Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9

16 files changed, 1168 insertions, 20 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
index 7d64b46abf..5a3362834a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -49,6 +49,7 @@ public:
 	virtual void setMargin(btScalar collisionMargin)
 	{
 		//don't override the margin for capsules, their entire radius == margin
+		(void)collisionMargin;
 	}
 
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
index e8c8c336cd..85572da307 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -213,7 +213,7 @@ void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
 
 
 
-void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
+void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
 {
 	int n = m_children.size();
 
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
index 4eef8dba30..2cbcd1bfca 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -160,7 +160,7 @@ public:
 	///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
 	///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
 	///of the collision object by the principal transform.
-	void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
+	void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
 
 	int	getUpdateRevision() const
 	{
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
index 4f45319a83..0fea00df5c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -104,9 +104,9 @@ void	btConvexPolyhedron::initialize()
 
 	btHashMap<btInternalVertexPair,btInternalEdge> edges;
 
-	btScalar TotalArea = 0.0f;
 	
-	m_localCenter.setValue(0, 0, 0);
+	
+	
 	for(int i=0;i<m_faces.size();i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
@@ -172,6 +172,13 @@ void	btConvexPolyhedron::initialize()
 	}
 #endif//USE_CONNECTED_FACES
 
+	initialize2();
+}
+
+void	btConvexPolyhedron::initialize2()
+{
+	m_localCenter.setValue(0, 0, 0);
+	btScalar TotalArea = 0.0f;
 	for(int i=0;i<m_faces.size();i++)
 	{
 		int numVertices = m_faces[i].m_indices.size();
@@ -274,7 +281,6 @@ void	btConvexPolyhedron::initialize()
 	}
 #endif
 }
-
 void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
 {
 	minProj = FLT_MAX;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
index d3cd066ac8..c5aa20f453 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
 	btVector3		mE;
 
 	void	initialize();
+	void	initialize2();
 	bool testContainment() const;
 
 	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8d7fb054d6..2f84858598 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
 	return supVec;
 #else
 
-    btScalar maxDot;
-    long ptIndex = vec.maxDot( points, numPoints, maxDot);
+	btScalar maxDot;
+	long ptIndex = vec.maxDot( points, numPoints, maxDot);
 	btAssert(ptIndex >= 0);
+	if (ptIndex<0)
+	{
+		ptIndex = 0;
+	}
 	btVector3 supVec = points[ptIndex] * localScaling;
 	return supVec;
 #endif //__SPU__
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
new file mode 100644
index 0000000000..afe45e1d2d
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
@@ -0,0 +1,532 @@
+#include "btMiniSDF.h"
+
+//
+//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
+//example:
+//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
+//The MIT License (MIT)
+//
+//Copyright (c) 2017 Dan Koschier
+//
+
+#include <limits.h>
+#include <string.h> //memcpy
+
+struct btSdfDataStream
+{
+	const char* m_data;
+	int m_size;
+	
+	int m_currentOffset;
+	
+	btSdfDataStream(const char* data, int size)
+		:m_data(data),
+		m_size(size),
+		m_currentOffset(0)
+	{
+		
+	}
+
+	template<class T> bool read(T& val)
+	{
+		int bytes = sizeof(T);
+		if (m_currentOffset+bytes<=m_size)
+		{
+			char* dest = (char*)&val;
+			memcpy(dest,&m_data[m_currentOffset],bytes);
+			m_currentOffset+=bytes;
+			return true;
+		}
+		btAssert(0);
+		return false;
+	}
+};
+
+
+bool btMiniSDF::load(const char* data, int size)
+{
+		int fileSize = -1;
+
+		btSdfDataStream ds(data,size);
+		{
+			double buf[6];
+			ds.read(buf);
+			m_domain.m_min[0] = buf[0];
+			m_domain.m_min[1] = buf[1];
+			m_domain.m_min[2] = buf[2];
+			m_domain.m_min[3] = 0;
+			m_domain.m_max[0] = buf[3];
+			m_domain.m_max[1] = buf[4];
+			m_domain.m_max[2] = buf[5];
+			m_domain.m_max[3] = 0;
+		}
+		{
+			unsigned int buf2[3];
+			ds.read(buf2);
+			m_resolution[0] = buf2[0];
+			m_resolution[1] = buf2[1];
+			m_resolution[2] = buf2[2];
+		}
+		{
+			double buf[3];
+			ds.read(buf);
+			m_cell_size[0] = buf[0];
+			m_cell_size[1] = buf[1];
+			m_cell_size[2] = buf[2];
+		}
+		{
+			double buf[3];
+			ds.read(buf);
+			m_inv_cell_size[0] = buf[0];
+			m_inv_cell_size[1] = buf[1];
+			m_inv_cell_size[2] = buf[2];
+		}
+		{
+			unsigned long long int cells;
+			ds.read(cells);
+			m_n_cells = cells;
+		}
+		{
+			unsigned long long int fields;
+			ds.read(fields);
+			m_n_fields = fields;
+		}
+
+		
+		unsigned long long int nodes0;
+		std::size_t n_nodes0;
+		ds.read(nodes0);
+		n_nodes0 = nodes0;
+		if (n_nodes0 > 1024 * 1024 * 1024)
+		{
+			return m_isValid;
+		}
+		m_nodes.resize(n_nodes0);
+		for (unsigned int i=0;i<n_nodes0;i++)
+		{
+			unsigned long long int n_nodes1;
+			ds.read(n_nodes1);
+			btAlignedObjectArray<double>& nodes = m_nodes[i];
+			nodes.resize(n_nodes1);
+			for ( int j=0;j<nodes.size();j++)
+			{
+				double& node = nodes[j];
+				ds.read(node);
+			}
+		}
+
+		unsigned long long int n_cells0;
+		ds.read(n_cells0);
+		m_cells.resize(n_cells0);
+		for (int i=0;i<n_cells0;i++)
+		{
+			unsigned long long int n_cells1;
+			btAlignedObjectArray<btCell32 >& cells = m_cells[i];
+			ds.read(n_cells1);
+			cells.resize(n_cells1);
+			for (int j=0;j<n_cells1;j++)
+			{
+				btCell32& cell = cells[j];
+				ds.read(cell);
+			}
+		}
+
+		{
+			unsigned long long int n_cell_maps0;
+			ds.read(n_cell_maps0);
+		
+			m_cell_map.resize(n_cell_maps0);
+			for (int i=0;i<n_cell_maps0;i++)
+			{
+				unsigned long long int n_cell_maps1;
+				btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
+				ds.read(n_cell_maps1);
+				cell_maps.resize(n_cell_maps1);
+				for (int j=0;j<n_cell_maps1;j++)
+				{
+					unsigned int& cell_map = cell_maps[j];
+					ds.read(cell_map);
+				}
+			}
+		}
+
+		m_isValid = (ds.m_currentOffset == ds.m_size);
+		return m_isValid;
+}
+
+
+unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const & ijk) const
+{
+	return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
+}
+	
+btAlignedBox3d
+btMiniSDF::subdomain(btMultiIndex const& ijk) const
+{
+	btAssert(m_isValid);
+	btVector3 tmp;
+	tmp.m_floats[0] = m_cell_size[0]*(double)ijk.ijk[0];
+	tmp.m_floats[1] = m_cell_size[1]*(double)ijk.ijk[1];
+	tmp.m_floats[2] = m_cell_size[2]*(double)ijk.ijk[2];
+	
+
+	btVector3 origin = m_domain.min() + tmp;
+
+	btAlignedBox3d box = btAlignedBox3d (origin, origin + m_cell_size);
+	return box;
+}
+
+btMultiIndex
+btMiniSDF::singleToMultiIndex(unsigned int l) const
+{
+	btAssert(m_isValid);
+	unsigned int n01 = m_resolution[0] * m_resolution[1];
+	unsigned int  k = l / n01;
+	unsigned int  temp = l % n01;
+	unsigned int j = temp / m_resolution[0];
+	unsigned int i = temp % m_resolution[0];
+	btMultiIndex mi;
+	mi.ijk[0] = i;
+	mi.ijk[1] = j;
+	mi.ijk[2] = k;
+	return mi;
+}
+
+btAlignedBox3d
+btMiniSDF::subdomain(unsigned int l) const
+{
+	btAssert(m_isValid);
+	return subdomain(singleToMultiIndex(l));
+}
+
+
+btShapeMatrix
+btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
+{
+	btAssert(m_isValid);
+	btShapeMatrix res;
+	
+	btScalar x = xi[0];
+	btScalar y = xi[1];
+	btScalar z = xi[2];
+
+	btScalar  x2 = x*x;
+	btScalar  y2 = y*y;
+	btScalar  z2 = z*z;
+
+	btScalar  _1mx = 1.0 - x;
+	btScalar  _1my = 1.0 - y;
+	btScalar  _1mz = 1.0 - z;
+
+	btScalar  _1px = 1.0 + x;
+	btScalar  _1py = 1.0 + y;
+	btScalar  _1pz = 1.0 + z;
+
+	btScalar  _1m3x = 1.0 - 3.0 * x;
+	btScalar  _1m3y = 1.0 - 3.0 * y;
+	btScalar  _1m3z = 1.0 - 3.0 * z;
+
+	btScalar  _1p3x = 1.0 + 3.0 * x;
+	btScalar  _1p3y = 1.0 + 3.0 * y;
+	btScalar  _1p3z = 1.0 + 3.0 * z;
+
+	btScalar  _1mxt1my = _1mx * _1my;
+	btScalar  _1mxt1py = _1mx * _1py;
+	btScalar  _1pxt1my = _1px * _1my;
+	btScalar  _1pxt1py = _1px * _1py;
+
+	btScalar  _1mxt1mz = _1mx * _1mz;
+	btScalar  _1mxt1pz = _1mx * _1pz;
+	btScalar  _1pxt1mz = _1px * _1mz;
+	btScalar  _1pxt1pz = _1px * _1pz;
+
+	btScalar  _1myt1mz = _1my * _1mz;
+	btScalar  _1myt1pz = _1my * _1pz;
+	btScalar  _1pyt1mz = _1py * _1mz;
+	btScalar  _1pyt1pz = _1py * _1pz;
+
+	btScalar  _1mx2 = 1.0 - x2;
+	btScalar  _1my2 = 1.0 - y2;
+	btScalar  _1mz2 = 1.0 - z2;
+
+
+	// Corner nodes.
+	btScalar  fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
+	res[0] = fac * _1mxt1my * _1mz;
+	res[1] = fac * _1pxt1my * _1mz;
+	res[2] = fac * _1mxt1py * _1mz;
+	res[3] = fac * _1pxt1py * _1mz;
+	res[4] = fac * _1mxt1my * _1pz;
+	res[5] = fac * _1pxt1my * _1pz;
+	res[6] = fac * _1mxt1py * _1pz;
+	res[7] = fac * _1pxt1py * _1pz;
+
+	// Edge nodes.
+
+	fac = 9.0 / 64.0 * _1mx2;
+	btScalar  fact1m3x = fac * _1m3x;
+	btScalar  fact1p3x = fac * _1p3x;
+	res[ 8] = fact1m3x * _1myt1mz;
+	res[ 9] = fact1p3x * _1myt1mz;
+	res[10] = fact1m3x * _1myt1pz;
+	res[11] = fact1p3x * _1myt1pz;
+	res[12] = fact1m3x * _1pyt1mz;
+	res[13] = fact1p3x * _1pyt1mz;
+	res[14] = fact1m3x * _1pyt1pz;
+	res[15] = fact1p3x * _1pyt1pz;
+
+	fac = 9.0 / 64.0 * _1my2;
+	btScalar  fact1m3y = fac * _1m3y;
+	btScalar  fact1p3y = fac * _1p3y;
+	res[16] = fact1m3y * _1mxt1mz;
+	res[17] = fact1p3y * _1mxt1mz;
+	res[18] = fact1m3y * _1pxt1mz;
+	res[19] = fact1p3y * _1pxt1mz;
+	res[20] = fact1m3y * _1mxt1pz;
+	res[21] = fact1p3y * _1mxt1pz;
+	res[22] = fact1m3y * _1pxt1pz;
+	res[23] = fact1p3y * _1pxt1pz;
+
+	fac = 9.0 / 64.0 * _1mz2;
+	btScalar  fact1m3z = fac * _1m3z;
+	btScalar  fact1p3z = fac * _1p3z;
+	res[24] = fact1m3z * _1mxt1my;
+	res[25] = fact1p3z * _1mxt1my;
+	res[26] = fact1m3z * _1mxt1py;
+	res[27] = fact1p3z * _1mxt1py;
+	res[28] = fact1m3z * _1pxt1my;
+	res[29] = fact1p3z * _1pxt1my;
+	res[30] = fact1m3z * _1pxt1py;
+	res[31] = fact1p3z * _1pxt1py;
+
+	if (gradient)
+	{
+		btShapeGradients& dN = *gradient;
+
+		btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0;
+		btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0;
+		btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0;
+		btScalar _18x = 18.0 * x;
+		btScalar _18y = 18.0 * y;
+		btScalar _18z = 18.0 * z;
+		
+		btScalar _3m9x2 = 3.0 - 9.0 * x2;
+		btScalar _3m9y2 = 3.0 - 9.0 * y2;
+		btScalar _3m9z2 = 3.0 - 9.0 * z2;
+
+		btScalar _2x = 2.0 * x;
+		btScalar _2y = 2.0 * y;
+		btScalar _2z = 2.0 * z;
+
+		btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19;
+		btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19;
+		btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19;
+		btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19;
+		btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
+		btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
+
+		dN(0,0) =_18xm9t3x2py2pz2m19 * _1myt1mz;
+		dN(0,1) =_1mxt1mz * _18ym9tx2p3y2pz2m19;
+		dN(0,2) =_1mxt1my * _18zm9tx2py2p3z2m19;
+		dN(1,0) =_18xp9t3x2py2pz2m19 * _1myt1mz;
+		dN(1,1) =_1pxt1mz * _18ym9tx2p3y2pz2m19;
+		dN(1,2) =_1pxt1my * _18zm9tx2py2p3z2m19;
+		dN(2,0) =_18xm9t3x2py2pz2m19 * _1pyt1mz;
+		dN(2,1) =_1mxt1mz * _18yp9tx2p3y2pz2m19;
+		dN(2,2) =_1mxt1py * _18zm9tx2py2p3z2m19;
+		dN(3,0) =_18xp9t3x2py2pz2m19 * _1pyt1mz;
+		dN(3,1) =_1pxt1mz * _18yp9tx2p3y2pz2m19;
+		dN(3,2) =_1pxt1py * _18zm9tx2py2p3z2m19;
+		dN(4,0) =_18xm9t3x2py2pz2m19 * _1myt1pz;
+		dN(4,1) =_1mxt1pz * _18ym9tx2p3y2pz2m19;
+		dN(4,2) =_1mxt1my * _18zp9tx2py2p3z2m19;
+		dN(5,0) =_18xp9t3x2py2pz2m19 * _1myt1pz;
+		dN(5,1) =_1pxt1pz * _18ym9tx2p3y2pz2m19;
+		dN(5,2) =_1pxt1my * _18zp9tx2py2p3z2m19;
+		dN(6,0) =_18xm9t3x2py2pz2m19 * _1pyt1pz;
+		dN(6,1) =_1mxt1pz * _18yp9tx2p3y2pz2m19;
+		dN(6,2) =_1mxt1py * _18zp9tx2py2p3z2m19;
+		dN(7,0) =_18xp9t3x2py2pz2m19 * _1pyt1pz;
+		dN(7,1) =_1pxt1pz * _18yp9tx2p3y2pz2m19;
+		dN(7,2) =_1pxt1py * _18zp9tx2py2p3z2m19;
+
+		dN.topRowsDivide(8, 64.0);
+
+		btScalar _m3m9x2m2x = -_3m9x2 - _2x;
+		btScalar _p3m9x2m2x =  _3m9x2 - _2x;
+		btScalar _1mx2t1m3x = _1mx2 * _1m3x;
+		btScalar _1mx2t1p3x = _1mx2 * _1p3x;
+		dN( 8,0) =    _m3m9x2m2x * _1myt1mz,
+		dN( 8,1) =   -_1mx2t1m3x * _1mz,
+		dN( 8,2) =   -_1mx2t1m3x * _1my;
+		dN( 9,0) =    _p3m9x2m2x * _1myt1mz,
+		dN( 9,1) =   -_1mx2t1p3x * _1mz,
+		dN( 9,2) =   -_1mx2t1p3x * _1my;
+		dN(10,0) =    _m3m9x2m2x * _1myt1pz,
+		dN(10,1) =   -_1mx2t1m3x * _1pz,
+		dN(10,2) =   _1mx2t1m3x * _1my;
+		dN(11,0) =    _p3m9x2m2x * _1myt1pz,
+		dN(11,1) =   -_1mx2t1p3x * _1pz,
+		dN(11,2) =   _1mx2t1p3x * _1my;
+		dN(12,0) =    _m3m9x2m2x * _1pyt1mz,
+		dN(12,1) =   _1mx2t1m3x * _1mz,
+		dN(12,2) =   -_1mx2t1m3x * _1py;
+		dN(13,0) =    _p3m9x2m2x * _1pyt1mz,
+		dN(13,1) =   _1mx2t1p3x * _1mz,
+		dN(13,2) =   -_1mx2t1p3x * _1py;
+		dN(14,0) =    _m3m9x2m2x * _1pyt1pz,
+		dN(14,1) =   _1mx2t1m3x * _1pz,
+		dN(14,2) =   _1mx2t1m3x * _1py;
+		dN(15,0) =    _p3m9x2m2x * _1pyt1pz,
+		dN(15,1) =   _1mx2t1p3x * _1pz,
+		dN(15,2) =   _1mx2t1p3x * _1py;
+
+		btScalar _m3m9y2m2y = -_3m9y2 - _2y;
+		btScalar _p3m9y2m2y =  _3m9y2 - _2y;
+		btScalar _1my2t1m3y = _1my2 * _1m3y;
+		btScalar _1my2t1p3y = _1my2 * _1p3y;
+		dN(16,0) =    -_1my2t1m3y * _1mz,
+		dN(16,1) =   _m3m9y2m2y * _1mxt1mz,
+		dN(16,2) =   -_1my2t1m3y * _1mx;
+		dN(17,0) =    -_1my2t1p3y * _1mz,
+		dN(17,1) =   _p3m9y2m2y * _1mxt1mz,
+		dN(17,2) =   -_1my2t1p3y * _1mx;
+		dN(18,0) =    _1my2t1m3y * _1mz,
+		dN(18,1) =   _m3m9y2m2y * _1pxt1mz,
+		dN(18,2) =   -_1my2t1m3y * _1px;
+		dN(19,0) =    _1my2t1p3y * _1mz,
+		dN(19,1) =   _p3m9y2m2y * _1pxt1mz,
+		dN(19,2) =   -_1my2t1p3y * _1px;
+		dN(20,0) =    -_1my2t1m3y * _1pz,
+		dN(20,1) =   _m3m9y2m2y * _1mxt1pz,
+		dN(20,2) =   _1my2t1m3y * _1mx;
+		dN(21,0) =    -_1my2t1p3y * _1pz,
+		dN(21,1) =   _p3m9y2m2y * _1mxt1pz,
+		dN(21,2) =   _1my2t1p3y * _1mx;
+		dN(22,0) =    _1my2t1m3y * _1pz,
+		dN(22,1) =   _m3m9y2m2y * _1pxt1pz,
+		dN(22,2) =   _1my2t1m3y * _1px;
+		dN(23,0) =    _1my2t1p3y * _1pz,
+		dN(23,1) =   _p3m9y2m2y * _1pxt1pz,
+		dN(23,2) =   _1my2t1p3y * _1px;
+
+
+		btScalar _m3m9z2m2z = -_3m9z2 - _2z;
+		btScalar _p3m9z2m2z =  _3m9z2 - _2z;
+		btScalar _1mz2t1m3z = _1mz2 * _1m3z;
+		btScalar _1mz2t1p3z = _1mz2 * _1p3z;
+		dN(24,0) =    -_1mz2t1m3z * _1my,
+		dN(24,1) =  -_1mz2t1m3z * _1mx,
+		dN(24,2) =   _m3m9z2m2z * _1mxt1my;
+		dN(25,0) =    -_1mz2t1p3z * _1my,
+		dN(25,1) =   -_1mz2t1p3z * _1mx,
+		dN(25,2) =   _p3m9z2m2z * _1mxt1my;
+		dN(26,0) =    -_1mz2t1m3z * _1py,
+		dN(26,1) =   _1mz2t1m3z * _1mx,
+		dN(26,2) =   _m3m9z2m2z * _1mxt1py;
+		dN(27,0) =    -_1mz2t1p3z * _1py,
+		dN(27,1) =   _1mz2t1p3z * _1mx,
+		dN(27,2) =   _p3m9z2m2z * _1mxt1py;
+		dN(28,0) =    _1mz2t1m3z * _1my,
+		dN(28,1) =   -_1mz2t1m3z * _1px,
+		dN(28,2) =   _m3m9z2m2z * _1pxt1my;
+		dN(29,0) =    _1mz2t1p3z * _1my,
+		dN(29,1) =   -_1mz2t1p3z * _1px,
+		dN(29,2) =   _p3m9z2m2z * _1pxt1my;
+		dN(30,0) =    _1mz2t1m3z * _1py,
+		dN(30,1) =   _1mz2t1m3z * _1px,
+		dN(30,2) =   _m3m9z2m2z * _1pxt1py;
+		dN(31,0) =    _1mz2t1p3z * _1py,
+		dN(31,1) =   _1mz2t1p3z * _1px,
+		dN(31,2) =   _p3m9z2m2z * _1pxt1py;
+
+		dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
+
+	}
+
+	return res;
+}
+
+
+
+bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
+	btVector3* gradient) const
+{
+	btAssert(m_isValid);
+	if (!m_isValid)
+		return false;
+
+	if (!m_domain.contains(x))
+		return false;
+
+	btVector3 tmpmi = ((x - m_domain.min())*(m_inv_cell_size));//.cast<unsigned int>().eval();
+	unsigned int mi[3] = {(unsigned int )tmpmi[0],(unsigned int )tmpmi[1],(unsigned int )tmpmi[2]};
+	if (mi[0] >= m_resolution[0])
+		mi[0] = m_resolution[0]-1;
+	if (mi[1] >= m_resolution[1])
+		mi[1] = m_resolution[1]-1;
+	if (mi[2] >= m_resolution[2])
+		mi[2] = m_resolution[2]-1;
+	btMultiIndex mui; 
+	mui.ijk[0] = mi[0];
+	mui.ijk[1] = mi[1];
+	mui.ijk[2] = mi[2];
+	int i = multiToSingleIndex(mui);
+	unsigned int i_ = m_cell_map[field_id][i];
+	if (i_ == UINT_MAX)
+		return false;
+
+	btAlignedBox3d sd = subdomain(i);
+	i = i_;
+	btVector3 d = sd.m_max-sd.m_min;//.diagonal().eval();
+
+	btVector3 denom = (sd.max() - sd.min());
+	btVector3 c0 = btVector3(2.0,2.0,2.0)/denom;
+	btVector3 c1 = (sd.max() + sd.min())/denom;
+	btVector3 xi = (c0*x - c1);
+
+	btCell32 const& cell = m_cells[field_id][i];
+	if (!gradient)
+	{
+		//auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0));
+		double phi = 0.0;
+		btShapeMatrix N = shape_function_(xi, 0);
+		for (unsigned int j = 0u; j < 32u; ++j)
+		{
+			unsigned int v = cell.m_cells[j];
+			double c = m_nodes[field_id][v];
+			if (c == DBL_MAX)
+			{
+				return false;;
+			}
+			phi += c * N[j];
+		}
+
+		dist = phi;
+		return true;
+	}
+
+	btShapeGradients dN;
+	btShapeMatrix N = shape_function_(xi, &dN);
+
+	double phi = 0.0;
+	gradient->setZero();
+	for (unsigned int j = 0u; j < 32u; ++j)
+	{
+		unsigned int v = cell.m_cells[j];
+		double c = m_nodes[field_id][v];
+		if (c == DBL_MAX)
+		{
+			gradient->setZero();
+			return false;
+		}
+		phi += c * N[j];
+		(*gradient)[0] += c * dN(j, 0);
+		(*gradient)[1] += c * dN(j, 1);
+		(*gradient)[2] += c * dN(j, 2);
+	}
+	(*gradient) *= c0;
+	dist = phi;
+	return true;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
new file mode 100644
index 0000000000..3de90e4f8a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
@@ -0,0 +1,134 @@
+#ifndef MINISDF_H
+#define MINISDF_H
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+struct btMultiIndex
+{
+	unsigned int ijk[3];
+};
+
+struct btAlignedBox3d
+{
+	btVector3 m_min;
+	btVector3 m_max;
+
+	const btVector3& min() const
+	{
+		return m_min;
+	}
+
+	const btVector3& max() const
+	{
+		return m_max;
+	}
+	
+
+	bool contains(const btVector3& x) const
+	{
+		return TestPointAgainstAabb2(m_min, m_max, x);
+	}
+
+	btAlignedBox3d(const btVector3& mn, const btVector3& mx)
+		:m_min(mn),
+		m_max(mx)
+	{
+	}
+
+	btAlignedBox3d()
+	{
+	}
+};
+
+struct btShapeMatrix
+{
+	double m_vec[32];
+
+	inline double&       operator[](int i)
+	{
+		return m_vec[i];
+	}
+
+	inline const double&       operator[](int i) const
+	{
+		return m_vec[i];
+	}
+
+};
+
+struct btShapeGradients
+{
+	btVector3	m_vec[32];
+
+	void topRowsDivide(int row, double denom)
+	{
+		for (int i=0;i<row;i++)
+		{
+			m_vec[i] /= denom;
+		}
+	}
+	
+	void bottomRowsMul(int row, double val)
+	{
+		for (int i=32-row;i<32;i++)
+		{
+			m_vec[i] *= val;
+		}
+	}
+	
+	inline btScalar&       operator()(int i, int j)
+	{
+		return m_vec[i][j];
+	}
+};
+
+struct btCell32
+{
+	unsigned int m_cells[32];
+};
+
+struct btMiniSDF
+{
+
+	btAlignedBox3d m_domain;
+	unsigned int m_resolution[3];
+	btVector3 m_cell_size;
+	btVector3 m_inv_cell_size;
+	std::size_t m_n_cells;
+	std::size_t m_n_fields;
+	bool m_isValid;
+
+
+	btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
+	btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells;
+	btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
+
+	btMiniSDF()
+	:m_isValid(false)
+	{
+	}
+	bool load(const char* data, int size);
+	bool isValid() const
+	{
+		return m_isValid;
+	}
+	unsigned int multiToSingleIndex(btMultiIndex const & ijk) const;
+	
+	btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
+
+	btMultiIndex singleToMultiIndex(unsigned int l) const;
+
+	btAlignedBox3d subdomain(unsigned int l) const;
+
+
+	btShapeMatrix
+	shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
+
+	bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
+};
+
+
+#endif //MINISDF_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 4854f370f7..d51b6760fc 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -39,6 +39,17 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
 	}
 }
 
+void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron)
+{
+	if (m_polyhedron)
+	{
+		*m_polyhedron = polyhedron;
+	} else
+	{
+		void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+		m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
+	}
+}
 
 bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
 {
@@ -87,8 +98,72 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 		conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
 	}
 
+#ifndef BT_RECONSTRUCT_FACES
+	
+	int numVertices = conv.vertices.size();
+	m_polyhedron->m_vertices.resize(numVertices);
+	for (int p=0;p<numVertices;p++)
+	{
+		m_polyhedron->m_vertices[p] = conv.vertices[p];
+	}
+
+	int v0, v1;
+	for (int j = 0; j < conv.faces.size(); j++)
+	{
+		btVector3 edges[3];
+		int numEdges = 0;
+		btFace combinedFace;
+		const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
+		v0 = edge->getSourceVertex();
+		int prevVertex=v0;
+		combinedFace.m_indices.push_back(v0);
+		v1 = edge->getTargetVertex();
+		while (v1 != v0)
+		{
+		
+			btVector3 wa = conv.vertices[prevVertex];
+			btVector3 wb = conv.vertices[v1];
+			btVector3 newEdge = wb-wa;
+			newEdge.normalize();
+			if (numEdges<2)
+				edges[numEdges++] = newEdge;
 
 
+			//face->addIndex(v1);
+			combinedFace.m_indices.push_back(v1);
+			edge = edge->getNextEdgeOfFace();
+			prevVertex = v1;
+			int v01 = edge->getSourceVertex();
+			v1 = edge->getTargetVertex();
+
+		}
+		
+		btAssert(combinedFace.m_indices.size() > 2);
+
+		btVector3 faceNormal = edges[0].cross(edges[1]);
+		faceNormal.normalize();
+
+		btScalar planeEq=1e30f;
+
+		for (int v=0;v<combinedFace.m_indices.size();v++)
+		{
+			btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
+			if (planeEq>eq)
+			{
+				planeEq=eq;
+			}
+		}
+		combinedFace.m_plane[0] = faceNormal.getX();
+		combinedFace.m_plane[1] = faceNormal.getY();
+		combinedFace.m_plane[2] = faceNormal.getZ();
+		combinedFace.m_plane[3] = -planeEq;
+		
+		m_polyhedron->m_faces.push_back(combinedFace);
+	}
+
+
+#else//BT_RECONSTRUCT_FACES
+
 	btAlignedObjectArray<btVector3> faceNormals;
 	int numFaces = conv.faces.size();
 	faceNormals.resize(numFaces);
@@ -311,7 +386,9 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
 
 
 	}
-	
+
+#endif //BT_RECONSTRUCT_FACES
+
 	m_polyhedron->initialize();
 
 	return true;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index 7bf8e01c1f..b7ddb6e060 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -43,6 +43,9 @@ public:
 	///experimental/work-in-progress
 	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
 
+	virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron);
+	
+
 	const btConvexPolyhedron*	getConvexPolyhedron() const
 	{
 		return m_polyhedron;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
new file mode 100644
index 0000000000..828acda470
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
@@ -0,0 +1,99 @@
+#include "btSdfCollisionShape.h"
+#include "btMiniSDF.h"
+#include "LinearMath/btAabbUtil2.h"
+
+struct btSdfCollisionShapeInternalData
+{
+	btVector3 m_localScaling;
+	btScalar m_margin;
+	btMiniSDF m_sdf;
+
+	btSdfCollisionShapeInternalData()
+		:m_localScaling(1,1,1),
+		m_margin(0)
+	{
+
+	}
+};
+
+bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
+{
+	bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
+	return valid;
+}
+btSdfCollisionShape::btSdfCollisionShape()
+{
+	m_shapeType = SDF_SHAPE_PROXYTYPE;
+	m_data = new btSdfCollisionShapeInternalData();
+
+
+	
+	//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
+	/*unsigned int field_id=0;
+	Eigen::Vector3d x (1,10,1);
+	Eigen::Vector3d gradient;
+	double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
+	printf("dist=%g\n", dist);
+	*/
+
+}
+btSdfCollisionShape::~btSdfCollisionShape()
+{
+	delete m_data;
+}
+
+void btSdfCollisionShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btAssert(m_data->m_sdf.isValid());
+	btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
+	btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
+	btScalar margin(0);
+	btTransformAabb(localAabbMin,localAabbMax,margin,t,aabbMin,aabbMax);
+
+}
+
+	
+void	btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
+{
+	m_data->m_localScaling = scaling;
+}
+const btVector3& btSdfCollisionShape::getLocalScaling() const
+{
+	return m_data->m_localScaling;
+}
+void	btSdfCollisionShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	inertia.setValue(0,0,0);
+}
+const char*	btSdfCollisionShape::getName()const
+{
+	return "btSdfCollisionShape";
+}
+void	btSdfCollisionShape::setMargin(btScalar margin)
+{
+	m_data->m_margin = margin;
+}
+btScalar	btSdfCollisionShape::getMargin() const
+{
+	return m_data->m_margin;
+}
+
+void	btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	//not yet
+}
+
+
+bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
+{
+	int field = 0;
+	btVector3 grad;
+	double dist;
+	bool hasResult = m_data->m_sdf.interpolate(field,dist, ptInSDF,&grad);
+	if (hasResult)
+	{
+		normal.setValue(grad[0],grad[1],grad[2]);
+		distOut= dist;
+	}
+	return hasResult;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
new file mode 100644
index 0000000000..6e32db9cd8
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
@@ -0,0 +1,30 @@
+#ifndef BT_SDF_COLLISION_SHAPE_H
+#define BT_SDF_COLLISION_SHAPE_H
+
+#include "btConcaveShape.h"
+
+class btSdfCollisionShape : public btConcaveShape
+{
+	struct btSdfCollisionShapeInternalData* m_data;
+
+public:
+		
+	btSdfCollisionShape();
+	virtual ~btSdfCollisionShape();
+	
+	bool initializeSDF(const char* sdfData, int sizeInBytes);
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual const char*	getName()const;
+	virtual void	setMargin(btScalar margin);
+	virtual btScalar	getMargin() const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
+};
+
+#endif //BT_SDF_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
index 3beaf86580..9f712fe555 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -20,6 +20,8 @@ subject to the following restrictions:
 #include "LinearMath/btConvexHull.h"
 
 #define NUM_UNITSPHERE_POINTS 42
+#define NUM_UNITSPHERE_POINTS_HIGHRES 256
+
 
 btShapeHull::btShapeHull (const btConvexShape* shape)
 {
@@ -36,9 +38,9 @@ btShapeHull::~btShapeHull ()
 }
 
 bool
-btShapeHull::buildHull (btScalar /*margin*/)
+btShapeHull::buildHull (btScalar /*margin*/, int highres)
 {
-	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+	int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS;
 	{
 		int numPDA = m_shape->getNumPreferredPenetrationDirections();
 		if (numPDA)
@@ -47,17 +49,17 @@ btShapeHull::buildHull (btScalar /*margin*/)
 			{
 				btVector3 norm;
 				m_shape->getPreferredPenetrationDirection(i,norm);
-				getUnitSpherePoints()[numSampleDirections] = norm;
+				getUnitSpherePoints(highres)[numSampleDirections] = norm;
 				numSampleDirections++;
 			}
 		}
 	}
 
-	btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
 	int i;
 	for (i = 0; i < numSampleDirections; i++)
 	{
-		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
 	}
 
 	HullDesc hd;
@@ -118,9 +120,268 @@ btShapeHull::numIndices () const
 }
 
 
-btVector3* btShapeHull::getUnitSpherePoints()
+btVector3* btShapeHull::getUnitSpherePoints(int highres)
 {
-	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
+	static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+	{
+		btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
+		btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
+		btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
+		btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
+		btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
+		btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
+		btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
+		btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
+		btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
+		btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
+		btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
+		btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
+		btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
+		btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
+		btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
+		btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
+		btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
+		btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
+		btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
+		btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
+		btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
+		btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
+		btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
+		btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
+		btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
+		btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
+		btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
+		btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
+		btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
+		btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
+		btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
+		btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
+		btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
+		btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
+		btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
+		btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
+		btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
+		btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
+		btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
+		btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
+		btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
+		btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
+		btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
+		btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
+		btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
+		btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
+		btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
+		btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
+		btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
+		btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
+		btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
+		btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
+		btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
+		btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
+		btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
+		btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
+		btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
+		btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
+		btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
+		btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
+		btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
+		btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
+		btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
+		btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
+		btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
+		btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
+		btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
+		btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
+		btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
+		btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
+		btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
+		btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
+		btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
+		btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
+		btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
+		btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
+		btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
+		btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
+		btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
+		btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
+		btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
+		btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
+		btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
+		btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
+		btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
+		btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
+		btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
+		btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
+		btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
+		btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
+		btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
+		btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
+		btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
+		btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
+		btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
+		btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
+		btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
+		btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
+		btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
+		btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
+		btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
+		btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
+		btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
+		btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
+		btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
+		btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
+		btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
+		btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
+		btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
+		btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
+		btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
+		btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
+		btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
+		btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
+		btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
+		btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
+		btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
+		btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
+		btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
+		btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
+		btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
+		btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
+		btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
+		btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
+		btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
+		btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
+		btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
+		btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
+		btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
+		btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
+		btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
+		btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
+		btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
+		btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
+		btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
+		btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
+		btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
+		btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
+		btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
+		btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
+		btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
+		btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
+		btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
+		btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
+		btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
+		btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
+		btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
+		btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
+		btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
+		btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
+		btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
+		btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
+		btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
+		btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
+		btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
+		btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
+		btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
+		btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
+		btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
+		btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
+		btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
+		btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
+		btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
+		btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
+		btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
+		btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
+		btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
+		btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
+		btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
+		btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
+		btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
+		btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
+		btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
+		btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
+		btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
+		btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
+		btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
+		btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
+		btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
+		btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
+		btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
+		btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
+		btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
+		btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
+		btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
+		btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
+		btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
+		btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
+		btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
+		btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
+		btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
+		btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
+		btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
+		btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
+		btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
+		btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
+		btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
+		btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
+		btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
+		btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
+		btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
+		btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
+		btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
+		btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
+		btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
+		btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
+		btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
+		btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
+		btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
+		btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
+		btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
+		btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
+		btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
+		btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
+		btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
+		btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
+		btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
+		btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
+		btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
+		btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
+		btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
+		btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
+		btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
+		btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
+		btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
+		btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
+		btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
+		btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
+		btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
+		btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
+		btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
+		btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
+		btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
+		btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
+		btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
+		btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
+		btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
+		btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
+		btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
+		btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
+		btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
+		btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
+		btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
+		btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
+		btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
+		btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
+		btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
+		btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
+		btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
+		btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
+		btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
+		btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
+		btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
+		btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
+		btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
+		btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
+	};
+	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
 	{
 		btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
 		btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
@@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints()
 		btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
 		btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
 	};
+	if (highres)
+		return sUnitSpherePointsHighres;
 	return sUnitSpherePoints;
 }
 
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
index e959f198b6..78ea4b6501 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
@@ -34,7 +34,7 @@ protected:
 	unsigned int m_numIndices;
 	const btConvexShape* m_shape;
 
-	static btVector3* getUnitSpherePoints();
+	static btVector3* getUnitSpherePoints(int highres=0);
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -42,7 +42,7 @@ public:
 	btShapeHull (const btConvexShape* shape);
 	~btShapeHull ();
 
-	bool buildHull (btScalar margin);
+	bool buildHull (btScalar margin, int highres=0);
 
 	int numTriangles () const;
 	int numVertices () const;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
index d17141e3f2..b5e0e716d4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -69,8 +69,6 @@ void	btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const
 	//tangentDir0/tangentDir1 can be precalculated
 	btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
 
-	btVector3 supVertex0,supVertex1;
-
 	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
 	
 	btVector3 triangle[3];
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index 9e1544e87a..b7a6f74361 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
 
 ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
+///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
 ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
 {