName() const
+{
+	return m_data->m_urdfParser.getModel().m_name;
+}
     
 std::string BulletURDFImporter::getJointName(int linkIndex) const
 {
@@ -956,9 +961,15 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
 			}
 			break;
 		}
-
+		case URDF_GEOM_PLANE:
+		{
+			b3Warning("No default visual for URDF_GEOM_PLANE");
+			break;
+		}
 		default:
+		{
 			b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
+		}
 	}
 
 	//if we have a convex, tesselate into localVertices/localIndices

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -34,6 +34,8 @@ public:
 	virtual int getRootLinkIndex() const;
     
     virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
+    
+	virtual std::string getBodyName() const;
 
     virtual std::string getLinkName(int linkIndex) const;
 

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -15,7 +15,6 @@ public:
 
 	virtual ~URDFImporterInterface() {}
 	
- 
     virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)=0;
 
     virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false;}
@@ -27,6 +26,13 @@ public:
     
     ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
     virtual std::string getLinkName(int linkIndex) const =0;
+
+	//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
+	virtual std::string getBodyName() const
+	{
+		return "";
+	}
+    
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
 

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -552,7 +552,6 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
     return 0;
 }
 
-
 b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -20,6 +20,7 @@ struct BodyJointInfoCache
 {
 	std::string m_baseName;
 	btAlignedObjectArray<b3JointInfo> m_jointInfo;
+	std::string m_bodyName;
 };
 
 struct PhysicsClientSharedMemoryInternalData {
@@ -106,6 +107,7 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
 	{
 		BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
 		info.m_baseName = bodyJoints->m_baseName.c_str();
+		info.m_bodyName = bodyJoints->m_bodyName.c_str();
 		return true;
 	}
 
@@ -306,6 +308,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
     
     BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
     m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
+	bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
     
     for (int i = 0; i < bf.m_multiBodies.size(); i++)
     {
@@ -418,6 +421,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
 					BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
                     m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
+					bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
 
                     for (int i = 0; i < bf.m_multiBodies.size(); i++) {
 

examples/SharedMemory/PhysicsDirect.cpp

@@ -17,6 +17,7 @@ struct BodyJointInfoCache2
 {
 	std::string m_baseName;
 	btAlignedObjectArray<b3JointInfo> m_jointInfo;
+	std::string m_bodyName;
 };
 
 
@@ -605,6 +606,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
 	
     BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
     m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
+	bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
 
     for (int i = 0; i < bf.m_multiBodies.size(); i++) 
     {
@@ -931,6 +933,7 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
 	{
 		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
 		info.m_baseName = bodyJoints->m_baseName.c_str();
+		info.m_bodyName = bodyJoints->m_bodyName.c_str();
 		return true;
 	}
 	

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -120,6 +120,7 @@ struct InteralBodyData
 	btMultiBody* m_multiBody;
 	btRigidBody* m_rigidBody;
 	int m_testData;
+	std::string m_bodyName;
 
 	btTransform m_rootLocalInertialFrame;
 	btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
@@ -1579,6 +1580,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
         {
             btScalar mass = 0;
             bodyHandle->m_rootLocalInertialFrame.setIdentity();
+			bodyHandle->m_bodyName = u2b.getBodyName();
             btVector3 localInertiaDiagonal(0,0,0);
             int urdfLinkIndex = u2b.getRootLinkIndex();
             u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
@@ -1796,6 +1798,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
         btMultiBody* mb = creation.getBulletMultiBody();
         btRigidBody* rb = creation.getRigidBody();
+		
+		bodyHandle->m_bodyName = u2b.getBodyName();
 
 		if (useMultiBody)
 		{
@@ -2525,7 +2529,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                         serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
                         serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
-                        serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
+                        serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
+						
+						InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
+						if (bodyHandle)
+						{
+							strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
+						}
+
+						serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
 						
                         hasStatus = true;
                         break;
@@ -2852,6 +2864,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
 						}
 						serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
+						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 						hasStatus = true;
 
                     } else
@@ -5217,8 +5231,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 						break;        
 					}
-		
-
                 default:
                 {
 					BT_PROFILE("CMD_UNKNOWN");

examples/SharedMemory/SharedMemoryCommands.h

@@ -103,6 +103,7 @@ struct BulletDataStreamArgs
 {
 	char m_bulletFileName[MAX_FILENAME_LENGTH];
 	int m_bodyUniqueId;
+	char m_bodyName[MAX_FILENAME_LENGTH];
 };
 
 struct SetJointFeedbackArgs
@@ -364,9 +365,6 @@ struct RequestActualStateArgs
 	int m_bodyUniqueId;
 };
 
-
-
-
 struct SendActualStateArgs
 {
 	int m_bodyUniqueId;

examples/SharedMemory/SharedMemoryPublic.h

@@ -201,6 +201,7 @@ struct b3UserConstraint
 struct b3BodyInfo
 {
 	const char* m_baseName;
+	const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
 };
 
 

examples/pybullet/examples/kuka_with_cube.py

@@ -48,6 +48,9 @@ p.setRealTimeSimulation(useRealTimeSimulation)
 trailDuration = 15
 
 logId = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
+
+for i in xrange(5):
+    print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])
 	
 while 1:
 	if (useRealTimeSimulation):

examples/pybullet/pybullet.c

@@ -221,6 +221,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 	int freeIndex = -1;
 	int method = eCONNECT_GUI;
 	int i;
+	char* options="";
 	b3PhysicsClientHandle sm = 0;
 
 	if (sNumPhysicsClients >= MAX_PHYSICS_CLIENTS)
@@ -237,15 +238,24 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 
 		const char* hostName = "localhost";
 
-		int size = PySequence_Size(args);
+
-		if (size == 1)
+		static char* kwlist1[] = {"method","key", "options", NULL};
+		static char* kwlist2[] = {"method","hostName", "port", "options", NULL};
+		
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method,&key,&options))
 		{
-			if (!PyArg_ParseTuple(args, "i", &method))
+			int port = -1;
+			if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sis", kwlist2, &method,&hostName, &port,&options))
 			{
-				PyErr_SetString(SpamError,
-								"connectPhysicsServer expected argument  GUI, "
-								"DIRECT, SHARED_MEMORY, UDP or TCP");
 				return NULL;
+			} else
+			{
+				PyErr_Clear();
+				if (port>=0)
+				{
+					udpPort = port;
+					tcpPort = port;
+				}
 			}
 		}
 
@@ -264,45 +274,12 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			}
 		}
 
-		if (size == 2)
-		{
-			if (!PyArg_ParseTuple(args, "ii", &method, &key))
-			{
-				if (!PyArg_ParseTuple(args, "is", &method, &hostName))
-				{
-					PyErr_SetString(SpamError,
-									"connectPhysicsServer cannot parse second argument (either integer or string)");
-					return NULL;
-				}
-				else
-				{
-					PyErr_Clear();
-				}
-			}
-		}
-
-		if (size == 3)
-		{
-			int port = -1;
-			if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
-			{
-				PyErr_SetString(SpamError,
-								"connectPhysicsServer 3 arguments: method, hostname, port");
-				return NULL;
-			}
-			if (port >= 0)
-			{
-				udpPort = port;
-				tcpPort = port;
-			}
-		}
-
 		switch (method)
 		{
 			case eCONNECT_GUI:
 			{
-				int argc = 0;
+				int argc = 2;
-				char* argv[1] = {0};
+				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
 				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
@@ -1714,8 +1691,9 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
 			struct b3BodyInfo info;
 			if (b3GetBodyInfo(sm, bodyUniqueId, &info))
 			{
-				PyObject* pyListJointInfo = PyTuple_New(1);
+				PyObject* pyListJointInfo = PyTuple_New(2);
 				PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName));
+				PyTuple_SetItem(pyListJointInfo, 1, PyString_FromString(info.m_bodyName));
 				return pyListJointInfo;
 			}
 		}
@@ -5161,7 +5139,7 @@ static PyMethodDef SpamMethods[] = {
 
 	{"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS,
 	 "Get the state (position, velocity etc) for a joint on a body."},
-
+	
 	{"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS,
 	 "Provides extra information such as the Cartesian world coordinates"
 	 " center of mass (COM) of the link, relative to the world reference"

src/Bullet3OpenCL/RigidBody/b3GpuJacobiContactSolver.cpp

@@ -562,7 +562,7 @@ void b3GpuJacobiContactSolver::solveGroupHost(b3RigidBodyData* bodies,b3InertiaD
 	b3AlignedObjectArray<b3Vector3> deltaAngularVelocities;
 	deltaLinearVelocities.resize(totalNumSplitBodies);
 	deltaAngularVelocities.resize(totalNumSplitBodies);
-	for (int i=0;i<totalNumSplitBodies;i++)
+	for (unsigned int i=0;i<totalNumSplitBodies;i++)
 	{
 		deltaLinearVelocities[i].setZero();
 		deltaAngularVelocities[i].setZero();

src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h

@@ -41,6 +41,10 @@ struct	btBroadphaseRayCallback : public btBroadphaseAabbCallback
 	btScalar		m_lambda_max;
 
 	virtual ~btBroadphaseRayCallback() {}
+	
+protected:
+    
+    btBroadphaseRayCallback() {}
 };
 
 #include "LinearMath/btVector3.h"

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp

@@ -15,3 +15,4 @@ subject to the following restrictions:
 
 #include "btBroadphaseProxy.h"
 
+BT_NOT_EMPTY_FILE // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library

src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h

@@ -23,6 +23,9 @@ struct  btBroadphasePair;
 ///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
 class btOverlappingPairCallback
 {
+protected:
+    btOverlappingPairCallback() {}
+    
 public:
 	virtual ~btOverlappingPairCallback()
 	{

src/BulletCollision/CMakeLists.txt

@@ -102,6 +102,7 @@ SET(Root_HDRS
 	../btBulletCollisionCommon.h
 )
 SET(BroadphaseCollision_HDRS
+    BroadphaseCollision/btAxisSweep3Internal.h
 	BroadphaseCollision/btAxisSweep3.h
 	BroadphaseCollision/btBroadphaseInterface.h
 	BroadphaseCollision/btBroadphaseProxy.h
@@ -189,12 +190,15 @@ SET(CollisionShapes_HDRS
 SET(Gimpact_HDRS
 	Gimpact/btBoxCollision.h
 	Gimpact/btClipPolygon.h
+	Gimpact/btContactProcessingStructs.h
 	Gimpact/btContactProcessing.h
 	Gimpact/btGenericPoolAllocator.h
 	Gimpact/btGeometryOperations.h
+	Gimpact/btGImpactBvhStructs.h
 	Gimpact/btGImpactBvh.h
 	Gimpact/btGImpactCollisionAlgorithm.h
 	Gimpact/btGImpactMassUtil.h
+	Gimpact/btGImpactQuantizedBvhStructs.h
 	Gimpact/btGImpactQuantizedBvh.h
 	Gimpact/btGImpactShape.h
 	Gimpact/btQuantization.h

src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h

@@ -24,12 +24,13 @@ class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
 //	btCollisionObject* m_colObj0;
 //	btCollisionObject* m_colObj1;
 
-public:
+protected:
 
 	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
 
 	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
+public:
 	virtual ~btActivatingCollisionAlgorithm();
 
 };

src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h

@@ -33,8 +33,6 @@ class btDispatcher;
 class btCollisionObject;
 
 class btCollisionShape;
-typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
-extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
 
 /// btCompoundCompoundCollisionAlgorithm  supports collision between two btCompoundCollisionShape shapes
 class btCompoundCompoundCollisionAlgorithm  : public btCompoundCollisionAlgorithm

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -111,6 +111,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 		return;
 
 	bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+	bool isNewCollision = m_manifoldPtr->getNumContacts() == 0;
 
 	btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
 
@@ -193,5 +194,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 		(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
 	}
 
+	if (gContactStartedCallback && isNewCollision)
+	{
+		gContactStartedCallback(m_manifoldPtr);
+	}
 }
 

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -93,10 +93,12 @@ protected:
 		aabbMax = m_localAabbMax;
 	}
 
-public:
+protected:
 
 	btPolyhedralConvexAabbCachingShape();
 	
+public:
+	
 	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
 	{
 

src/BulletCollision/Gimpact/btContactProcessing.h

@@ -27,86 +27,7 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btTriangleShapeEx.h"
-
+#include "btContactProcessingStructs.h"
-
-
-/**
-Configuration var for applying interpolation of  contact normals
-*/
-#define NORMAL_CONTACT_AVERAGE 1
-
-#define CONTACT_DIFF_EPSILON 0.00001f
-
-///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
-///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
-class GIM_CONTACT
-{
-public:
-    btVector3 m_point;
-    btVector3 m_normal;
-    btScalar m_depth;//Positive value indicates interpenetration
-    btScalar m_distance;//Padding not for use
-    int m_feature1;//Face number
-    int m_feature2;//Face number
-public:
-    GIM_CONTACT()
-    {
-    }
-
-    GIM_CONTACT(const GIM_CONTACT & contact):
-				m_point(contact.m_point),
-				m_normal(contact.m_normal),
-				m_depth(contact.m_depth),
-				m_feature1(contact.m_feature1),
-				m_feature2(contact.m_feature2)
-    {
-    }
-
-    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
-    	 			btScalar depth, int feature1, int feature2):
-				m_point(point),
-				m_normal(normal),
-				m_depth(depth),
-				m_feature1(feature1),
-				m_feature2(feature2)
-    {
-    }
-
-	//! Calcs key for coord classification
-    SIMD_FORCE_INLINE unsigned int calc_key_contact() const
-    {
-    	int _coords[] = {
-    		(int)(m_point[0]*1000.0f+1.0f),
-    		(int)(m_point[1]*1333.0f),
-    		(int)(m_point[2]*2133.0f+3.0f)};
-		unsigned int _hash=0;
-		unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
-		_hash = *_uitmp;
-		_uitmp++;
-		_hash += (*_uitmp)<<4;
-		_uitmp++;
-		_hash += (*_uitmp)<<8;
-		return _hash;
-    }
-
-    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
-    {
-    	btVector3 vec_sum(m_normal);
-		for(int i=0;i<normal_count;i++)
-		{
-			vec_sum += normals[i];
-		}
-
-		btScalar vec_sum_len = vec_sum.length2();
-		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
-
-		//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
-
-		m_normal = vec_sum/btSqrt(vec_sum_len);
-    }
-
-};
-
 
 class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
 {
@@ -141,5 +62,4 @@ public:
 	void merge_contacts_unique(const btContactArray & contacts);
 };
 
-
 #endif // GIM_CONTACT_H_INCLUDED

src/BulletCollision/Gimpact/btContactProcessingStructs.h

@@ -0,0 +1,109 @@
+#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
+#define BT_CONTACT_H_STRUCTS_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Leon Najera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+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.
+*/
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btTriangleShapeEx.h"
+
+
+/**
+Configuration var for applying interpolation of  contact normals
+*/
+#define NORMAL_CONTACT_AVERAGE 1
+
+#define CONTACT_DIFF_EPSILON 0.00001f
+
+///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
+///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
+class GIM_CONTACT
+{
+public:
+    btVector3 m_point;
+    btVector3 m_normal;
+    btScalar m_depth;//Positive value indicates interpenetration
+    btScalar m_distance;//Padding not for use
+    int m_feature1;//Face number
+    int m_feature2;//Face number
+public:
+    GIM_CONTACT()
+    {
+    }
+
+    GIM_CONTACT(const GIM_CONTACT & contact):
+				m_point(contact.m_point),
+				m_normal(contact.m_normal),
+				m_depth(contact.m_depth),
+				m_feature1(contact.m_feature1),
+				m_feature2(contact.m_feature2)
+    {
+    }
+
+    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
+    	 			btScalar depth, int feature1, int feature2):
+				m_point(point),
+				m_normal(normal),
+				m_depth(depth),
+				m_feature1(feature1),
+				m_feature2(feature2)
+    {
+    }
+
+	//! Calcs key for coord classification
+    SIMD_FORCE_INLINE unsigned int calc_key_contact() const
+    {
+    	int _coords[] = {
+    		(int)(m_point[0]*1000.0f+1.0f),
+    		(int)(m_point[1]*1333.0f),
+    		(int)(m_point[2]*2133.0f+3.0f)};
+		unsigned int _hash=0;
+		unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
+		_hash = *_uitmp;
+		_uitmp++;
+		_hash += (*_uitmp)<<4;
+		_uitmp++;
+		_hash += (*_uitmp)<<8;
+		return _hash;
+    }
+
+    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
+    {
+    	btVector3 vec_sum(m_normal);
+		for(int i=0;i<normal_count;i++)
+		{
+			vec_sum += normals[i];
+		}
+
+		btScalar vec_sum_len = vec_sum.length2();
+		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
+
+		//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
+
+		m_normal = vec_sum/btSqrt(vec_sum_len);
+    }
+
+};
+
+#endif // BT_CONTACT_H_STRUCTS_INCLUDED

src/BulletCollision/Gimpact/btGImpactBvh.h

@@ -29,31 +29,7 @@ subject to the following restrictions:
 
 #include "btBoxCollision.h"
 #include "btTriangleShapeEx.h"
-
+#include "btGImpactBvhStructs.h"
-
-
-
-
-//! Overlapping pair
-struct GIM_PAIR
-{
-    int m_index1;
-    int m_index2;
-    GIM_PAIR()
-    {}
-
-    GIM_PAIR(const GIM_PAIR & p)
-    {
-    	m_index1 = p.m_index1;
-    	m_index2 = p.m_index2;
-	}
-
-	GIM_PAIR(int index1, int index2)
-    {
-    	m_index1 = index1;
-    	m_index2 = index2;
-	}
-};
 
 //! A pairset array
 class btPairSet: public btAlignedObjectArray<GIM_PAIR>
@@ -74,59 +50,6 @@ public:
 	}
 };
 
-
-///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
-struct GIM_BVH_DATA
-{
-	btAABB m_bound;
-	int m_data;
-};
-
-//! Node Structure for trees
-class GIM_BVH_TREE_NODE
-{
-public:
-	btAABB m_bound;
-protected:
-	int	m_escapeIndexOrDataIndex;
-public:
-	GIM_BVH_TREE_NODE()
-	{
-		m_escapeIndexOrDataIndex = 0;
-	}
-
-	SIMD_FORCE_INLINE bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex>=0);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex < 0);
-		return -m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setEscapeIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = -index;
-	}
-
-	SIMD_FORCE_INLINE int getDataIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex >= 0);
-
-		return m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setDataIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = index;
-	}
-
-};
-
-
 class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
 {
 };
@@ -392,5 +315,4 @@ public:
 		btPairSet & collision_pairs);
 };
 
-
 #endif // GIM_BOXPRUNING_H_INCLUDED

src/BulletCollision/Gimpact/btGImpactBvhStructs.h

@@ -0,0 +1,105 @@
+#ifndef GIM_BOX_SET_STRUCT_H_INCLUDED
+#define GIM_BOX_SET_STRUCT_H_INCLUDED
+
+/*! \file gim_box_set.h
+\author Francisco Leon Najera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+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.
+*/
+
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btBoxCollision.h"
+#include "btTriangleShapeEx.h"
+
+//! Overlapping pair
+struct GIM_PAIR
+{
+    int m_index1;
+    int m_index2;
+    GIM_PAIR()
+    {}
+
+    GIM_PAIR(const GIM_PAIR & p)
+    {
+    	m_index1 = p.m_index1;
+    	m_index2 = p.m_index2;
+	}
+
+	GIM_PAIR(int index1, int index2)
+    {
+    	m_index1 = index1;
+    	m_index2 = index2;
+	}
+};
+
+///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
+struct GIM_BVH_DATA
+{
+	btAABB m_bound;
+	int m_data;
+};
+
+//! Node Structure for trees
+class GIM_BVH_TREE_NODE
+{
+public:
+	btAABB m_bound;
+protected:
+	int	m_escapeIndexOrDataIndex;
+public:
+	GIM_BVH_TREE_NODE()
+	{
+		m_escapeIndexOrDataIndex = 0;
+	}
+
+	SIMD_FORCE_INLINE bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrDataIndex>=0);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex < 0);
+		return -m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setEscapeIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = -index;
+	}
+
+	SIMD_FORCE_INLINE int getDataIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex >= 0);
+
+		return m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setDataIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = index;
+	}
+
+};
+
+#endif // GIM_BOXPRUNING_H_INCLUDED

src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

@@ -26,73 +26,7 @@ subject to the following restrictions:
 
 #include "btGImpactBvh.h"
 #include "btQuantization.h"
-
+#include "btGImpactQuantizedBvhStructs.h"
-
-
-
-
-///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
-///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
-{
-	//12 bytes
-	unsigned short int	m_quantizedAabbMin[3];
-	unsigned short int	m_quantizedAabbMax[3];
-	//4 bytes
-	int	m_escapeIndexOrDataIndex;
-
-	BT_QUANTIZED_BVH_NODE()
-	{
-		m_escapeIndexOrDataIndex = 0;
-	}
-
-	SIMD_FORCE_INLINE bool isLeafNode() const
-	{
-		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
-		return (m_escapeIndexOrDataIndex>=0);
-	}
-
-	SIMD_FORCE_INLINE int getEscapeIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex < 0);
-		return -m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setEscapeIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = -index;
-	}
-
-	SIMD_FORCE_INLINE int getDataIndex() const
-	{
-		//btAssert(m_escapeIndexOrDataIndex >= 0);
-
-		return m_escapeIndexOrDataIndex;
-	}
-
-	SIMD_FORCE_INLINE void setDataIndex(int index)
-	{
-		m_escapeIndexOrDataIndex = index;
-	}
-
-	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
-		unsigned short * quantizedMin,unsigned short * quantizedMax) const
-	{
-		if(m_quantizedAabbMin[0] > quantizedMax[0] ||
-		   m_quantizedAabbMax[0] < quantizedMin[0] ||
-		   m_quantizedAabbMin[1] > quantizedMax[1] ||
-		   m_quantizedAabbMax[1] < quantizedMin[1] ||
-		   m_quantizedAabbMin[2] > quantizedMax[2] ||
-		   m_quantizedAabbMax[2] < quantizedMin[2])
-		{
-			return false;
-		}
-		return true;
-	}
-
-};
-
-
 
 class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
 {
@@ -368,5 +302,4 @@ public:
 		btPairSet & collision_pairs);
 };
 
-
 #endif // GIM_BOXPRUNING_H_INCLUDED

src/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h

@@ -0,0 +1,91 @@
+#ifndef GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
+#define GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED
+
+/*! \file btGImpactQuantizedBvh.h
+\author Francisco Leon Najera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+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.
+*/
+
+#include "btGImpactBvh.h"
+#include "btQuantization.h"
+
+///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
+///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
+ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
+{
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes
+	int	m_escapeIndexOrDataIndex;
+
+	BT_QUANTIZED_BVH_NODE()
+	{
+		m_escapeIndexOrDataIndex = 0;
+	}
+
+	SIMD_FORCE_INLINE bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrDataIndex>=0);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex < 0);
+		return -m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setEscapeIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = -index;
+	}
+
+	SIMD_FORCE_INLINE int getDataIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex >= 0);
+
+		return m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setDataIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = index;
+	}
+
+	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
+		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+	{
+		if(m_quantizedAabbMin[0] > quantizedMax[0] ||
+		   m_quantizedAabbMax[0] < quantizedMin[0] ||
+		   m_quantizedAabbMin[1] > quantizedMax[1] ||
+		   m_quantizedAabbMax[1] < quantizedMin[1] ||
+		   m_quantizedAabbMin[2] > quantizedMax[2] ||
+		   m_quantizedAabbMax[2] < quantizedMin[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+};
+
+#endif // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED

src/BulletCollision/Gimpact/gim_array.h

@@ -228,7 +228,7 @@ public:
 	inline void push_back_memcpy(const T & obj)
 	{
 	    this->growingCheck();
-	    irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
+	    gim_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
 	    m_size++;
 	}
 

src/BulletCollision/Gimpact/gim_basic_geometry_operations.h

@@ -41,10 +41,13 @@ email: projectileman@yahoo.com
 
 
 
-
+#ifndef PLANEDIREPSILON
 #define PLANEDIREPSILON 0.0000001f
-#define PARALELENORMALS 0.000001f
+#endif
 
+#ifndef PARALELENORMALS
+#define PARALELENORMALS 0.000001f
+#endif
 
 #define TRIANGLE_NORMAL(v1,v2,v3,n)\
 {\

src/BulletCollision/Gimpact/gim_box_collision.h

@@ -97,6 +97,8 @@ email: projectileman@yahoo.com
 //	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
 //}
 
+#ifndef TEST_CROSS_EDGE_BOX_MCR
+
 #define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
 {\
 	const btScalar dir0 = -edge[i_dir_0];\
@@ -113,6 +115,7 @@ email: projectileman@yahoo.com
 	if(pmin>rad || -rad>pmax) return false;\
 }\
 
+#endif
 
 #define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
 {\
@@ -190,8 +193,9 @@ public:
 	}
 };
 
-
+#ifndef BOX_PLANE_EPSILON
 #define BOX_PLANE_EPSILON 0.000001f
+#endif
 
 //! Axis aligned box
 class GIM_AABB
@@ -571,7 +575,7 @@ public:
 	}
 };
 
-
+#ifndef BT_BOX_COLLISION_H_INCLUDED
 //! Compairison of transformation objects
 SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
 {
@@ -582,6 +586,7 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
 	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
 	return true;
 }
+#endif
 
 
 

src/BulletCollision/Gimpact/gim_contact.h

@@ -40,8 +40,15 @@ email: projectileman@yahoo.com
 /**
 Configuration var for applying interpolation of  contact normals
 */
+#ifndef NORMAL_CONTACT_AVERAGE
 #define NORMAL_CONTACT_AVERAGE 1
+#endif
+
+#ifndef CONTACT_DIFF_EPSILON
 #define CONTACT_DIFF_EPSILON 0.00001f
+#endif
+
+#ifndef BT_CONTACT_H_STRUCTS_INCLUDED
 
 /// Structure for collision results
 ///Functions for managing and sorting contacts resulting from a collision query.
@@ -121,6 +128,7 @@ public:
 
 };
 
+#endif
 
 class gim_contact_array:public gim_array<GIM_CONTACT>
 {

src/BulletCollision/Gimpact/gim_tri_collision.h

@@ -38,8 +38,9 @@ email: projectileman@yahoo.com
 
 
 
-
+#ifndef MAX_TRI_CLIPPING
 #define MAX_TRI_CLIPPING 16
+#endif
 
 //! Structure for collision
 struct GIM_TRIANGLE_CONTACT_DATA

src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h

@@ -67,10 +67,12 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
 		btVector3	m_closestPointInB;
 		btScalar	m_distance; //negative means penetration !
 
+    protected:
 		btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
 		{
-
 		}
+		
+	public:
 		virtual ~btStorageResult() {};
 
 		virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -21,6 +21,8 @@ subject to the following restrictions:
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
 ContactProcessedCallback	gContactProcessedCallback = 0;
+ContactStartedCallback		gContactStartedCallback = 0;
+ContactEndedCallback		gContactEndedCallback = 0;
 ///gContactCalcArea3Points will approximate the convex hull area using 3 points
 ///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
 bool						gContactCalcArea3Points = true;

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -28,10 +28,18 @@ struct btCollisionResult;
 ///maximum contact breaking and merging threshold
 extern btScalar gContactBreakingThreshold;
 
+#ifndef SWIG
+class btPersistentManifold;
+
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
 typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
+typedef void (*ContactStartedCallback)(btPersistentManifold* const &manifold);
+typedef void (*ContactEndedCallback)(btPersistentManifold* const &manifold);
 extern ContactDestroyedCallback	gContactDestroyedCallback;
 extern ContactProcessedCallback gContactProcessedCallback;
+extern ContactStartedCallback gContactStartedCallback;
+extern ContactEndedCallback gContactEndedCallback;
+#endif //SWIG
 
 //the enum starts at 1024 to avoid type conflicts with btTypedConstraint
 enum btContactManifoldTypes
@@ -171,6 +179,11 @@ public:
 
 		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
 		m_cachedPoints--;
+
+		if (gContactEndedCallback && m_cachedPoints == 0)
+		{
+			gContactEndedCallback(this);
+		}
 	}
 	void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
 	{
@@ -235,6 +248,11 @@ public:
 		{
 			clearUserCache(m_pointCache[i]);
 		}
+
+		if (gContactEndedCallback && m_cachedPoints)
+		{
+			gContactEndedCallback(this);
+		}
 		m_cachedPoints = 0;
 	}
 

src/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -28,11 +28,13 @@ protected:
 
 	btPersistentManifold m_contactManifold;
 
-public:
+protected:
 
 
 	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
 
+public:
+
 	void	setContactManifold(btPersistentManifold* contactManifold);
 
 	btPersistentManifold* getContactManifold()

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -19,7 +19,7 @@ class btDynamicsWorld;
 #include "btWheelInfo.h"
 #include "BulletDynamics/Dynamics/btActionInterface.h"
 
-class btVehicleTuning;
+//class btVehicleTuning;
 
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
 class btRaycastVehicle : public btActionInterface

src/BulletDynamics/Vehicle/btWheelInfo.h

@@ -79,6 +79,8 @@ struct btWheelInfo
 	
 	void*		m_clientInfo;//can be used to store pointer to sync transforms...
 
+	btWheelInfo() {}
+
 	btWheelInfo(btWheelInfoConstructionInfo& ci)
 
 	{

src/BulletInverseDynamics/IDConfig.hpp

@@ -68,6 +68,10 @@ typedef btScalar idScalar;
 #ifdef BT_USE_DOUBLE_PRECISION
 #define BT_ID_USE_DOUBLE_PRECISION
 #endif
+
+#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+
 // use bullet types for arrays and array indices
 #include "Bullet3Common/b3AlignedObjectArray.h"
 // this is to make it work with C++2003, otherwise we could do this:
@@ -78,7 +82,20 @@ struct idArray {
 	typedef b3AlignedObjectArray<T> type;
 };
 typedef int idArrayIdx;
-#define ID_DECLARE_ALIGNED_ALLOCATOR B3_DECLARE_ALIGNED_ALLOCATOR
+#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
+
+#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+#include "LinearMath/btAlignedObjectArray.h"
+template <typename T>
+struct idArray {
+	typedef btAlignedObjectArray<T> type;
+};
+typedef int idArrayIdx;
+#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
+
+#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
 
 // use bullet's allocator functions
 #define idMalloc btAllocFunc

src/BulletInverseDynamics/IDErrorMessages.hpp

@@ -5,7 +5,7 @@
 /// name of file being compiled, without leading path components
 #define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
 
-#ifndef BT_ID_WO_BULLET
+#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
 #include "Bullet3Common/b3Logging.h"
 #define error_message(...) b3Error(__VA_ARGS__)
 #define warning_message(...) b3Warning(__VA_ARGS__)
@@ -24,11 +24,6 @@
 		fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__);					 \
 		fprintf(stderr, __VA_ARGS__);															  \
 	} while (0)
-#define warning_message(...)																		 \
-	do {																						   \
-		fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__);					   \
-		fprintf(stderr, __VA_ARGS__);															\
-	} while (0)
 #define id_printf(...) printf(__VA_ARGS__)
 #endif  // BT_ID_WO_BULLET
 #endif

src/BulletSoftBody/btSoftBody.h

@@ -617,7 +617,7 @@ public:
 		RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
 		void					Process(const btDbvtNode* leaf);
 
-		static inline btScalar	rayFromToTriangle(const btVector3& rayFrom,
+		static /*inline*/ btScalar	rayFromToTriangle(const btVector3& rayFrom,
 			const btVector3& rayTo,
 			const btVector3& rayNormalizedDirection,
 			const btVector3& a,

src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h

@@ -20,7 +20,9 @@ subject to the following restrictions:
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "BulletSoftBody/btSoftBody.h"
 
+#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
 typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
+#endif
 
 class btSoftBodySolver;
 

src/LinearMath/btQuickprof.h

@@ -65,9 +65,11 @@ btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
 void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
 void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
 
-
+#ifndef BT_NO_PROFILE // FIX redefinition
 //To disable built-in profiling, please comment out next line
 //#define BT_NO_PROFILE 1
+#endif //BT_NO_PROFILE
+
 #ifndef BT_NO_PROFILE
 //btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, 
 //otherwise returns thread index in range [0..maxThreads]

src/LinearMath/btScalar.h

@@ -32,6 +32,28 @@ inline int btGetVersion()
 	return BT_BULLET_VERSION;
 }
 
+
+// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
+// in order suppress the MS Visual C++ Linker warning 4221
+//
+// warning LNK4221: no public symbols found; archive member will be inaccessible
+//
+// This warning occurs on PC and XBOX when a file compiles out completely
+// has no externally visible symbols which may be dependant on configuration
+// #defines and options.
+//
+// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422
+
+#if defined (_MSC_VER)
+	#define BT_NOT_EMPTY_FILE_CAT_II(p, res) res
+	#define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b)
+	#define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b)
+	#define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); }
+#else
+	#define BT_NOT_EMPTY_FILE 
+#endif
+
+
 // clang and most formatting tools don't support indentation of preprocessor guards, so turn it off
 // clang-format off
 #if defined(DEBUG) || defined (_DEBUG)