bullet: Streamline bundling, remove extraneous src/ folder

Document version and how to extract sources in thirdparty/README.md.
Drop unnecessary CMake and Premake files.
Simplify SCsub, drop unused one.

76 files changed, 11894 insertions, 0 deletions

diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
new file mode 100644
index 0000000000..ecce028c2e
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
@@ -0,0 +1,42 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btBox2dShape.h"
+
+
+//{ 
+
+
+void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+
+void	btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//btScalar margin = btScalar(0.);
+	btVector3 halfExtents = getHalfExtentsWithMargin();
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
new file mode 100644
index 0000000000..22bee4f2c8
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -0,0 +1,372 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_OBB_BOX_2D_SHAPE_H
+#define BT_OBB_BOX_2D_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMinMax.h"
+
+///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
+ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
+{
+
+	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
+
+	btVector3 m_centroid;
+	btVector3 m_vertices[4];
+	btVector3 m_normals[4];
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3 getHalfExtentsWithMargin() const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		return halfExtents;
+	}
+	
+	const btVector3& getHalfExtentsWithoutMargin() const
+	{
+		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+	}
+	
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+	
+		for (int i=0;i<numVectors;i++)
+		{
+			const btVector3& vec = vectors[i];
+			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
+		}
+
+	}
+
+
+	///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
+	btBox2dShape( const btVector3& boxHalfExtents) 
+		: btPolyhedralConvexShape(),
+		m_centroid(0,0,0)
+	{
+		m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+		m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+		m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+		m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+
+		m_normals[0].setValue(0,-1,0);
+		m_normals[1].setValue(1,0,0);
+		m_normals[2].setValue(0,1,0);
+		m_normals[3].setValue(-1,0,0);
+
+		btScalar minDimension = boxHalfExtents.getX();
+		if (minDimension>boxHalfExtents.getY())
+			minDimension = boxHalfExtents.getY();
+
+		m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
+
+		setSafeMargin(minDimension);
+	};
+
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+		btConvexInternalShape::setLocalScaling(scaling);
+
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+
+
+
+	int	getVertexCount() const
+	{
+		return 4;
+	}
+
+	virtual int getNumVertices()const
+	{
+		return 4;
+	}
+
+	const btVector3* getVertices() const
+	{
+		return &m_vertices[0];
+	}
+
+	const btVector3* getNormals() const
+	{
+		return &m_normals[0];
+	}
+
+
+
+
+
+
+
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	{
+		//this plane might not be aligned...
+		btVector4 plane ;
+		getPlaneEquation(plane,i);
+		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+		planeSupport = localGetSupportingVertex(-planeNormal);
+	}
+
+
+	const btVector3& getCentroid() const
+	{
+		return m_centroid;
+	}
+	
+	virtual int getNumPlanes() const
+	{
+		return 6;
+	}	
+	
+	
+
+	virtual int getNumEdges() const
+	{
+		return 12;
+	}
+
+
+	virtual void getVertex(int i,btVector3& vtx) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		vtx = btVector3(
+				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+	}
+	
+
+	virtual void	getPlaneEquation(btVector4& plane,int i) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		switch (i)
+		{
+		case 0:
+			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 1:
+			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 2:
+			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 3:
+			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 4:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+			break;
+		case 5:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+	
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	//virtual void getEdge(int i,Edge& edge) const
+	{
+		int edgeVert0 = 0;
+		int edgeVert1 = 0;
+
+		switch (i)
+		{
+		case 0:
+				edgeVert0 = 0;
+				edgeVert1 = 1;
+			break;
+		case 1:
+				edgeVert0 = 0;
+				edgeVert1 = 2;
+			break;
+		case 2:
+			edgeVert0 = 1;
+			edgeVert1 = 3;
+
+			break;
+		case 3:
+			edgeVert0 = 2;
+			edgeVert1 = 3;
+			break;
+		case 4:
+			edgeVert0 = 0;
+			edgeVert1 = 4;
+			break;
+		case 5:
+			edgeVert0 = 1;
+			edgeVert1 = 5;
+
+			break;
+		case 6:
+			edgeVert0 = 2;
+			edgeVert1 = 6;
+			break;
+		case 7:
+			edgeVert0 = 3;
+			edgeVert1 = 7;
+			break;
+		case 8:
+			edgeVert0 = 4;
+			edgeVert1 = 5;
+			break;
+		case 9:
+			edgeVert0 = 4;
+			edgeVert1 = 6;
+			break;
+		case 10:
+			edgeVert0 = 5;
+			edgeVert1 = 7;
+			break;
+		case 11:
+			edgeVert0 = 6;
+			edgeVert1 = 7;
+			break;
+		default:
+			btAssert(0);
+
+		}
+
+		getVertex(edgeVert0,pa );
+		getVertex(edgeVert1,pb );
+	}
+
+
+
+
+	
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		//btScalar minDist = 2*tolerance;
+		
+		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
+						(pt.x() >= (-halfExtents.x()-tolerance)) &&
+						(pt.y() <= (halfExtents.y()+tolerance)) &&
+						(pt.y() >= (-halfExtents.y()-tolerance)) &&
+						(pt.z() <= (halfExtents.z()+tolerance)) &&
+						(pt.z() >= (-halfExtents.z()-tolerance));
+		
+		return result;
+	}
+
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "Box2d";
+	}
+
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 6;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		switch (index)
+		{
+		case 0:
+			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+			break;
+		case 1:
+			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+			break;
+		case 2:
+			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+			break;
+		case 3:
+			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+			break;
+		case 4:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+			break;
+		case 5:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+};
+
+#endif //BT_OBB_BOX_2D_SHAPE_H
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
new file mode 100644
index 0000000000..72eeb38911
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
@@ -0,0 +1,51 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btBoxShape.h"
+
+btBoxShape::btBoxShape( const btVector3& boxHalfExtents) 
+: btPolyhedralConvexShape()
+{
+	m_shapeType = BOX_SHAPE_PROXYTYPE;
+
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
+
+	setSafeMargin(boxHalfExtents);
+};
+
+
+
+
+void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+
+void	btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//btScalar margin = btScalar(0.);
+	btVector3 halfExtents = getHalfExtentsWithMargin();
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
new file mode 100644
index 0000000000..715e3f2ab9
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
@@ -0,0 +1,314 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_OBB_BOX_MINKOWSKI_H
+#define BT_OBB_BOX_MINKOWSKI_H
+
+#include "btPolyhedralConvexShape.h"
+#include "btCollisionMargin.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMinMax.h"
+
+///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
+ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
+{
+
+	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
+
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3 getHalfExtentsWithMargin() const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		return halfExtents;
+	}
+	
+	const btVector3& getHalfExtentsWithoutMargin() const
+	{
+		return m_implicitShapeDimensions;//scaling is included, margin is not
+	}
+	
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+	
+		for (int i=0;i<numVectors;i++)
+		{
+			const btVector3& vec = vectors[i];
+			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
+		}
+
+	}
+
+
+	btBoxShape( const btVector3& boxHalfExtents);
+
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+		btConvexInternalShape::setLocalScaling(scaling);
+
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	{
+		//this plane might not be aligned...
+		btVector4 plane ;
+		getPlaneEquation(plane,i);
+		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+		planeSupport = localGetSupportingVertex(-planeNormal);
+	}
+
+	
+	virtual int getNumPlanes() const
+	{
+		return 6;
+	}	
+	
+	virtual int	getNumVertices() const 
+	{
+		return 8;
+	}
+
+	virtual int getNumEdges() const
+	{
+		return 12;
+	}
+
+
+	virtual void getVertex(int i,btVector3& vtx) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithMargin();
+
+		vtx = btVector3(
+				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+	}
+	
+
+	virtual void	getPlaneEquation(btVector4& plane,int i) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		switch (i)
+		{
+		case 0:
+			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 1:
+			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 2:
+			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 3:
+			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 4:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+			break;
+		case 5:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+	
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	//virtual void getEdge(int i,Edge& edge) const
+	{
+		int edgeVert0 = 0;
+		int edgeVert1 = 0;
+
+		switch (i)
+		{
+		case 0:
+				edgeVert0 = 0;
+				edgeVert1 = 1;
+			break;
+		case 1:
+				edgeVert0 = 0;
+				edgeVert1 = 2;
+			break;
+		case 2:
+			edgeVert0 = 1;
+			edgeVert1 = 3;
+
+			break;
+		case 3:
+			edgeVert0 = 2;
+			edgeVert1 = 3;
+			break;
+		case 4:
+			edgeVert0 = 0;
+			edgeVert1 = 4;
+			break;
+		case 5:
+			edgeVert0 = 1;
+			edgeVert1 = 5;
+
+			break;
+		case 6:
+			edgeVert0 = 2;
+			edgeVert1 = 6;
+			break;
+		case 7:
+			edgeVert0 = 3;
+			edgeVert1 = 7;
+			break;
+		case 8:
+			edgeVert0 = 4;
+			edgeVert1 = 5;
+			break;
+		case 9:
+			edgeVert0 = 4;
+			edgeVert1 = 6;
+			break;
+		case 10:
+			edgeVert0 = 5;
+			edgeVert1 = 7;
+			break;
+		case 11:
+			edgeVert0 = 6;
+			edgeVert1 = 7;
+			break;
+		default:
+			btAssert(0);
+
+		}
+
+		getVertex(edgeVert0,pa );
+		getVertex(edgeVert1,pb );
+	}
+
+
+
+
+	
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		//btScalar minDist = 2*tolerance;
+		
+		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
+						(pt.x() >= (-halfExtents.x()-tolerance)) &&
+						(pt.y() <= (halfExtents.y()+tolerance)) &&
+						(pt.y() >= (-halfExtents.y()-tolerance)) &&
+						(pt.z() <= (halfExtents.z()+tolerance)) &&
+						(pt.z() >= (-halfExtents.z()-tolerance));
+		
+		return result;
+	}
+
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "Box";
+	}
+
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 6;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		switch (index)
+		{
+		case 0:
+			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+			break;
+		case 1:
+			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+			break;
+		case 2:
+			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+			break;
+		case 3:
+			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+			break;
+		case 4:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+			break;
+		case 5:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+};
+
+
+#endif //BT_OBB_BOX_MINKOWSKI_H
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
new file mode 100644
index 0000000000..61f465cb72
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -0,0 +1,470 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+//#define DISABLE_BVH
+
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "LinearMath/btSerializer.h"
+
+///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
+///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
+:btTriangleMeshShape(meshInterface),
+m_bvh(0),
+m_triangleInfoMap(0),
+m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+m_ownsBvh(false)
+{
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	//construct bvh from meshInterface
+#ifndef DISABLE_BVH
+
+	if (buildBvh)
+	{
+		buildOptimizedBvh();
+	}
+
+#endif //DISABLE_BVH
+
+}
+
+btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
+:btTriangleMeshShape(meshInterface),
+m_bvh(0),
+m_triangleInfoMap(0),
+m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+m_ownsBvh(false)
+{
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	//construct bvh from meshInterface
+#ifndef DISABLE_BVH
+
+	if (buildBvh)
+	{
+		void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+		m_bvh = new (mem) btOptimizedBvh();
+		
+		m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
+		m_ownsBvh = true;
+	}
+
+#endif //DISABLE_BVH
+
+}
+
+void	btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
+	
+	m_localAabbMin.setMin(aabbMin);
+	m_localAabbMax.setMax(aabbMax);
+}
+
+
+void	btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
+	
+	recalcLocalAabb();
+}
+
+btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
+{
+	if (m_ownsBvh)
+	{
+		m_bvh->~btOptimizedBvh();
+		btAlignedFree(m_bvh);
+	}
+}
+
+void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+				
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
+}
+
+void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
+}
+
+//perform bvh tree traversal and report overlapping triangles to 'callback'
+void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+#ifdef DISABLE_BVH
+	//brute force traverse all triangles
+	btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
+#else
+
+	//first get all the nodes
+
+	
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback*		m_callback;
+		btVector3				m_triangle[3];
+		int m_numOverlap;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback),
+			m_numOverlap(0)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			m_numOverlap++;
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+			
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
+
+
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("%d ,",graphicsindex);
+#endif //DEBUG_TRIANGLE_MESH
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(
+																		graphicsbase[0]*meshScaling.getX(),
+																		graphicsbase[1]*meshScaling.getY(),
+																		graphicsbase[2]*meshScaling.getZ());
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(
+						btScalar(graphicsbase[0])*meshScaling.getX(),
+						btScalar(graphicsbase[1])*meshScaling.getY(),
+						btScalar(graphicsbase[2])*meshScaling.getZ());
+				}
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
+#endif //DEBUG_TRIANGLE_MESH
+			}
+
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+	
+#endif//DISABLE_BVH
+
+
+}
+
+void   btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+   {
+      btTriangleMeshShape::setLocalScaling(scaling);
+	  buildOptimizedBvh();
+   }
+}
+
+void   btBvhTriangleMeshShape::buildOptimizedBvh()
+{
+	if (m_ownsBvh)
+	{
+		m_bvh->~btOptimizedBvh();
+		btAlignedFree(m_bvh);
+	}
+	///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
+	void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+	m_bvh = new(mem) btOptimizedBvh();
+	//rebuild the bvh...
+	m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
+	m_ownsBvh = true;
+}
+
+void   btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
+{
+   btAssert(!m_bvh);
+   btAssert(!m_ownsBvh);
+
+   m_bvh = bvh;
+   m_ownsBvh = false;
+   // update the scaling without rebuilding the bvh
+   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+   {
+      btTriangleMeshShape::setLocalScaling(scaling);
+   }
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
+
+	btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
+
+	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
+
+	trimeshData->m_collisionMargin = float(m_collisionMargin);
+
+	
+
+	if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
+	{
+		void* chunk = serializer->findPointer(m_bvh);
+		if (chunk)
+		{
+#ifdef BT_USE_DOUBLE_PRECISION
+			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
+			trimeshData->m_quantizedFloatBvh = 0;
+#else
+			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)chunk;
+			trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+		} else
+		{
+
+#ifdef BT_USE_DOUBLE_PRECISION
+			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+			trimeshData->m_quantizedFloatBvh = 0;
+#else
+			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+			trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+	
+			int sz = m_bvh->calculateSerializeBufferSizeNew();
+			btChunk* chunk = serializer->allocate(sz,1);
+			const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
+		}
+	} else
+	{
+		trimeshData->m_quantizedFloatBvh = 0;
+		trimeshData->m_quantizedDoubleBvh = 0;
+	}
+
+	
+
+	if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
+	{
+		void* chunk = serializer->findPointer(m_triangleInfoMap);
+		if (chunk)
+		{
+			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
+		} else
+		{
+			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
+			int sz = m_triangleInfoMap->calculateSerializeBufferSize();
+			btChunk* chunk = serializer->allocate(sz,1);
+			const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
+		}
+	} else
+	{
+		trimeshData->m_triangleInfoMap = 0;
+	}
+
+	// Fill padding with zeros to appease msan.
+	memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
+
+	return "btTriangleMeshShapeData";
+}
+
+void	btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
+{
+	if (m_bvh)
+	{
+		int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
+		btChunk* chunk = serializer->allocate(len,1);
+		const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+		serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
+	}
+}
+
+void	btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
+{
+	if (m_triangleInfoMap)
+	{
+		int len = m_triangleInfoMap->calculateSerializeBufferSize();
+		btChunk* chunk = serializer->allocate(len,1);
+		const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+		serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
+	}
+}
+
+
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
new file mode 100644
index 0000000000..1fa4995d16
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -0,0 +1,149 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MESH_SHAPE_H
+
+#include "btTriangleMeshShape.h"
+#include "btOptimizedBvh.h"
+#include "LinearMath/btAlignedAllocator.h"
+#include "btTriangleInfoMap.h"
+
+///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
+///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
+///using HACD, see Bullet/Demos/ConvexDecompositionDemo. 
+///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
+///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and 
+///cache friendly traversal for PlayStation 3 Cell SPU. 
+///It is recommended to enable useQuantizedAabbCompression for better memory usage.
+///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
+///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
+///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
+ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
+{
+
+	btOptimizedBvh*	m_bvh;
+	btTriangleInfoMap*	m_triangleInfoMap;
+
+	bool m_useQuantizedAabbCompression;
+	bool m_ownsBvh;
+#ifdef __clang__
+	bool m_pad[11] __attribute__((unused));////need padding due to alignment
+#else
+	bool m_pad[11];////need padding due to alignment
+#endif
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	
+	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
+
+	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
+	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true);
+	
+	virtual ~btBvhTriangleMeshShape();
+
+	bool getOwnsBvh () const
+	{
+		return m_ownsBvh;
+	}
+
+
+	
+	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
+	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	void	refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
+
+	///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
+	void	partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
+
+	//debugging
+	virtual const char*	getName()const {return "BVHTRIANGLEMESH";}
+
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	btOptimizedBvh*	getOptimizedBvh()
+	{
+		return m_bvh;
+	}
+
+	void	setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
+
+	void    buildOptimizedBvh();
+
+	bool	usesQuantizedAabbCompression() const
+	{
+		return	m_useQuantizedAabbCompression;
+	}
+
+	void	setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap)
+	{
+		m_triangleInfoMap = triangleInfoMap;
+	}
+
+	const btTriangleInfoMap*	getTriangleInfoMap() const
+	{
+		return m_triangleInfoMap;
+	}
+	
+	btTriangleInfoMap*	getTriangleInfoMap()
+	{
+		return m_triangleInfoMap;
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	virtual void	serializeSingleBvh(btSerializer* serializer) const;
+
+	virtual void	serializeSingleTriangleInfoMap(btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btTriangleMeshShapeData
+{
+	btCollisionShapeData	m_collisionShapeData;
+
+	btStridingMeshInterfaceData m_meshInterface;
+
+	btQuantizedBvhFloatData		*m_quantizedFloatBvh;
+	btQuantizedBvhDoubleData	*m_quantizedDoubleBvh;
+
+	btTriangleInfoMapData	*m_triangleInfoMap;
+	
+	float	m_collisionMargin;
+
+	char m_pad3[4];
+	
+};
+
+
+SIMD_FORCE_INLINE	int	btBvhTriangleMeshShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btTriangleMeshShapeData);
+}
+
+
+
+#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
new file mode 100644
index 0000000000..0345501ce2
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -0,0 +1,169 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btCapsuleShape.h"
+
+#include "LinearMath/btQuaternion.h"
+
+btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
+{
+	m_collisionMargin = radius;
+	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
+	m_upAxis = 1;
+	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
+}
+
+ 
+ btVector3	btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+
+	btVector3 supVec(0,0,0);
+
+	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	btVector3 vtx;
+	btScalar newDot;
+	
+	
+
+	{
+		btVector3 pos(0,0,0);
+		pos[getUpAxis()] = getHalfHeight();
+
+		vtx = pos;
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	{
+		btVector3 pos(0,0,0);
+		pos[getUpAxis()] = -getHalfHeight();
+
+		vtx = pos;
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+
+	return supVec;
+
+}
+
+ void	btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+
+	
+	
+	for (int j=0;j<numVectors;j++)
+	{
+		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+		const btVector3& vec = vectors[j];
+
+		btVector3 vtx;
+		btScalar newDot;
+		{
+			btVector3 pos(0,0,0);
+			pos[getUpAxis()] = getHalfHeight();
+			vtx = pos;
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supportVerticesOut[j] = vtx;
+			}
+		}
+		{
+			btVector3 pos(0,0,0);
+			pos[getUpAxis()] = -getHalfHeight();
+			vtx = pos;
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supportVerticesOut[j] = vtx;
+			}
+		}
+		
+	}
+}
+
+
+void	btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//as an approximation, take the inertia of the box that bounds the spheres
+
+	btTransform ident;
+	ident.setIdentity();
+
+	
+	btScalar radius = getRadius();
+
+	btVector3 halfExtents(radius,radius,radius);
+	halfExtents[getUpAxis()]+=getHalfHeight();
+
+	btScalar lx=btScalar(2.)*(halfExtents[0]);
+	btScalar ly=btScalar(2.)*(halfExtents[1]);
+	btScalar lz=btScalar(2.)*(halfExtents[2]);
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(.08333333);
+
+	inertia[0] = scaledmass * (y2+z2);
+	inertia[1] = scaledmass * (x2+z2);
+	inertia[2] = scaledmass * (x2+y2);
+
+}
+
+btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
+{
+	m_collisionMargin = radius;
+	m_upAxis = 0;
+	m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
+}
+
+
+
+
+
+
+btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
+{
+	m_collisionMargin = radius;
+	m_upAxis = 2;
+	m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
+}
+
+
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
new file mode 100644
index 0000000000..7d64b46abf
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -0,0 +1,190 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CAPSULE_SHAPE_H
+#define BT_CAPSULE_SHAPE_H
+
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+
+///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
+///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
+ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
+{
+protected:
+	int	m_upAxis;
+
+protected:
+	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
+	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
+
+public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btCapsuleShape(btScalar radius,btScalar height);
+
+	///CollisionShape Interface
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	/// btConvexShape Interface
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//don't override the margin for capsules, their entire radius == margin
+	}
+
+	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+	{
+			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
+			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
+			btMatrix3x3 abs_b = t.getBasis().absolute();  
+			btVector3 center = t.getOrigin();
+            btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+        
+			aabbMin = center - extent;
+			aabbMax = center + extent;
+	}
+
+	virtual const char*	getName()const 
+	{
+		return "CapsuleShape";
+	}
+
+	int	getUpAxis() const
+	{
+		return m_upAxis;
+	}
+
+	btScalar	getRadius() const
+	{
+		int radiusAxis = (m_upAxis+2)%3;
+		return m_implicitShapeDimensions[radiusAxis];
+	}
+
+	btScalar	getHalfHeight() const
+	{
+		return m_implicitShapeDimensions[m_upAxis];
+	}
+
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
+                btConvexInternalShape::setLocalScaling(scaling);
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
+		//update m_collisionMargin, since entire radius==margin
+		int radiusAxis = (m_upAxis+2)%3;
+		m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
+	}
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	SIMD_FORCE_INLINE	void	deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
+
+};
+
+///btCapsuleShapeX represents a capsule around the Z axis
+///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+class btCapsuleShapeX : public btCapsuleShape
+{
+public:
+
+	btCapsuleShapeX(btScalar radius,btScalar height);
+		
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "CapsuleX";
+	}
+
+	
+
+};
+
+///btCapsuleShapeZ represents a capsule around the Z axis
+///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
+class btCapsuleShapeZ : public btCapsuleShape
+{
+public:
+	btCapsuleShapeZ(btScalar radius,btScalar height);
+
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CapsuleZ";
+	}
+
+	
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCapsuleShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	int	m_upAxis;
+
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCapsuleShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCapsuleShapeData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
+
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upAxis = m_upAxis;
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
+	return "btCapsuleShapeData";
+}
+
+SIMD_FORCE_INLINE	void	btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
+{
+	m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
+	m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
+	m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
+	//it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
+	m_upAxis = dataBuffer->m_upAxis;
+}
+
+#endif //BT_CAPSULE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
new file mode 100644
index 0000000000..474bf1fb49
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
@@ -0,0 +1,27 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_COLLISION_MARGIN_H
+#define BT_COLLISION_MARGIN_H
+
+///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
+///This collision margin is used by Gjk and some other algorithms
+///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
+#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
+
+
+
+#endif //BT_COLLISION_MARGIN_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
new file mode 100644
index 0000000000..823e2788f2
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
@@ -0,0 +1,122 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "LinearMath/btSerializer.h"
+
+/*
+  Make sure this dummy function never changes so that it
+  can be used by probes that are checking whether the
+  library is actually installed.
+*/
+extern "C" 
+{
+void btBulletCollisionProbe ();
+
+void btBulletCollisionProbe () {}
+}
+
+
+
+void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
+{
+	btTransform tr;
+	tr.setIdentity();
+	btVector3 aabbMin,aabbMax;
+
+	getAabb(tr,aabbMin,aabbMax);
+
+	radius = (aabbMax-aabbMin).length()*btScalar(0.5);
+	center = (aabbMin+aabbMax)*btScalar(0.5);
+}
+
+
+btScalar	btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
+{
+	return getAngularMotionDisc() * defaultContactThreshold;
+}
+
+btScalar	btCollisionShape::getAngularMotionDisc() const
+{
+	///@todo cache this value, to improve performance
+	btVector3	center;
+	btScalar disc;
+	getBoundingSphere(center,disc);
+	disc += (center).length();
+	return disc;
+}
+
+void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
+{
+	//start with static aabb
+	getAabb(curTrans,temporalAabbMin,temporalAabbMax);
+
+	btScalar temporalAabbMaxx = temporalAabbMax.getX();
+	btScalar temporalAabbMaxy = temporalAabbMax.getY();
+	btScalar temporalAabbMaxz = temporalAabbMax.getZ();
+	btScalar temporalAabbMinx = temporalAabbMin.getX();
+	btScalar temporalAabbMiny = temporalAabbMin.getY();
+	btScalar temporalAabbMinz = temporalAabbMin.getZ();
+
+	// add linear motion
+	btVector3 linMotion = linvel*timeStep;
+	///@todo: simd would have a vector max/min operation, instead of per-element access
+	if (linMotion.x() > btScalar(0.))
+		temporalAabbMaxx += linMotion.x(); 
+	else
+		temporalAabbMinx += linMotion.x();
+	if (linMotion.y() > btScalar(0.))
+		temporalAabbMaxy += linMotion.y(); 
+	else
+		temporalAabbMiny += linMotion.y();
+	if (linMotion.z() > btScalar(0.))
+		temporalAabbMaxz += linMotion.z(); 
+	else
+		temporalAabbMinz += linMotion.z();
+
+	//add conservative angular motion
+	btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
+	btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
+	temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
+	temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
+
+	temporalAabbMin -= angularMotion3d;
+	temporalAabbMax += angularMotion3d;
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
+	char* name = (char*) serializer->findNameForPointer(this);
+	shapeData->m_name = (char*)serializer->getUniquePointer(name);
+	if (shapeData->m_name)
+	{
+		serializer->serializeName(name);
+	}
+	shapeData->m_shapeType = m_shapeType;
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
+
+	return "btCollisionShapeData";
+}
+
+void	btCollisionShape::serializeSingleShape(btSerializer* serializer) const
+{
+	int len = calculateSerializeBufferSize();
+	btChunk* chunk = serializer->allocate(len,1);
+	const char* structType = serialize(chunk->m_oldPtr, serializer);
+	serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
+}
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
new file mode 100644
index 0000000000..6c4916fbd4
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -0,0 +1,170 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_COLLISION_SHAPE_H
+#define BT_COLLISION_SHAPE_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
+class btSerializer;
+
+
+///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
+ATTRIBUTE_ALIGNED16(class) btCollisionShape
+{
+protected:
+	int m_shapeType;
+	void* m_userPointer;
+	int m_userIndex;
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
+	{
+	}
+
+	virtual ~btCollisionShape()
+	{
+	}
+
+	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+
+	virtual void	getBoundingSphere(btVector3& center,btScalar& radius) const;
+
+	///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
+	virtual btScalar	getAngularMotionDisc() const;
+
+	virtual btScalar	getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
+
+
+	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
+	///result is conservative
+	void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
+
+
+
+	SIMD_FORCE_INLINE bool	isPolyhedral() const
+	{
+		return btBroadphaseProxy::isPolyhedral(getShapeType());
+	}
+
+	SIMD_FORCE_INLINE bool	isConvex2d() const
+	{
+		return btBroadphaseProxy::isConvex2d(getShapeType());
+	}
+
+	SIMD_FORCE_INLINE bool	isConvex() const
+	{
+		return btBroadphaseProxy::isConvex(getShapeType());
+	}
+	SIMD_FORCE_INLINE bool	isNonMoving() const
+	{
+		return btBroadphaseProxy::isNonMoving(getShapeType());
+	}
+	SIMD_FORCE_INLINE bool	isConcave() const
+	{
+		return btBroadphaseProxy::isConcave(getShapeType());
+	}
+	SIMD_FORCE_INLINE bool	isCompound() const
+	{
+		return btBroadphaseProxy::isCompound(getShapeType());
+	}
+
+	SIMD_FORCE_INLINE bool	isSoftBody() const
+	{
+		return btBroadphaseProxy::isSoftBody(getShapeType());
+	}
+
+	///isInfinite is used to catch simulation error (aabb check)
+	SIMD_FORCE_INLINE bool isInfinite() const
+	{
+		return btBroadphaseProxy::isInfinite(getShapeType());
+	}
+
+#ifndef __SPU__
+	virtual void	setLocalScaling(const btVector3& scaling) =0;
+	virtual const btVector3& getLocalScaling() const =0;
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
+
+
+//debugging support
+	virtual const char*	getName()const =0 ;
+#endif //__SPU__
+
+	
+	int		getShapeType() const { return m_shapeType; }
+
+	///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
+	///See Bullet/Demos/RollingFrictionDemo for an example
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3(1,1,1);
+	}
+	virtual void	setMargin(btScalar margin) = 0;
+	virtual btScalar	getMargin() const = 0;
+
+	
+	///optional user data pointer
+	void	setUserPointer(void*  userPtr)
+	{
+		m_userPointer = userPtr;
+	}
+
+	void*	getUserPointer() const
+	{
+		return m_userPointer;
+	}
+	void setUserIndex(int index)
+	{
+		m_userIndex = index;
+	}
+
+	int getUserIndex() const
+	{
+		return m_userIndex;
+	}
+
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	virtual void	serializeSingleShape(btSerializer* serializer) const;
+
+};	
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCollisionShapeData
+{
+	char	*m_name;
+	int		m_shapeType;
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCollisionShapeData);
+}
+
+
+
+#endif //BT_COLLISION_SHAPE_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
new file mode 100644
index 0000000000..e8c8c336cd
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -0,0 +1,359 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btCompoundShape.h"
+#include "btCollisionShape.h"
+#include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "LinearMath/btSerializer.h"
+
+btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity)
+: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
+m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
+m_dynamicAabbTree(0),
+m_updateRevision(1),
+m_collisionMargin(btScalar(0.)),
+m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
+{
+	m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
+
+	if (enableDynamicAabbTree)
+	{
+		void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+		m_dynamicAabbTree = new(mem) btDbvt();
+		btAssert(mem==m_dynamicAabbTree);
+	}
+
+	m_children.reserve(initialChildCapacity);
+}
+
+
+btCompoundShape::~btCompoundShape()
+{
+	if (m_dynamicAabbTree)
+	{
+		m_dynamicAabbTree->~btDbvt();
+		btAlignedFree(m_dynamicAabbTree);
+	}
+}
+
+void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
+{
+	m_updateRevision++;
+	//m_childTransforms.push_back(localTransform);
+	//m_childShapes.push_back(shape);
+	btCompoundShapeChild child;
+	child.m_node = 0;
+	child.m_transform = localTransform;
+	child.m_childShape = shape;
+	child.m_childShapeType = shape->getShapeType();
+	child.m_childMargin = shape->getMargin();
+
+	
+	//extend the local aabbMin/aabbMax
+	btVector3 localAabbMin,localAabbMax;
+	shape->getAabb(localTransform,localAabbMin,localAabbMax);
+	for (int i=0;i<3;i++)
+	{
+		if (m_localAabbMin[i] > localAabbMin[i])
+		{
+			m_localAabbMin[i] = localAabbMin[i];
+		}
+		if (m_localAabbMax[i] < localAabbMax[i])
+		{
+			m_localAabbMax[i] = localAabbMax[i];
+		}
+
+	}
+	if (m_dynamicAabbTree)
+	{
+		const btDbvtVolume	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		size_t index = m_children.size();
+		child.m_node = m_dynamicAabbTree->insert(bounds,reinterpret_cast<void*>(index) );
+	}
+
+	m_children.push_back(child);
+
+}
+
+void	btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
+{
+	m_children[childIndex].m_transform = newChildTransform;
+
+	if (m_dynamicAabbTree)
+	{
+		///update the dynamic aabb tree
+		btVector3 localAabbMin,localAabbMax;
+		m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
+		ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+		//int index = m_children.size()-1;
+		m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
+	}
+
+	if (shouldRecalculateLocalAabb)
+	{
+		recalculateLocalAabb();
+	}
+}
+
+void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
+{
+	m_updateRevision++;
+	btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
+	if (m_dynamicAabbTree)
+	{
+		m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
+	}
+	m_children.swap(childShapeIndex,m_children.size()-1);
+    if (m_dynamicAabbTree) 
+		m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
+	m_children.pop_back();
+
+}
+
+
+
+void btCompoundShape::removeChildShape(btCollisionShape* shape)
+{
+	m_updateRevision++;
+	// Find the children containing the shape specified, and remove those children.
+	//note: there might be multiple children using the same shape!
+	for(int i = m_children.size()-1; i >= 0 ; i--)
+	{
+		if(m_children[i].m_childShape == shape)
+		{
+			removeChildShapeByIndex(i);
+		}
+	}
+
+
+
+	recalculateLocalAabb();
+}
+
+void btCompoundShape::recalculateLocalAabb()
+{
+	// Recalculate the local aabb
+	// Brute force, it iterates over all the shapes left.
+
+	m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+	//extend the local aabbMin/aabbMax
+	for (int j = 0; j < m_children.size(); j++)
+	{
+		btVector3 localAabbMin,localAabbMax;
+		m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
+		for (int i=0;i<3;i++)
+		{
+			if (m_localAabbMin[i] > localAabbMin[i])
+				m_localAabbMin[i] = localAabbMin[i];
+			if (m_localAabbMax[i] < localAabbMax[i])
+				m_localAabbMax[i] = localAabbMax[i];
+		}
+	}
+}
+
+///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+	
+	//avoid an illegal AABB when there are no children
+	if (!m_children.size())
+	{
+		localHalfExtents.setValue(0,0,0);
+		localCenter.setValue(0,0,0);
+	}
+	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
+		
+
+	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	btVector3 center = trans(localCenter);
+
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMin = center-extent;
+	aabbMax = center+extent;
+	
+}
+
+void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//approximation: take the inertia from the aabb for now
+	btTransform ident;
+	ident.setIdentity();
+	btVector3 aabbMin,aabbMax;
+	getAabb(ident,aabbMin,aabbMax);
+
+	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
+	inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
+	inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
+
+}
+
+
+
+
+void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
+{
+	int n = m_children.size();
+
+	btScalar totalMass = 0;
+	btVector3 center(0, 0, 0);
+	int k;
+
+	for (k = 0; k < n; k++)
+	{
+		btAssert(masses[k]>0);
+		center += m_children[k].m_transform.getOrigin() * masses[k];
+		totalMass += masses[k];
+	}
+
+	btAssert(totalMass>0);
+
+	center /= totalMass;
+	principal.setOrigin(center);
+
+	btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
+	for ( k = 0; k < n; k++)
+	{
+		btVector3 i;
+		m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
+
+		const btTransform& t = m_children[k].m_transform;
+		btVector3 o = t.getOrigin() - center;
+
+		//compute inertia tensor in coordinate system of compound shape
+		btMatrix3x3 j = t.getBasis().transpose();
+		j[0] *= i[0];
+		j[1] *= i[1];
+		j[2] *= i[2];
+		j = t.getBasis() * j;
+
+		//add inertia tensor
+		tensor[0] += j[0];
+		tensor[1] += j[1];
+		tensor[2] += j[2];
+
+		//compute inertia tensor of pointmass at o
+		btScalar o2 = o.length2();
+		j[0].setValue(o2, 0, 0);
+		j[1].setValue(0, o2, 0);
+		j[2].setValue(0, 0, o2);
+		j[0] += o * -o.x(); 
+		j[1] += o * -o.y(); 
+		j[2] += o * -o.z();
+
+		//add inertia tensor of pointmass
+		tensor[0] += masses[k] * j[0];
+		tensor[1] += masses[k] * j[1];
+		tensor[2] += masses[k] * j[2];
+	}
+
+	tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
+	inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
+}
+
+
+
+
+
+void btCompoundShape::setLocalScaling(const btVector3& scaling)
+{
+
+	for(int i = 0; i < m_children.size(); i++)
+	{
+		btTransform childTrans = getChildTransform(i);
+		btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
+//		childScale = childScale * (childTrans.getBasis() * scaling);
+		childScale = childScale * scaling / m_localScaling;
+		m_children[i].m_childShape->setLocalScaling(childScale);
+		childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
+		updateChildTransform(i, childTrans,false);
+	}
+	
+	m_localScaling = scaling;
+	recalculateLocalAabb();
+
+}
+
+
+void btCompoundShape::createAabbTreeFromChildren()
+{
+    if ( !m_dynamicAabbTree )
+    {
+        void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+        m_dynamicAabbTree = new(mem) btDbvt();
+        btAssert(mem==m_dynamicAabbTree);
+
+        for ( int index = 0; index < m_children.size(); index++ )
+        {
+            btCompoundShapeChild &child = m_children[index];
+
+            //extend the local aabbMin/aabbMax
+            btVector3 localAabbMin,localAabbMax;
+            child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
+
+            const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+			size_t index2 = index;
+            child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
+        }
+    }
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
+	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+	shapeData->m_collisionMargin = float(m_collisionMargin);
+	shapeData->m_numChildShapes = m_children.size();
+	shapeData->m_childShapePtr = 0;
+	if (shapeData->m_numChildShapes)
+	{
+		btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
+		btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
+		shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
+
+		for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
+		{
+			memPtr->m_childMargin = float(m_children[i].m_childMargin);
+			memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
+			//don't serialize shapes that already have been serialized
+			if (!serializer->findPointer(m_children[i].m_childShape))
+			{
+				btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
+				const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
+				serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
+			} 
+
+			memPtr->m_childShapeType = m_children[i].m_childShapeType;
+			m_children[i].m_transform.serializeFloat(memPtr->m_transform);
+		}
+		serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
+	}
+	return "btCompoundShapeData";
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
new file mode 100644
index 0000000000..4eef8dba30
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -0,0 +1,212 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_COMPOUND_SHAPE_H
+#define BT_COMPOUND_SHAPE_H
+
+#include "btCollisionShape.h"
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "btCollisionMargin.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+//class btOptimizedBvh;
+struct btDbvt;
+
+ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btTransform			m_transform;
+	btCollisionShape*	m_childShape;
+	int					m_childShapeType;
+	btScalar			m_childMargin;
+	struct btDbvtNode*	m_node;
+};
+
+SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
+{
+	return  ( c1.m_transform      == c2.m_transform &&
+		c1.m_childShape     == c2.m_childShape &&
+		c1.m_childShapeType == c2.m_childShapeType &&
+		c1.m_childMargin    == c2.m_childMargin );
+}
+
+/// The btCompoundShape allows to store multiple other btCollisionShapes
+/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
+/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
+/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
+/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
+ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
+{
+protected:
+	btAlignedObjectArray<btCompoundShapeChild> m_children;
+	btVector3						m_localAabbMin;
+	btVector3						m_localAabbMax;
+
+	btDbvt*							m_dynamicAabbTree;
+
+	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
+	int								m_updateRevision;
+
+	btScalar	m_collisionMargin;
+
+	btVector3	m_localScaling;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	explicit btCompoundShape(bool enableDynamicAabbTree = true, const int initialChildCapacity = 0);
+
+	virtual ~btCompoundShape();
+
+	void	addChildShape(const btTransform& localTransform,btCollisionShape* shape);
+
+	/// Remove all children shapes that contain the specified shape
+	virtual void removeChildShape(btCollisionShape* shape);
+
+	void removeChildShapeByIndex(int childShapeindex);
+
+
+	int		getNumChildShapes() const
+	{
+		return int (m_children.size());
+	}
+
+	btCollisionShape* getChildShape(int index)
+	{
+		return m_children[index].m_childShape;
+	}
+	const btCollisionShape* getChildShape(int index) const
+	{
+		return m_children[index].m_childShape;
+	}
+
+	btTransform&	getChildTransform(int index)
+	{
+		return m_children[index].m_transform;
+	}
+	const btTransform&	getChildTransform(int index) const
+	{
+		return m_children[index].m_transform;
+	}
+
+	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
+	void	updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
+
+
+	btCompoundShapeChild* getChildList()
+	{
+		return &m_children[0];
+	}
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	virtual	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	/** Re-calculate the local Aabb. Is called at the end of removeChildShapes. 
+	Use this yourself if you modify the children or their transforms. */
+	virtual void recalculateLocalAabb(); 
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+
+	virtual const btVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void	setMargin(btScalar margin)
+	{
+		m_collisionMargin = margin;
+	}
+	virtual btScalar	getMargin() const
+	{
+		return m_collisionMargin;
+	}
+	virtual const char*	getName()const
+	{
+		return "Compound";
+	}
+
+	const btDbvt*	getDynamicAabbTree() const
+	{
+		return m_dynamicAabbTree;
+	}
+	
+	btDbvt*	getDynamicAabbTree()
+	{
+		return m_dynamicAabbTree;
+	}
+
+	void createAabbTreeFromChildren();
+
+	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
+	///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
+	///"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;
+
+	int	getUpdateRevision() const
+	{
+		return m_updateRevision;
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCompoundShapeChildData
+{
+	btTransformFloatData	m_transform;
+	btCollisionShapeData	*m_childShape;
+	int						m_childShapeType;
+	float					m_childMargin;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCompoundShapeData
+{
+	btCollisionShapeData		m_collisionShapeData;
+
+	btCompoundShapeChildData	*m_childShapePtr;
+
+	int							m_numChildShapes;
+
+	float	m_collisionMargin;
+
+};
+
+
+SIMD_FORCE_INLINE	int	btCompoundShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCompoundShapeData);
+}
+
+
+
+
+
+
+
+#endif //BT_COMPOUND_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
new file mode 100644
index 0000000000..58ff84a5b0
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
@@ -0,0 +1,27 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConcaveShape.h"
+
+btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
+{
+
+}
+
+btConcaveShape::~btConcaveShape()
+{
+
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
new file mode 100644
index 0000000000..2917cc5b60
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONCAVE_SHAPE_H
+#define BT_CONCAVE_SHAPE_H
+
+#include "btCollisionShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "btTriangleCallback.h"
+
+/// PHY_ScalarType enumerates possible scalar types.
+/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
+typedef enum PHY_ScalarType {
+	PHY_FLOAT,
+	PHY_DOUBLE,
+	PHY_INTEGER,
+	PHY_SHORT,
+	PHY_FIXEDPOINT88,
+	PHY_UCHAR
+} PHY_ScalarType;
+
+///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
+///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
+ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape
+{
+protected:
+	btScalar m_collisionMargin;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btConcaveShape();
+
+	virtual ~btConcaveShape();
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
+
+	virtual btScalar getMargin() const {
+		return m_collisionMargin;
+	}
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		m_collisionMargin = collisionMargin;
+	}
+
+
+
+};
+
+#endif //BT_CONCAVE_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
new file mode 100644
index 0000000000..2d83c8bfba
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -0,0 +1,147 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConeShape.h"
+
+
+
+btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
+m_radius (radius),
+m_height(height)
+{
+	m_shapeType = CONE_SHAPE_PROXYTYPE;
+	setConeUpIndex(1);
+	btVector3 halfExtents;
+	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+}
+
+btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+	setConeUpIndex(2);
+}
+
+btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+	setConeUpIndex(0);
+}
+
+///choose upAxis index
+void	btConeShape::setConeUpIndex(int upIndex)
+{
+	switch (upIndex)
+	{
+	case 0:
+			m_coneIndices[0] = 1;
+			m_coneIndices[1] = 0;
+			m_coneIndices[2] = 2;
+		break;
+	case 1:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 1;
+			m_coneIndices[2] = 2;
+		break;
+	case 2:
+			m_coneIndices[0] = 0;
+			m_coneIndices[1] = 2;
+			m_coneIndices[2] = 1;
+		break;
+	default:
+		btAssert(0);
+	};
+	
+	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
+	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
+	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
+}
+
+btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
+{
+	
+	btScalar halfHeight = m_height * btScalar(0.5);
+
+ if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
+ {
+	btVector3 tmp;
+
+	tmp[m_coneIndices[0]] = btScalar(0.);
+	tmp[m_coneIndices[1]] = halfHeight;
+	tmp[m_coneIndices[2]] = btScalar(0.);
+	return tmp;
+ }
+  else {
+    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
+    if (s > SIMD_EPSILON) {
+      btScalar d = m_radius / s;
+	  btVector3 tmp;
+	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
+	  tmp[m_coneIndices[1]] = -halfHeight;
+	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
+	  return tmp;
+    }
+    else  {
+		btVector3 tmp;
+		tmp[m_coneIndices[0]] = btScalar(0.);
+		tmp[m_coneIndices[1]] = -halfHeight;
+		tmp[m_coneIndices[2]] = btScalar(0.);
+		return tmp;
+	}
+  }
+
+}
+
+btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
+{
+		return coneLocalSupport(vec);
+}
+
+void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		const btVector3& vec = vectors[i];
+		supportVerticesOut[i] = coneLocalSupport(vec);
+	}
+}
+
+
+btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
+{
+	btVector3 supVertex = coneLocalSupport(vec);
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+void	btConeShape::setLocalScaling(const btVector3& scaling)
+{
+	int axis = m_coneIndices[1];
+	int r1 = m_coneIndices[0];
+	int r2 = m_coneIndices[2];
+	m_height *= scaling[axis] / m_localScaling[axis];
+	m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
+	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+	btConvexInternalShape::setLocalScaling(scaling);
+}
\ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
new file mode 100644
index 0000000000..3b44e3f272
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.h
@@ -0,0 +1,186 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONE_MINKOWSKI_H
+#define BT_CONE_MINKOWSKI_H
+
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
+ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
+
+{
+
+	btScalar m_sinAngle;
+	btScalar m_radius;
+	btScalar m_height;
+	int		m_coneIndices[3];
+	btVector3 coneLocalSupport(const btVector3& v) const;
+
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btConeShape (btScalar radius,btScalar height);
+	
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	btScalar getRadius() const { return m_radius;}
+	btScalar getHeight() const { return m_height;}
+
+	void setRadius(const btScalar radius)
+	{
+		m_radius = radius;
+	}
+	void setHeight(const btScalar height)
+	{
+		m_height = height;
+	}
+
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
+	{
+		btTransform identity;
+		identity.setIdentity();
+		btVector3 aabbMin,aabbMax;
+		getAabb(identity,aabbMin,aabbMax);
+
+		btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+
+		btScalar margin = getMargin();
+
+		btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
+		btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
+		btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
+		const btScalar x2 = lx*lx;
+		const btScalar y2 = ly*ly;
+		const btScalar z2 = lz*lz;
+		const btScalar scaledmass = mass * btScalar(0.08333333);
+
+		inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+
+//		inertia.x() = scaledmass * (y2+z2);
+//		inertia.y() = scaledmass * (x2+z2);
+//		inertia.z() = scaledmass * (x2+y2);
+	}
+
+
+		virtual const char*	getName()const 
+		{
+			return "Cone";
+		}
+		
+		///choose upAxis index
+		void	setConeUpIndex(int upIndex);
+		
+		int	getConeUpIndex() const
+		{
+			return m_coneIndices[1];
+		}
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,1,0);
+	}
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	
+	virtual	int	calculateSerializeBufferSize() const;
+	
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+	
+
+};
+
+///btConeShape implements a Cone shape, around the X axis
+class btConeShapeX : public btConeShape
+{
+	public:
+		btConeShapeX(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (1,0,0);
+	}
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeX";
+	}
+	
+	
+};
+
+///btConeShapeZ implements a Cone shape, around the Z axis
+class btConeShapeZ : public btConeShape
+{
+public:
+	btConeShapeZ(btScalar radius,btScalar height);
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		return btVector3 (0,0,1);
+	}
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeZ";
+	}
+	
+	
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConeShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+	
+	int	m_upIndex;
+	
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btConeShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btConeShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
+
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upIndex = m_coneIndices[1];
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
+	return "btConeShapeData";
+}
+
+#endif //BT_CONE_MINKOWSKI_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
new file mode 100644
index 0000000000..10ea3e981a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConvex2dShape.h"
+
+btConvex2dShape::btConvex2dShape(	btConvexShape* convexChildShape):
+btConvexShape (), m_childConvexShape(convexChildShape)
+{
+	m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
+}
+	
+btConvex2dShape::~btConvex2dShape()
+{
+}
+
+	
+
+btVector3	btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
+}
+
+void	btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+}
+
+
+btVector3	btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	return m_childConvexShape->localGetSupportingVertex(vec);
+}
+
+
+void	btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
+	m_childConvexShape->calculateLocalInertia(mass,inertia);
+}
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	m_childConvexShape->getAabb(t,aabbMin,aabbMax);
+}
+
+void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
+}
+
+void	btConvex2dShape::setLocalScaling(const btVector3& scaling) 
+{
+	m_childConvexShape->setLocalScaling(scaling);
+}
+
+const btVector3& btConvex2dShape::getLocalScaling() const
+{
+	return m_childConvexShape->getLocalScaling();
+}
+
+void	btConvex2dShape::setMargin(btScalar margin)
+{
+	m_childConvexShape->setMargin(margin);
+}
+btScalar	btConvex2dShape::getMargin() const
+{
+	return m_childConvexShape->getMargin();
+}
+
+int		btConvex2dShape::getNumPreferredPenetrationDirections() const
+{
+	return m_childConvexShape->getNumPreferredPenetrationDirections();
+}
+	
+void	btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+{
+	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
new file mode 100644
index 0000000000..bbd1caf42f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
@@ -0,0 +1,82 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_2D_SHAPE_H
+#define BT_CONVEX_2D_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
+///For 2d boxes, the btBox2dShape is recommended.
+ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape
+{
+	btConvexShape*	m_childConvexShape;
+
+	public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btConvex2dShape(	btConvexShape* convexChildShape);
+	
+	virtual ~btConvex2dShape();
+	
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	btConvexShape*	getChildShape() 
+	{
+		return m_childConvexShape;
+	}
+
+	const btConvexShape*	getChildShape() const
+	{
+		return m_childConvexShape;
+	}
+
+	virtual const char*	getName()const 
+	{
+		return "Convex2dShape";
+	}
+	
+
+
+	///////////////////////////
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	setLocalScaling(const btVector3& scaling) ;
+	virtual const btVector3& getLocalScaling() const ;
+
+	virtual void	setMargin(btScalar margin);
+	virtual btScalar	getMargin() const;
+
+	virtual int		getNumPreferredPenetrationDirections() const;
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
+
+
+};
+
+#endif //BT_CONVEX_2D_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
new file mode 100644
index 0000000000..a7a9598406
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -0,0 +1,262 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
+#include "btConvexHullShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btSerializer.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
+{
+	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
+	m_unscaledPoints.resize(numPoints);
+
+	unsigned char* pointsAddress = (unsigned char*)points;
+
+	for (int i=0;i<numPoints;i++)
+	{
+		btScalar* point = (btScalar*)pointsAddress;
+		m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
+		pointsAddress += stride;
+	}
+
+	recalcLocalAabb();
+
+}
+
+
+
+void btConvexHullShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+	recalcLocalAabb();
+}
+
+void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
+{
+	m_unscaledPoints.push_back(point);
+	if (recalculateLocalAabb)
+		recalcLocalAabb();
+
+}
+
+btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
+
+    // Here we take advantage of dot(a, b*c) = dot(a*b, c).  Note: This is true mathematically, but not numerically. 
+    if( 0 < m_unscaledPoints.size() )
+    {
+        btVector3 scaled = vec * m_localScaling;
+        int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
+        return m_unscaledPoints[index] * m_localScaling;
+    }
+
+    return supVec;
+}
+
+void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	btScalar newDot;
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
+		}
+	}
+
+    for (int j=0;j<numVectors;j++)
+    {
+        btVector3 vec = vectors[j] * m_localScaling;        // dot(a*b,c) = dot(a,b*c)
+        if( 0 <  m_unscaledPoints.size() )
+        {
+            int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
+            supportVerticesOut[j] = getScaledPoint(i);
+            supportVerticesOut[j][3] = newDot;        
+        }
+        else
+            supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
+    }
+
+
+
+}
+	
+
+
+btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+void btConvexHullShape::optimizeConvexHull()
+{
+	btConvexHullComputer conv;
+	conv.compute(&m_unscaledPoints[0].getX(), sizeof(btVector3),m_unscaledPoints.size(),0.f,0.f);
+	int numVerts = conv.vertices.size();
+	m_unscaledPoints.resize(0);
+	for (int i=0;i<numVerts;i++)
+    {
+        m_unscaledPoints.push_back(conv.vertices[i]);
+    }
+}
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
+int	btConvexHullShape::getNumVertices() const
+{
+	return m_unscaledPoints.size();
+}
+
+int btConvexHullShape::getNumEdges() const
+{
+	return m_unscaledPoints.size();
+}
+
+void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+{
+
+	int index0 = i%m_unscaledPoints.size();
+	int index1 = (i+1)%m_unscaledPoints.size();
+	pa = getScaledPoint(index0);
+	pb = getScaledPoint(index1);
+}
+
+void btConvexHullShape::getVertex(int i,btVector3& vtx) const
+{
+	vtx = getScaledPoint(i);
+}
+
+int	btConvexHullShape::getNumPlanes() const
+{
+	return 0;
+}
+
+void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
+{
+
+	btAssert(0);
+}
+
+//not yet
+bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
+{
+	btAssert(0);
+	return false;
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	//int szc = sizeof(btConvexHullShapeData);
+	btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
+
+	int numElem = m_unscaledPoints.size();
+	shapeData->m_numUnscaledPoints = numElem;
+#ifdef BT_USE_DOUBLE_PRECISION
+	shapeData->m_unscaledPointsFloatPtr = 0;
+	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+#else
+	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]):  0;
+	shapeData->m_unscaledPointsDoublePtr = 0;
+#endif
+	
+	if (numElem)
+	{
+		int sz = sizeof(btVector3Data);
+	//	int sz2 = sizeof(btVector3DoubleData);
+	//	int sz3 = sizeof(btVector3FloatData);
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			m_unscaledPoints[i].serialize(*memPtr);
+		}
+		serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+	}
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3));
+
+	return "btConvexHullShapeData";
+}
+
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+{
+#if 1
+	minProj = FLT_MAX;
+	maxProj = -FLT_MAX;
+
+	int numVerts = m_unscaledPoints.size();
+	for(int i=0;i<numVerts;i++)
+	{
+		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+		btVector3 pt = trans * vtx;
+		btScalar dp = pt.dot(dir);
+		if(dp < minProj)	
+		{
+			minProj = dp;
+			witnesPtMin = pt;
+		}
+		if(dp > maxProj)	
+		{
+			maxProj = dp;
+			witnesPtMax=pt;
+		}
+	}
+#else
+	btVector3 localAxis = dir*trans.getBasis();
+	witnesPtMin  = trans(localGetSupportingVertex(localAxis));
+	witnesPtMax = trans(localGetSupportingVertex(-localAxis));
+
+	minProj = witnesPtMin.dot(dir);
+	maxProj = witnesPtMax.dot(dir);
+#endif
+
+	if(minProj>maxProj)
+	{
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
+	}
+
+
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
new file mode 100644
index 0000000000..0c12aeef15
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -0,0 +1,121 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_HULL_SHAPE_H
+#define BT_CONVEX_HULL_SHAPE_H
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+///The btConvexHullShape implements an implicit convex hull of an array of vertices.
+///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
+ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
+{
+	btAlignedObjectArray<btVector3>	m_unscaledPoints;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	
+	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
+	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
+	///btConvexHullShape make an internal copy of the points.
+	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
+
+	void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
+
+	
+	btVector3* getUnscaledPoints()
+	{
+		return &m_unscaledPoints[0];
+	}
+
+	const btVector3* getUnscaledPoints() const
+	{
+		return &m_unscaledPoints[0];
+	}
+
+	///getPoints is obsolete, please use getUnscaledPoints
+	const btVector3* getPoints() const
+	{
+		return getUnscaledPoints();
+	}
+
+    void optimizeConvexHull();
+    
+	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
+	{
+		return m_unscaledPoints[i] * m_localScaling;
+	}
+
+	SIMD_FORCE_INLINE	int getNumPoints() const 
+	{
+		return m_unscaledPoints.size();
+	}
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+
+
+	//debugging
+	virtual const char*	getName()const {return "Convex";}
+
+	
+	virtual int	getNumVertices() const;
+	virtual int getNumEdges() const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual int	getNumPlanes() const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+
+	///in case we receive negative scaling
+	virtual void	setLocalScaling(const btVector3& scaling);
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConvexHullShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	btVector3FloatData	*m_unscaledPointsFloatPtr;
+	btVector3DoubleData	*m_unscaledPointsDoublePtr;
+
+	int		m_numUnscaledPoints;
+	char m_padding3[4];
+
+};
+
+
+SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btConvexHullShapeData);
+}
+
+
+#endif //BT_CONVEX_HULL_SHAPE_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
new file mode 100644
index 0000000000..083d60b1b1
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
@@ -0,0 +1,151 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConvexInternalShape.h"
+
+
+
+btConvexInternalShape::btConvexInternalShape()
+: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
+m_collisionMargin(CONVEX_DISTANCE_MARGIN)
+{
+}
+
+
+void	btConvexInternalShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling.absolute();
+}
+
+
+
+void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
+{
+#ifndef __SPU__
+	//use localGetSupportingVertexWithoutMargin?
+	btScalar margin = getMargin();
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+
+		btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
+
+		btVector3 tmp = trans(sv);
+		maxAabb[i] = tmp[i]+margin;
+		vec[i] = btScalar(-1.);
+		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
+		minAabb[i] = tmp[i]-margin;
+	}
+#endif
+}
+
+
+
+btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
+{
+#ifndef __SPU__
+
+	 btVector3	supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+
+#else
+	btAssert(0);
+	return btVector3(0,0,0);
+#endif //__SPU__
+
+ }
+
+
+btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
+	:	btConvexInternalShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
+
+
+void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+}
+
+void	btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
+{
+	btConvexInternalShape::setLocalScaling(scaling);
+	recalcLocalAabb();
+}
+
+
+void	btConvexInternalAabbCachingShape::recalcLocalAabb()
+{
+	m_isLocalAabbValid = true;
+	
+	#if 1
+	static const btVector3 _directions[] =
+	{
+		btVector3( 1.,  0.,  0.),
+		btVector3( 0.,  1.,  0.),
+		btVector3( 0.,  0.,  1.),
+		btVector3( -1., 0.,  0.),
+		btVector3( 0., -1.,  0.),
+		btVector3( 0.,  0., -1.)
+	};
+	
+	btVector3 _supporting[] =
+	{
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.)
+	};
+	
+	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+	
+	for ( int i = 0; i < 3; ++i )
+	{
+		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+	}
+	
+	#else
+
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+		btVector3 tmp = localGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		vec[i] = btScalar(-1.);
+		tmp = localGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+	}
+	#endif
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
new file mode 100644
index 0000000000..1213b82fbe
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -0,0 +1,227 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_INTERNAL_SHAPE_H
+#define BT_CONVEX_INTERNAL_SHAPE_H
+
+#include "btConvexShape.h"
+#include "LinearMath/btAabbUtil2.h"
+
+
+///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
+///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
+///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
+///Note that when creating small shapes (derived from btConvexInternalShape), 
+///you need to make sure to set a smaller collision margin, using the 'setMargin' API
+///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
+ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
+{
+
+	protected:
+
+	//local scaling. collisionMargin is not scaled !
+	btVector3	m_localScaling;
+
+	btVector3	m_implicitShapeDimensions;
+	
+	btScalar	m_collisionMargin;
+
+	btScalar	m_padding;
+
+	btConvexInternalShape();
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	virtual ~btConvexInternalShape()
+	{
+
+	}
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+
+	const btVector3& getImplicitShapeDimensions() const
+	{
+		return m_implicitShapeDimensions;
+	}
+
+	///warning: use setImplicitShapeDimensions with care
+	///changing a collision shape while the body is in the world is not recommended,
+	///it is best to remove the body from the world, then make the change, and re-add it
+	///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
+	void	setImplicitShapeDimensions(const btVector3& dimensions)
+	{
+		m_implicitShapeDimensions = dimensions;
+	}
+
+	void	setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
+	{
+		btScalar safeMargin = defaultMarginMultiplier*minDimension;
+		if (safeMargin < getMargin())
+		{
+			setMargin(safeMargin);
+		}
+	}
+	void	setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
+	{
+		//see http://code.google.com/p/bullet/issues/detail?id=349
+		//this margin check could could be added to other collision shapes too,
+		//or add some assert/warning somewhere
+		btScalar minDimension=halfExtents[halfExtents.minAxis()]; 		
+		setSafeMargin(minDimension, defaultMarginMultiplier);
+	}
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		getAabbSlow(t,aabbMin,aabbMax);
+	}
+
+
+	
+	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
+
+	const btVector3& getLocalScalingNV() const 
+	{
+		return m_localScaling;
+	}
+
+	virtual void	setMargin(btScalar margin)
+	{
+		m_collisionMargin = margin;
+	}
+	virtual btScalar	getMargin() const
+	{
+		return m_collisionMargin;
+	}
+
+	btScalar	getMarginNV() const
+	{
+		return m_collisionMargin;
+	}
+
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 0;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		(void)penetrationVector;
+		(void)index;
+		btAssert(0);
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConvexInternalShapeData
+{
+	btCollisionShapeData	m_collisionShapeData;
+
+	btVector3FloatData	m_localScaling;
+
+	btVector3FloatData	m_implicitShapeDimensions;
+	
+	float			m_collisionMargin;
+
+	int	m_padding;
+
+};
+
+
+
+SIMD_FORCE_INLINE	int	btConvexInternalShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btConvexInternalShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
+	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+	m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
+	m_localScaling.serializeFloat(shapeData->m_localScaling);
+	shapeData->m_collisionMargin = float(m_collisionMargin);
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding = 0;
+
+	return "btConvexInternalShapeData";
+}
+
+
+
+
+///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
+class btConvexInternalAabbCachingShape : public btConvexInternalShape
+{
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	bool		m_isLocalAabbValid;
+	
+protected:
+					
+	btConvexInternalAabbCachingShape();
+	
+	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+	{
+		m_isLocalAabbValid = true;
+		m_localAabbMin = aabbMin;
+		m_localAabbMax = aabbMax;
+	}
+
+	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAssert(m_isLocalAabbValid);
+		aabbMin = m_localAabbMin;
+		aabbMax = m_localAabbMax;
+	}
+
+	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	{
+
+		//lazy evaluation of local aabb
+		btAssert(m_isLocalAabbValid);
+		btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+	}
+		
+public:
+		
+	virtual void	setLocalScaling(const btVector3& scaling);
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	void	recalcLocalAabb();
+
+};
+
+#endif //BT_CONVEX_INTERNAL_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
new file mode 100644
index 0000000000..ad1d1bf78f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
@@ -0,0 +1,139 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConvexPointCloudShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+
+void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+	recalcLocalAabb();
+}
+
+#ifndef __SPU__
+btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+	btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+    
+    if( m_numPoints > 0 )
+    {
+        // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
+    //    btVector3 scaled = vec * m_localScaling;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);   //FIXME: may violate encapsulation of m_unscaledPoints
+        return getScaledPoint(index);
+    }
+
+	return supVec;
+}
+
+void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+    for( int j = 0; j < numVectors; j++ )
+    {
+        const btVector3& vec = vectors[j] * m_localScaling;  // dot( a*c, b) = dot(a, b*c)
+        btScalar maxDot;
+        int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
+        supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
+        if( 0 <= index )
+        {
+            //WARNING: don't swap next lines, the w component would get overwritten!
+            supportVerticesOut[j] = getScaledPoint(index);
+            supportVerticesOut[j][3] = maxDot;
+        }
+    }
+
+}
+	
+
+
+btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+#endif
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
+int	btConvexPointCloudShape::getNumVertices() const
+{
+	return m_numPoints;
+}
+
+int btConvexPointCloudShape::getNumEdges() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+{
+	btAssert (0);
+}
+
+void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
+{
+	vtx = m_unscaledPoints[i]*m_localScaling;
+}
+
+int	btConvexPointCloudShape::getNumPlanes() const
+{
+	return 0;
+}
+
+void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
+{
+
+	btAssert(0);
+}
+
+//not yet
+bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
+{
+	btAssert(0);
+	return false;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
new file mode 100644
index 0000000000..54b5afac3e
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
@@ -0,0 +1,105 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H
+#define BT_CONVEX_POINT_CLOUD_SHAPE_H
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+
+///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
+ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
+{
+	btVector3* m_unscaledPoints;
+	int m_numPoints;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btConvexPointCloudShape()
+	{
+		m_localScaling.setValue(1.f,1.f,1.f);
+		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
+		m_unscaledPoints = 0;
+		m_numPoints = 0;
+	}
+
+	btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
+	{
+		m_localScaling = localScaling;
+		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
+		m_unscaledPoints = points;
+		m_numPoints = numPoints;
+
+		if (computeAabb)
+			recalcLocalAabb();
+	}
+
+	void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
+	{
+		m_unscaledPoints = points;
+		m_numPoints = numPoints;
+		m_localScaling = localScaling;
+
+		if (computeAabb)
+			recalcLocalAabb();
+	}
+
+	SIMD_FORCE_INLINE	btVector3* getUnscaledPoints()
+	{
+		return m_unscaledPoints;
+	}
+
+	SIMD_FORCE_INLINE	const btVector3* getUnscaledPoints() const
+	{
+		return m_unscaledPoints;
+	}
+
+	SIMD_FORCE_INLINE	int getNumPoints() const 
+	{
+		return m_numPoints;
+	}
+
+	SIMD_FORCE_INLINE	btVector3	getScaledPoint( int index) const
+	{
+		return m_unscaledPoints[index] * m_localScaling;
+	}
+
+#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+#endif
+
+
+	//debugging
+	virtual const char*	getName()const {return "ConvexPointCloud";}
+
+	virtual int	getNumVertices() const;
+	virtual int getNumEdges() const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual int	getNumPlanes() const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+
+	///in case we receive negative scaling
+	virtual void	setLocalScaling(const btVector3& scaling);
+};
+
+
+#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
new file mode 100644
index 0000000000..4f45319a83
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -0,0 +1,303 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+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.
+*/
+
+
+///This file was written by Erwin Coumans
+///Separating axis rest based on work from Pierre Terdiman, see
+///And contact clipping based on work from Simon Hobbs
+
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btHashMap.h"
+
+
+btConvexPolyhedron::btConvexPolyhedron()
+{
+
+}
+btConvexPolyhedron::~btConvexPolyhedron()
+{
+
+}
+
+
+inline bool IsAlmostZero(const btVector3& v)
+{
+	if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6)	return false;
+	return true;
+}
+
+struct btInternalVertexPair
+{
+	btInternalVertexPair(short int v0,short int v1)
+		:m_v0(v0),
+		m_v1(v1)
+	{
+		if (m_v1>m_v0)
+			btSwap(m_v0,m_v1);
+	}
+	short int m_v0;
+	short int m_v1;
+	int getHash() const
+	{
+		return m_v0+(m_v1<<16);
+	}
+	bool equals(const btInternalVertexPair& other) const
+	{
+		return m_v0==other.m_v0 && m_v1==other.m_v1;
+	}
+};
+
+struct btInternalEdge
+{
+	btInternalEdge()
+		:m_face0(-1),
+		m_face1(-1)
+	{
+	}
+	short int m_face0;
+	short int m_face1;
+};
+
+//
+
+#ifdef TEST_INTERNAL_OBJECTS
+bool btConvexPolyhedron::testContainment() const
+{
+	for(int p=0;p<8;p++)
+	{
+		btVector3 LocalPt;
+		if(p==0)		LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
+		else if(p==1)	LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
+		else if(p==2)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
+		else if(p==3)	LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
+		else if(p==4)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
+		else if(p==5)	LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
+		else if(p==6)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
+		else if(p==7)	LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+		for(int i=0;i<m_faces.size();i++)
+		{
+			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+			const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
+			if(d>0.0f)
+				return false;
+		}
+	}
+	return true;
+}
+#endif
+
+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();
+		int NbTris = numVertices;
+		for(int j=0;j<NbTris;j++)
+		{
+			int k = (j+1)%numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			btInternalEdge* edptr = edges.find(vp);
+			btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+			edge.normalize();
+
+			bool found = false;
+
+			for (int p=0;p<m_uniqueEdges.size();p++)
+			{
+				
+				if (IsAlmostZero(m_uniqueEdges[p]-edge) || 
+					IsAlmostZero(m_uniqueEdges[p]+edge))
+				{
+					found = true;
+					break;
+				}
+			}
+
+			if (!found)
+			{
+				m_uniqueEdges.push_back(edge);
+			}
+
+			if (edptr)
+			{
+				btAssert(edptr->m_face0>=0);
+				btAssert(edptr->m_face1<0);
+				edptr->m_face1 = i;
+			} else
+			{
+				btInternalEdge ed;
+				ed.m_face0 = i;
+				edges.insert(vp,ed);
+			}
+		}
+	}
+
+#ifdef USE_CONNECTED_FACES
+	for(int i=0;i<m_faces.size();i++)
+	{
+		int numVertices = m_faces[i].m_indices.size();
+		m_faces[i].m_connectedFaces.resize(numVertices);
+
+		for(int j=0;j<numVertices;j++)
+		{
+			int k = (j+1)%numVertices;
+			btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+			btInternalEdge* edptr = edges.find(vp);
+			btAssert(edptr);
+			btAssert(edptr->m_face0>=0);
+			btAssert(edptr->m_face1>=0);
+
+			int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+			m_faces[i].m_connectedFaces[j] = connectedFace;
+		}
+	}
+#endif//USE_CONNECTED_FACES
+
+	for(int i=0;i<m_faces.size();i++)
+	{
+		int numVertices = m_faces[i].m_indices.size();
+		int NbTris = numVertices-2;
+		
+		const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
+		for(int j=1;j<=NbTris;j++)
+		{
+			int k = (j+1)%numVertices;
+			const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
+			const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
+			btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
+			btVector3 Center = (p0+p1+p2)/3.0f;
+			m_localCenter += Area * Center;
+			TotalArea += Area;
+		}
+	}
+	m_localCenter /= TotalArea;
+
+
+
+
+#ifdef TEST_INTERNAL_OBJECTS
+	if(1)
+	{
+		m_radius = FLT_MAX;
+		for(int i=0;i<m_faces.size();i++)
+		{
+			const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+			const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
+			if(dist<m_radius)
+				m_radius = dist;
+		}
+
+	
+		btScalar MinX = FLT_MAX;
+		btScalar MinY = FLT_MAX;
+		btScalar MinZ = FLT_MAX;
+		btScalar MaxX = -FLT_MAX;
+		btScalar MaxY = -FLT_MAX;
+		btScalar MaxZ = -FLT_MAX;
+		for(int i=0; i<m_vertices.size(); i++)
+		{
+			const btVector3& pt = m_vertices[i];
+			if(pt.x()<MinX)	MinX = pt.x();
+			if(pt.x()>MaxX)	MaxX = pt.x();
+			if(pt.y()<MinY)	MinY = pt.y();
+			if(pt.y()>MaxY)	MaxY = pt.y();
+			if(pt.z()<MinZ)	MinZ = pt.z();
+			if(pt.z()>MaxZ)	MaxZ = pt.z();
+		}
+		mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
+		mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
+
+
+
+//		const btScalar r = m_radius / sqrtf(2.0f);
+		const btScalar r = m_radius / sqrtf(3.0f);
+		const int LargestExtent = mE.maxAxis();
+		const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+		m_extents[0] = m_extents[1] = m_extents[2] = r;
+		m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+		bool FoundBox = false;
+		for(int j=0;j<1024;j++)
+		{
+			if(testContainment())
+			{
+				FoundBox = true;
+				break;
+			}
+
+			m_extents[LargestExtent] -= Step;
+		}
+		if(!FoundBox)
+		{
+			m_extents[0] = m_extents[1] = m_extents[2] = r;
+		}
+		else
+		{
+			// Refine the box
+			const btScalar Step = (m_radius - r)/1024.0f;
+			const int e0 = (1<<LargestExtent) & 3;
+			const int e1 = (1<<e0) & 3;
+
+			for(int j=0;j<1024;j++)
+			{
+				const btScalar Saved0 = m_extents[e0];
+				const btScalar Saved1 = m_extents[e1];
+				m_extents[e0] += Step;
+				m_extents[e1] += Step;
+
+				if(!testContainment())
+				{
+					m_extents[e0] = Saved0;
+					m_extents[e1] = Saved1;
+					break;
+				}
+			}
+		}
+	}
+#endif
+}
+
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+{
+	minProj = FLT_MAX;
+	maxProj = -FLT_MAX;
+	int numVerts = m_vertices.size();
+	for(int i=0;i<numVerts;i++)
+	{
+		btVector3 pt = trans * m_vertices[i];
+		btScalar dp = pt.dot(dir);
+		if(dp < minProj)
+		{
+			minProj = dp;
+			witnesPtMin = pt;
+		}
+		if(dp > maxProj)
+		{
+			maxProj = dp;
+			witnesPtMax = pt;
+		}
+	}
+	if(minProj>maxProj)
+	{
+		btSwap(minProj,maxProj);
+		btSwap(witnesPtMin,witnesPtMax);
+	}
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
new file mode 100644
index 0000000000..d3cd066ac8
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -0,0 +1,65 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+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.
+*/
+
+
+///This file was written by Erwin Coumans
+
+
+#ifndef _BT_POLYHEDRAL_FEATURES_H
+#define _BT_POLYHEDRAL_FEATURES_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#define TEST_INTERNAL_OBJECTS 1
+
+
+struct btFace
+{
+	btAlignedObjectArray<int>	m_indices;
+//	btAlignedObjectArray<int>	m_connectedFaces;
+	btScalar	m_plane[4];
+};
+
+
+ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
+{
+	public:
+		
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+		
+	btConvexPolyhedron();
+	virtual	~btConvexPolyhedron();
+
+	btAlignedObjectArray<btVector3>	m_vertices;
+	btAlignedObjectArray<btFace>	m_faces;
+	btAlignedObjectArray<btVector3> m_uniqueEdges;
+
+	btVector3		m_localCenter;
+	btVector3		m_extents;
+	btScalar		m_radius;
+	btVector3		mC;
+	btVector3		mE;
+
+	void	initialize();
+	bool testContainment() const;
+
+	void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+};
+
+	
+#endif //_BT_POLYHEDRAL_FEATURES_H
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
new file mode 100644
index 0000000000..8d7fb054d6
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -0,0 +1,455 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
+#include "btConvexShape.h"
+#include "btTriangleShape.h"
+#include "btSphereShape.h"
+#include "btCylinderShape.h"
+#include "btConeShape.h"
+#include "btCapsuleShape.h"
+#include "btConvexHullShape.h"
+#include "btConvexPointCloudShape.h"
+
+///not supported on IBM SDK, until we fix the alignment of btVector3
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#include <spu_intrinsics.h>
+static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+{
+    vec_float4 result;
+    result = spu_mul( vec0, vec1 );
+    result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
+    return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+}
+#endif //__SPU__
+
+btConvexShape::btConvexShape ()
+{
+}
+
+btConvexShape::~btConvexShape()
+{
+
+}
+
+
+void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
+{
+	btVector3 localAxis = dir*trans.getBasis();
+	btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
+	btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+
+	min = vtx1.dot(dir);
+	max = vtx2.dot(dir);
+	witnesPtMax = vtx2;
+	witnesPtMin = vtx1;
+	
+	if(min>max)
+	{
+		btScalar tmp = min;
+		min = max;
+		max = tmp;
+		witnesPtMax = vtx1;
+		witnesPtMin = vtx2;
+	}
+}
+
+
+static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
+{	
+
+	btVector3 vec = localDirOrg * localScaling;
+
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+
+	btVector3 localDir = vec;
+
+	vec_float4 v_distMax = {-FLT_MAX,0,0,0};
+	vec_int4 v_idxMax = {-999,0,0,0};
+	int v=0;
+	int numverts = numPoints;
+
+	for(;v<(int)numverts-4;v+=4) {
+		vec_float4 p0 = vec_dot3(points[v  ].get128(),localDir.get128());
+		vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
+		vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
+		vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
+		const vec_int4 i0 = {v  ,0,0,0};
+		const vec_int4 i1 = {v+1,0,0,0};
+		const vec_int4 i2 = {v+2,0,0,0};
+		const vec_int4 i3 = {v+3,0,0,0};
+		vec_uint4  retGt01 = spu_cmpgt(p0,p1);
+		vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
+		vec_int4   imax01 = spu_sel(i1,i0,retGt01);
+		vec_uint4  retGt23 = spu_cmpgt(p2,p3);
+		vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
+		vec_int4   imax23 = spu_sel(i3,i2,retGt23);
+		vec_uint4  retGt0123 = spu_cmpgt(pmax01,pmax23);
+		vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
+		vec_int4   imax0123 = spu_sel(imax23,imax01,retGt0123);
+		vec_uint4  retGtMax = spu_cmpgt(v_distMax,pmax0123);
+		v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
+		v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
+	}
+	for(;v<(int)numverts;v++) {
+		vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
+		const vec_int4 i = {v,0,0,0};
+		vec_uint4  retGtMax = spu_cmpgt(v_distMax,p);
+		v_distMax = spu_sel(p,v_distMax,retGtMax);
+		v_idxMax = spu_sel(i,v_idxMax,retGtMax);
+	}
+	int ptIndex = spu_extract(v_idxMax,0);
+	const btVector3& supVec= points[ptIndex] * localScaling;
+	return supVec;
+#else
+
+    btScalar maxDot;
+    long ptIndex = vec.maxDot( points, numPoints, maxDot);
+	btAssert(ptIndex >= 0);
+	btVector3 supVec = points[ptIndex] * localScaling;
+	return supVec;
+#endif //__SPU__
+}
+
+btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		return btVector3(0,0,0);
+    }
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
+
+#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
+    #if defined( BT_USE_SSE )
+            return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
+    #elif defined( BT_USE_NEON )
+            return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
+    #else
+        #error unknown vector arch
+    #endif
+#else
+		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
+#endif
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
+		btVector3* vertices = &triangleShape->m_vertices1[0];
+        btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
+		btVector3 sup = vertices[dots.maxAxis()];
+		return btVector3(sup.getX(),sup.getY(),sup.getZ());
+	}
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
+
+		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
+		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
+		int cylinderUpAxis = cylShape->getUpAxis();
+		int XX(1),YY(0),ZZ(2);
+
+		switch (cylinderUpAxis)
+		{
+		case 0:
+		{
+			XX = 1;
+			YY = 0;
+			ZZ = 2;
+		}
+		break;
+		case 1:
+		{
+			XX = 0;
+			YY = 1;
+			ZZ = 2;	
+		}
+		break;
+		case 2:
+		{
+			XX = 0;
+			YY = 2;
+			ZZ = 1;
+			
+		}
+		break;
+		default:
+			btAssert(0);
+		break;
+		};
+
+		btScalar radius = halfExtents[XX];
+		btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+		btVector3 tmp;
+		btScalar d ;
+
+		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+		if (s != btScalar(0.0))
+		{
+			d = radius / s;  
+			tmp[XX] = v[XX] * d;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = v[ZZ] * d;
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		} else {
+			tmp[XX] = radius;
+			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+			tmp[ZZ] = btScalar(0.0);
+			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
+		}
+	}
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
+
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btScalar halfHeight = capsuleShape->getHalfHeight();
+		int capsuleUpAxis = capsuleShape->getUpAxis();
+
+		btVector3 supVec(0,0,0);
+
+		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+
+		btVector3 vec = vec0;
+		btScalar lenSqr = vec.length2();
+		if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
+		{
+			vec.setValue(1,0,0);
+		} else
+		{
+			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+			vec *= rlen;
+		}
+		btVector3 vtx;
+		btScalar newDot;
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = halfHeight;
+
+			vtx = pos;
+			newDot = vec.dot(vtx);
+			
+
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		{
+			btVector3 pos(0,0,0);
+			pos[capsuleUpAxis] = -halfHeight;
+
+			vtx = pos;
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supVec = vtx;
+			}
+		}
+		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());	
+	}
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	{
+		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
+		btVector3* points = convexPointCloudShape->getUnscaledPoints ();
+		int numPoints = convexPointCloudShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
+	}
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
+		btVector3* points = convexHullShape->getUnscaledPoints();
+		int numPoints = convexHullShape->getNumPoints ();
+		return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
+	}
+    default:
+#ifndef __SPU__
+		return this->localGetSupportingVertexWithoutMargin (localDir);
+#else
+		btAssert (0);
+#endif
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
+}
+
+btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
+{
+	btVector3 localDirNorm = localDir;
+	if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+	}
+	localDirNorm.normalize ();
+
+	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
+}
+
+/* TODO: This should be bumped up to btCollisionShape () */
+btScalar btConvexShape::getMarginNonVirtual () const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		return sphereShape->getRadius ();
+	}
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		return convexShape->getMarginNV ();
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		return triangleShape->getMarginNV ();
+	}
+	case CYLINDER_SHAPE_PROXYTYPE:
+	{
+		btCylinderShape* cylShape = (btCylinderShape*)this;
+		return cylShape->getMarginNV();
+	}
+	case CONE_SHAPE_PROXYTYPE:
+	{
+		btConeShape* conShape = (btConeShape*)this;
+		return conShape->getMarginNV();
+	}
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		return capsuleShape->getMarginNV();
+	}
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	/* fall through */
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+		return convexHullShape->getMarginNV();
+	}
+    default:
+#ifndef __SPU__
+		return this->getMargin ();
+#else
+		btAssert (0);
+#endif
+	}
+
+	// should never reach here
+	btAssert (0);
+	return btScalar(0.0f);
+}
+#ifndef __SPU__
+void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+{
+	switch (m_shapeType)
+	{
+    case SPHERE_SHAPE_PROXYTYPE:
+	{
+		btSphereShape* sphereShape = (btSphereShape*)this;
+		btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+		btScalar margin = radius + sphereShape->getMarginNonVirtual();
+		const btVector3& center = t.getOrigin();
+		btVector3 extent(margin,margin,margin);
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+    }
+	break;
+	case CYLINDER_SHAPE_PROXYTYPE:
+	/* fall through */
+	case BOX_SHAPE_PROXYTYPE:
+	{
+		btBoxShape* convexShape = (btBoxShape*)this;
+		btScalar margin=convexShape->getMarginNonVirtual();
+		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
+		halfExtents += btVector3(margin,margin,margin);
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
+        
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+		break;
+	}
+	case TRIANGLE_SHAPE_PROXYTYPE:
+	{
+		btTriangleShape* triangleShape = (btTriangleShape*)this;
+		btScalar margin = triangleShape->getMarginNonVirtual();
+		for (int i=0;i<3;i++)
+		{
+			btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+			vec[i] = btScalar(1.);
+
+			btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
+
+			btVector3 tmp = t(sv);
+			aabbMax[i] = tmp[i]+margin;
+			vec[i] = btScalar(-1.);
+			tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
+			aabbMin[i] = tmp[i]-margin;
+		}	
+	}
+	break;
+	case CAPSULE_SHAPE_PROXYTYPE:
+	{
+		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
+		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
+		int m_upAxis = capsuleShape->getUpAxis();
+		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
+		btMatrix3x3 abs_b = t.getBasis().absolute();  
+		btVector3 center = t.getOrigin();
+        btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);    
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+	}
+	break;
+	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
+	case CONVEX_HULL_SHAPE_PROXYTYPE:
+	{
+		btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
+		btScalar margin = convexHullShape->getMarginNonVirtual();
+		convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
+	}
+	break;
+    default:
+#ifndef __SPU__
+		this->getAabb (t, aabbMin, aabbMax);
+#else
+		btAssert (0);
+#endif
+	break;
+	}
+
+	// should never reach here
+	btAssert (0);
+}
+
+#endif //__SPU__
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
new file mode 100644
index 0000000000..875f2ac195
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.h
@@ -0,0 +1,85 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_SHAPE_INTERFACE1
+#define BT_CONVEX_SHAPE_INTERFACE1
+
+#include "btCollisionShape.h"
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "btCollisionMargin.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
+
+/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
+/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.
+ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
+{
+
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btConvexShape ();
+
+	virtual ~btConvexShape();
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const = 0;
+
+	////////
+	#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
+	#endif //#ifndef __SPU__
+
+	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
+	btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
+	btScalar getMarginNonVirtual () const;
+	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+
+
+	virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
+
+	
+	//notice that the vectors should be unit length
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+
+	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
+
+	virtual void	setLocalScaling(const btVector3& scaling) =0;
+	virtual const btVector3& getLocalScaling() const =0;
+
+	virtual void	setMargin(btScalar margin)=0;
+
+	virtual btScalar	getMargin() const=0;
+
+	virtual int		getNumPreferredPenetrationDirections() const=0;
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
+
+
+	
+	
+};
+
+
+
+#endif //BT_CONVEX_SHAPE_INTERFACE1
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
new file mode 100644
index 0000000000..0f9ced554b
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
@@ -0,0 +1,315 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
+
+
+btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
+: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
+{
+	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
+	if ( calcAabb )
+		recalcLocalAabb();
+}
+
+
+
+
+///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
+///but then we are duplicating
+class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
+{
+
+	btVector3 m_supportVertexLocal;
+public:
+
+	btScalar m_maxDot;
+	btVector3 m_supportVecLocal;
+
+	LocalSupportVertexCallback(const btVector3& supportVecLocal)
+		: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
+		m_maxDot(btScalar(-BT_LARGE_FLOAT)),
+                m_supportVecLocal(supportVecLocal)
+	{
+	}
+
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		(void)triangleIndex;
+		(void)partId;
+
+		for (int i=0;i<3;i++)
+		{
+			btScalar dot = m_supportVecLocal.dot(triangle[i]);
+			if (dot > m_maxDot)
+			{
+				m_maxDot = dot;
+				m_supportVertexLocal = triangle[i];
+			}
+		}
+	}
+	
+	btVector3	GetSupportVertexLocal()
+	{
+		return m_supportVertexLocal;
+	}
+
+};
+
+
+
+
+
+btVector3	btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	LocalSupportVertexCallback	supportCallback(vec);
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+	supVec = supportCallback.GetSupportVertexLocal();
+
+	return supVec;
+}
+
+void	btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
+		}
+	}
+	
+	///@todo: could do the batch inside the callback!
+
+
+	for (int j=0;j<numVectors;j++)
+	{
+		const btVector3& vec = vectors[j];
+		LocalSupportVertexCallback	supportCallback(vec);
+		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+		m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
+	}
+	
+}
+	
+
+
+btVector3	btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	if ( getMargin()!=btScalar(0.) )
+	{
+		btVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+		} 
+		vecnorm.normalize();
+		supVertex+= getMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
+int	btConvexTriangleMeshShape::getNumVertices() const
+{
+	//cache this?
+	return 0;
+	
+}
+
+int btConvexTriangleMeshShape::getNumEdges() const
+{
+	return 0;
+}
+
+void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
+{
+	btAssert(0);	
+}
+
+void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
+{
+	btAssert(0);
+}
+
+int	btConvexTriangleMeshShape::getNumPlanes() const
+{
+	return 0;
+}
+
+void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int  ) const
+{
+	btAssert(0);
+}
+
+//not yet
+bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
+{
+	btAssert(0);
+	return false;
+}
+
+
+
+void	btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+	m_stridingMesh->setScaling(scaling);
+	
+	recalcLocalAabb();
+	
+}
+
+
+const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
+{
+	return m_stridingMesh->getScaling();
+}
+
+void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
+{
+   class CenterCallback: public btInternalTriangleIndexCallback
+   {
+      bool first;
+      btVector3 ref;
+      btVector3 sum;
+      btScalar volume;
+
+   public:
+
+      CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
+      {
+      }
+
+      virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+      {
+         (void) triangleIndex;
+         (void) partId;
+         if (first)
+         {
+            ref = triangle[0];
+            first = false;
+         }
+         else
+         {
+            btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
+            sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
+            volume += vol;
+         }
+      }
+      
+      btVector3 getCenter()
+      {
+         return (volume > 0) ? sum / volume : ref;
+      }
+
+      btScalar getVolume()
+      {
+         return volume * btScalar(1. / 6);
+      }
+
+   };
+
+   class InertiaCallback: public btInternalTriangleIndexCallback
+   {
+      btMatrix3x3 sum;
+      btVector3 center;
+
+   public:
+
+      InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
+      {
+      }
+
+      virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+      {
+         (void) triangleIndex;
+         (void) partId;
+         btMatrix3x3 i;
+         btVector3 a = triangle[0] - center;
+         btVector3 b = triangle[1] - center;
+         btVector3 c = triangle[2] - center;
+         btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
+         for (int j = 0; j < 3; j++)
+         {
+            for (int k = 0; k <= j; k++)
+            {
+               i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
+                  + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
+            }
+         }
+         btScalar i00 = -i[0][0];
+         btScalar i11 = -i[1][1];
+         btScalar i22 = -i[2][2];
+         i[0][0] = i11 + i22; 
+         i[1][1] = i22 + i00; 
+         i[2][2] = i00 + i11;
+         sum[0] += i[0];
+         sum[1] += i[1];
+         sum[2] += i[2];
+      }
+      
+      btMatrix3x3& getInertia()
+      {
+         return sum;
+      }
+
+   };
+
+   CenterCallback centerCallback;
+   btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+   m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
+   btVector3 center = centerCallback.getCenter();
+   principal.setOrigin(center);
+   volume = centerCallback.getVolume();
+
+   InertiaCallback inertiaCallback(center);
+   m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
+
+   btMatrix3x3& i = inertiaCallback.getInertia();
+   i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
+   inertia.setValue(i[0][0], i[1][1], i[2][2]);
+   inertia /= volume;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
new file mode 100644
index 0000000000..f338865ca1
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
@@ -0,0 +1,77 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
+#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
+
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+
+/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
+/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
+ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
+{
+
+	class btStridingMeshInterface*	m_stridingMesh;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
+
+	class btStridingMeshInterface*	getMeshInterface()
+	{
+		return m_stridingMesh;
+	}
+	const class btStridingMeshInterface* getMeshInterface() const
+	{
+		return m_stridingMesh;
+	}
+	
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+	//debugging
+	virtual const char*	getName()const {return "ConvexTrimesh";}
+	
+	virtual int	getNumVertices() const;
+	virtual int getNumEdges() const;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual int	getNumPlanes() const;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+
+	
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+
+	///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
+	///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
+	///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
+	///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. This method also computes the volume of the convex mesh.
+	void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
+
+};
+
+
+
+#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
+
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
new file mode 100644
index 0000000000..604b3fc770
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
@@ -0,0 +1,282 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btCylinderShape.h"
+
+btCylinderShape::btCylinderShape (const btVector3& halfExtents)
+:btConvexInternalShape(),
+m_upAxis(1)
+{
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
+
+	setSafeMargin(halfExtents);
+
+	m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
+}
+
+
+btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
+:btCylinderShape(halfExtents)
+{
+	m_upAxis = 0;
+
+}
+
+
+btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
+:btCylinderShape(halfExtents)
+{
+	m_upAxis = 2;
+
+}
+
+void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+void	btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+
+//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
+//#define USE_BOX_INERTIA_APPROXIMATION 1
+#ifndef USE_BOX_INERTIA_APPROXIMATION
+
+	/*
+	cylinder is defined as following:
+	*
+	* - principle axis aligned along y by default, radius in x, z-value not used
+	* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
+	* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
+	*
+	*/
+
+	btScalar radius2;	// square of cylinder radius
+	btScalar height2;	// square of cylinder height
+	btVector3 halfExtents = getHalfExtentsWithMargin();	// get cylinder dimension
+	btScalar div12 = mass / 12.f;
+	btScalar div4 = mass / 4.f;
+	btScalar div2 = mass / 2.f;
+	int idxRadius, idxHeight;
+
+	switch (m_upAxis)	// get indices of radius and height of cylinder
+	{
+		case 0:		// cylinder is aligned along x
+			idxRadius = 1;
+			idxHeight = 0;
+			break;
+		case 2:		// cylinder is aligned along z
+			idxRadius = 0;
+			idxHeight = 2;
+			break;
+		default:	// cylinder is aligned along y
+			idxRadius = 0;
+			idxHeight = 1;
+	}
+
+	// calculate squares
+	radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
+	height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
+
+	// calculate tensor terms
+	btScalar t1 = div12 * height2 + div4 * radius2;
+	btScalar t2 = div2 * radius2;
+
+	switch (m_upAxis)	// set diagonal elements of inertia tensor
+	{
+		case 0:		// cylinder is aligned along x
+			inertia.setValue(t2,t1,t1);
+			break;
+		case 2:		// cylinder is aligned along z
+			inertia.setValue(t1,t1,t2);
+			break;
+		default:	// cylinder is aligned along y
+			inertia.setValue(t1,t2,t1);
+	}
+#else //USE_BOX_INERTIA_APPROXIMATION
+	//approximation of box shape
+	btVector3 halfExtents = getHalfExtentsWithMargin();
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+#endif //USE_BOX_INERTIA_APPROXIMATION
+}
+
+
+SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) 
+{
+const int cylinderUpAxis = 0;
+const int XX = 1;
+const int YY = 0;
+const int ZZ = 2;
+
+	//mapping depends on how cylinder local orientation is
+	// extents of the cylinder is: X,Y is for radius, and Z for height
+
+
+	btScalar radius = halfExtents[XX];
+	btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+
+    btVector3 tmp;
+	btScalar d ;
+
+    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != btScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = btScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+
+
+
+
+
+inline  btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) 
+{
+
+const int cylinderUpAxis = 1;
+const int XX = 0;
+const int YY = 1;
+const int ZZ = 2;
+
+
+	btScalar radius = halfExtents[XX];
+	btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+
+    btVector3 tmp;
+	btScalar d ;
+
+    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != btScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = btScalar(0.0);
+		return tmp;
+    }
+
+}
+
+inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) 
+{
+const int cylinderUpAxis = 2;
+const int XX = 0;
+const int YY = 2;
+const int ZZ = 1;
+
+	//mapping depends on how cylinder local orientation is
+	// extents of the cylinder is: X,Y is for radius, and Z for height
+
+
+	btScalar radius = halfExtents[XX];
+	btScalar halfHeight = halfExtents[cylinderUpAxis];
+
+
+    btVector3 tmp;
+	btScalar d ;
+
+    btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != btScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = btScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+btVector3	btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
+}
+
+
+btVector3	btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
+}
+btVector3	btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
+}
+
+void	btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
+	}
+}
+
+void	btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
+	}
+}
+
+
+
+
+void	btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
+	}
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
new file mode 100644
index 0000000000..a214a827c9
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -0,0 +1,219 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CYLINDER_MINKOWSKI_H
+#define BT_CYLINDER_MINKOWSKI_H
+
+#include "btBoxShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btVector3.h"
+
+/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
+ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
+
+{
+
+protected:
+
+	int	m_upAxis;
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3 getHalfExtentsWithMargin() const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		return halfExtents;
+	}
+	
+	const btVector3& getHalfExtentsWithoutMargin() const
+	{
+		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+	}
+
+	btCylinderShape (const btVector3& halfExtents);
+	
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	{
+
+		btVector3 supVertex;
+		supVertex = localGetSupportingVertexWithoutMargin(vec);
+		
+		if ( getMargin()!=btScalar(0.) )
+		{
+			btVector3 vecnorm = vec;
+			if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+			{
+				vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+			} 
+			vecnorm.normalize();
+			supVertex+= getMargin() * vecnorm;
+		}
+		return supVertex;
+	}
+
+
+	//use box inertia
+	//	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+	int	getUpAxis() const
+	{
+		return m_upAxis;
+	}
+
+	virtual btVector3	getAnisotropicRollingFrictionDirection() const
+	{
+		btVector3 aniDir(0,0,0);
+		aniDir[getUpAxis()]=1;
+		return aniDir;
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getX();
+	}
+
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+		btConvexInternalShape::setLocalScaling(scaling);
+
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+	}
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderY";
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+class btCylinderShapeX : public btCylinderShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btCylinderShapeX (const btVector3& halfExtents);
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderX";
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getY();
+	}
+
+};
+
+class btCylinderShapeZ : public btCylinderShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btCylinderShapeZ (const btVector3& halfExtents);
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+		//debugging
+	virtual const char*	getName()const
+	{
+		return "CylinderZ";
+	}
+
+	virtual btScalar getRadius() const
+	{
+		return getHalfExtentsWithMargin().getX();
+	}
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCylinderShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	int	m_upAxis;
+
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCylinderShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCylinderShapeData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
+
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upAxis = m_upAxis;
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
+	return "btCylinderShapeData";
+}
+
+
+
+#endif //BT_CYLINDER_MINKOWSKI_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
new file mode 100644
index 0000000000..a9e6df5c58
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
@@ -0,0 +1,50 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btEmptyShape.h"
+
+
+#include "btCollisionShape.h"
+
+
+btEmptyShape::btEmptyShape() : btConcaveShape ()
+{
+	m_shapeType = EMPTY_SHAPE_PROXYTYPE;
+}
+
+
+btEmptyShape::~btEmptyShape()
+{
+}
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+
+	aabbMin = t.getOrigin() - margin;
+
+	aabbMax = t.getOrigin() + margin;
+
+}
+
+void	btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const
+{
+	btAssert(0);
+}
+
+	
+	
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
new file mode 100644
index 0000000000..069a79402b
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
@@ -0,0 +1,72 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_EMPTY_SHAPE_H
+#define BT_EMPTY_SHAPE_H
+
+#include "btConcaveShape.h"
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "btCollisionMargin.h"
+
+
+
+
+/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
+/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
+ATTRIBUTE_ALIGNED16(class) btEmptyShape	: public btConcaveShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btEmptyShape();
+
+	virtual ~btEmptyShape();
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		m_localScaling = scaling;
+	}
+	virtual const btVector3& getLocalScaling() const 
+	{
+		return m_localScaling;
+	}
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	
+	virtual const char*	getName()const
+	{
+		return "Empty";
+	}
+
+	virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const
+	{
+	}
+
+protected:
+	btVector3	m_localScaling;
+
+};
+
+
+
+#endif //BT_EMPTY_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
new file mode 100644
index 0000000000..441a89c6bb
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -0,0 +1,409 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btHeightfieldTerrainShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape
+(
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
+btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
+PHY_ScalarType hdt, bool flipQuadEdges
+)
+{
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+	           heightScale, minHeight, maxHeight, upAxis, hdt,
+	           flipQuadEdges);
+}
+
+
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+{
+	// legacy constructor: support only float or unsigned char,
+	// 	and min height is zero
+	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
+	btScalar minHeight = 0.0f;
+
+	// previously, height = uchar * maxHeight / 65535.
+	// So to preserve legacy behavior, heightScale = maxHeight / 65535
+	btScalar heightScale = maxHeight / 65535;
+
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+	           heightScale, minHeight, maxHeight, upAxis, hdt,
+	           flipQuadEdges);
+}
+
+
+
+void btHeightfieldTerrainShape::initialize
+(
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
+btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
+PHY_ScalarType hdt, bool flipQuadEdges
+)
+{
+	// validation
+	btAssert(heightStickWidth > 1);// && "bad width");
+	btAssert(heightStickLength > 1);// && "bad length");
+	btAssert(heightfieldData);// && "null heightfield data");
+	// btAssert(heightScale) -- do we care?  Trust caller here
+	btAssert(minHeight <= maxHeight);// && "bad min/max height");
+	btAssert(upAxis >= 0 && upAxis < 3);// && "bad upAxis--should be in range [0,2]");
+	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);// && "Bad height data type enum");
+
+	// initialize member variables
+	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
+	m_heightStickWidth = heightStickWidth;
+	m_heightStickLength = heightStickLength;
+	m_minHeight = minHeight;
+	m_maxHeight = maxHeight;
+	m_width = (btScalar) (heightStickWidth - 1);
+	m_length = (btScalar) (heightStickLength - 1);
+	m_heightScale = heightScale;
+	m_heightfieldDataUnknown = heightfieldData;
+	m_heightDataType = hdt;
+	m_flipQuadEdges = flipQuadEdges;
+	m_useDiamondSubdivision = false;
+	m_useZigzagSubdivision = false;
+	m_upAxis = upAxis;
+	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
+
+	// determine min/max axis-aligned bounding box (aabb) values
+	switch (m_upAxis)
+	{
+	case 0:
+		{
+			m_localAabbMin.setValue(m_minHeight, 0, 0);
+			m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
+			break;
+		}
+	case 1:
+		{
+			m_localAabbMin.setValue(0, m_minHeight, 0);
+			m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
+			break;
+		};
+	case 2:
+		{
+			m_localAabbMin.setValue(0, 0, m_minHeight);
+			m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
+			break;
+		}
+	default:
+		{
+			//need to get valid m_upAxis
+			btAssert(0);// && "Bad m_upAxis");
+		}
+	}
+
+	// remember origin (defined as exact middle of aabb)
+	m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
+}
+
+
+
+btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
+{
+}
+
+
+
+void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
+
+	btVector3 localOrigin(0, 0, 0);
+	localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
+	localOrigin *= m_localScaling;
+
+	btMatrix3x3 abs_b = t.getBasis().absolute();  
+	btVector3 center = t.getOrigin();
+    btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	extent += btVector3(getMargin(),getMargin(),getMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+}
+
+
+/// This returns the "raw" (user's initial) height, not the actual height.
+/// The actual height needs to be adjusted to be relative to the center
+///   of the heightfield's AABB.
+btScalar
+btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
+{
+	btScalar val = 0.f;
+	switch (m_heightDataType)
+	{
+	case PHY_FLOAT:
+		{
+			val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
+			break;
+		}
+
+	case PHY_UCHAR:
+		{
+			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
+			val = heightFieldValue * m_heightScale;
+			break;
+		}
+
+	case PHY_SHORT:
+		{
+			short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
+			val = hfValue * m_heightScale;
+			break;
+		}
+
+	default:
+		{
+			btAssert(!"Bad m_heightDataType");
+		}
+	}
+
+	return val;
+}
+
+
+
+
+/// this returns the vertex in bullet-local coordinates
+void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
+{
+	btAssert(x>=0);
+	btAssert(y>=0);
+	btAssert(x<m_heightStickWidth);
+	btAssert(y<m_heightStickLength);
+
+	btScalar	height = getRawHeightFieldValue(x,y);
+
+	switch (m_upAxis)
+	{
+	case 0:
+		{
+		vertex.setValue(
+			height - m_localOrigin.getX(),
+			(-m_width/btScalar(2.0)) + x,
+			(-m_length/btScalar(2.0) ) + y
+			);
+			break;
+		}
+	case 1:
+		{
+			vertex.setValue(
+			(-m_width/btScalar(2.0)) + x,
+			height - m_localOrigin.getY(),
+			(-m_length/btScalar(2.0)) + y
+			);
+			break;
+		};
+	case 2:
+		{
+			vertex.setValue(
+			(-m_width/btScalar(2.0)) + x,
+			(-m_length/btScalar(2.0)) + y,
+			height - m_localOrigin.getZ()
+			);
+			break;
+		}
+	default:
+		{
+			//need to get valid m_upAxis
+			btAssert(0);
+		}
+	}
+
+	vertex*=m_localScaling;
+}
+
+
+
+static inline int
+getQuantized
+(
+btScalar x
+)
+{
+	if (x < 0.0) {
+		return (int) (x - 0.5);
+	}
+	return (int) (x + 0.5);
+}
+
+
+
+/// given input vector, return quantized version
+/**
+  This routine is basically determining the gridpoint indices for a given
+  input vector, answering the question: "which gridpoint is closest to the
+  provided point?".
+
+  "with clamp" means that we restrict the point to be in the heightfield's
+  axis-aligned bounding box.
+ */
+void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
+{
+	btVector3 clampedPoint(point);
+	clampedPoint.setMax(m_localAabbMin);
+	clampedPoint.setMin(m_localAabbMax);
+
+	out[0] = getQuantized(clampedPoint.getX());
+	out[1] = getQuantized(clampedPoint.getY());
+	out[2] = getQuantized(clampedPoint.getZ());
+		
+}
+
+
+
+/// process all triangles within the provided axis-aligned bounding box
+/**
+  basic algorithm:
+    - convert input aabb to local coordinates (scale down and shift for local origin)
+    - convert input aabb to a range of heightfield grid points (quantize)
+    - iterate over all triangles in that subset of the grid
+ */
+void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	// scale down the input aabb's so they are in local (non-scaled) coordinates
+	btVector3	localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
+	btVector3	localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
+
+	// account for local origin
+	localAabbMin += m_localOrigin;
+	localAabbMax += m_localOrigin;
+
+	//quantize the aabbMin and aabbMax, and adjust the start/end ranges
+	int	quantizedAabbMin[3];
+	int	quantizedAabbMax[3];
+	quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
+	quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
+	
+	// expand the min/max quantized values
+	// this is to catch the case where the input aabb falls between grid points!
+	for (int i = 0; i < 3; ++i) {
+		quantizedAabbMin[i]--;
+		quantizedAabbMax[i]++;
+	}	
+
+	int startX=0;
+	int endX=m_heightStickWidth-1;
+	int startJ=0;
+	int endJ=m_heightStickLength-1;
+
+	switch (m_upAxis)
+	{
+	case 0:
+		{
+			if (quantizedAabbMin[1]>startX)
+				startX = quantizedAabbMin[1];
+			if (quantizedAabbMax[1]<endX)
+				endX = quantizedAabbMax[1];
+			if (quantizedAabbMin[2]>startJ)
+				startJ = quantizedAabbMin[2];
+			if (quantizedAabbMax[2]<endJ)
+				endJ = quantizedAabbMax[2];
+			break;
+		}
+	case 1:
+		{
+			if (quantizedAabbMin[0]>startX)
+				startX = quantizedAabbMin[0];
+			if (quantizedAabbMax[0]<endX)
+				endX = quantizedAabbMax[0];
+			if (quantizedAabbMin[2]>startJ)
+				startJ = quantizedAabbMin[2];
+			if (quantizedAabbMax[2]<endJ)
+				endJ = quantizedAabbMax[2];
+			break;
+		};
+	case 2:
+		{
+			if (quantizedAabbMin[0]>startX)
+				startX = quantizedAabbMin[0];
+			if (quantizedAabbMax[0]<endX)
+				endX = quantizedAabbMax[0];
+			if (quantizedAabbMin[1]>startJ)
+				startJ = quantizedAabbMin[1];
+			if (quantizedAabbMax[1]<endJ)
+				endJ = quantizedAabbMax[1];
+			break;
+		}
+	default:
+		{
+			//need to get valid m_upAxis
+			btAssert(0);
+		}
+	}
+
+	
+  
+
+	for(int j=startJ; j<endJ; j++)
+	{
+		for(int x=startX; x<endX; x++)
+		{
+			btVector3 vertices[3];
+			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision  && !(j & 1)))
+			{
+        //first triangle
+        getVertex(x,j,vertices[0]);
+		getVertex(x, j + 1, vertices[1]);
+		getVertex(x + 1, j + 1, vertices[2]);
+        callback->processTriangle(vertices,x,j);
+        //second triangle
+      //  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
+        getVertex(x+1,j+1,vertices[1]);
+		getVertex(x + 1, j, vertices[2]);
+		callback->processTriangle(vertices, x, j);
+
+			} else
+			{
+        //first triangle
+        getVertex(x,j,vertices[0]);
+        getVertex(x,j+1,vertices[1]);
+        getVertex(x+1,j,vertices[2]);
+        callback->processTriangle(vertices,x,j);
+        //second triangle
+        getVertex(x+1,j,vertices[0]);
+        //getVertex(x,j+1,vertices[1]);
+        getVertex(x+1,j+1,vertices[2]);
+        callback->processTriangle(vertices,x,j);
+			}
+		}
+	}
+
+	
+
+}
+
+void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
+{
+	//moving concave objects not supported
+	
+	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+}
+
+void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
+{
+	return m_localScaling;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
new file mode 100644
index 0000000000..4a7a4a4bda
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -0,0 +1,167 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+
+#include "btConcaveShape.h"
+
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain
+/**
+  The caller is responsible for maintaining the heightfield array; this
+  class does not make a copy.
+
+  The heightfield can be dynamic so long as the min/max height values
+  capture the extremes (heights must always be in that range).
+
+  The local origin of the heightfield is assumed to be the exact
+  center (as determined by width and length and height, with each
+  axis multiplied by the localScaling).
+
+  \b NOTE: be careful with coordinates.  If you have a heightfield with a local
+  min height of -100m, and a max height of +500m, you may be tempted to place it
+  at the origin (0,0) and expect the heights in world coordinates to be
+  -100 to +500 meters.
+  Actually, the heights will be -300 to +300m, because bullet will re-center
+  the heightfield based on its AABB (which is determined by the min/max
+  heights).  So keep in mind that once you create a btHeightfieldTerrainShape
+  object, the heights will be adjusted relative to the center of the AABB.  This
+  is different to the behavior of many rendering engines, but is useful for
+  physics engines.
+
+  Most (but not all) rendering and heightfield libraries assume upAxis = 1
+  (that is, the y-axis is "up").  This class allows any of the 3 coordinates
+  to be "up".  Make sure your choice of axis is consistent with your rendering
+  system.
+
+  The heightfield heights are determined from the data type used for the
+  heightfieldData array.  
+
+   - PHY_UCHAR: height at a point is the uchar value at the
+       grid point, multipled by heightScale.  uchar isn't recommended
+       because of its inability to deal with negative values, and
+       low resolution (8-bit).
+
+   - PHY_SHORT: height at a point is the short int value at that grid
+       point, multipled by heightScale.
+
+   - PHY_FLOAT: height at a point is the float value at that grid
+       point.  heightScale is ignored when using the float heightfield
+       data type.
+
+  Whatever the caller specifies as minHeight and maxHeight will be honored.
+  The class will not inspect the heightfield to discover the actual minimum
+  or maximum heights.  These values are used to determine the heightfield's
+  axis-aligned bounding box, multiplied by localScaling.
+
+  For usage and testing see the TerrainDemo.
+ */
+ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	btVector3	m_localOrigin;
+
+	///terrain data
+	int	m_heightStickWidth;
+	int m_heightStickLength;
+	btScalar	m_minHeight;
+	btScalar	m_maxHeight;
+	btScalar m_width;
+	btScalar m_length;
+	btScalar m_heightScale;
+	union
+	{
+		const unsigned char*	m_heightfieldDataUnsignedChar;
+		const short*		m_heightfieldDataShort;
+		const btScalar*			m_heightfieldDataFloat;
+		const void*	m_heightfieldDataUnknown;
+	};
+
+	PHY_ScalarType	m_heightDataType;	
+	bool	m_flipQuadEdges;
+  	bool  m_useDiamondSubdivision;
+	bool m_useZigzagSubdivision;
+
+	int	m_upAxis;
+	
+	btVector3	m_localScaling;
+
+	virtual btScalar	getRawHeightFieldValue(int x,int y) const;
+	void		quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
+	void		getVertex(int x,int y,btVector3& vertex) const;
+
+
+
+	/// protected initialization
+	/**
+	  Handles the work of constructors so that public constructors can be
+	  backwards-compatible without a lot of copy/paste.
+	 */
+	void initialize(int heightStickWidth, int heightStickLength,
+	                const void* heightfieldData, btScalar heightScale,
+	                btScalar minHeight, btScalar maxHeight, int upAxis,
+	                PHY_ScalarType heightDataType, bool flipQuadEdges);
+
+public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	/// preferred constructor
+	/**
+	  This constructor supports a range of heightfield
+	  data types, and allows for a non-zero minimum height value.
+	  heightScale is needed for any integer-based heightfield data types.
+	 */
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
+	                          const void* heightfieldData, btScalar heightScale,
+	                          btScalar minHeight, btScalar maxHeight,
+	                          int upAxis, PHY_ScalarType heightDataType,
+	                          bool flipQuadEdges);
+
+	/// legacy constructor
+	/**
+	  The legacy constructor assumes the heightfield has a minimum height
+	  of zero.  Only unsigned char or floats are supported.  For legacy
+	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
+	  (and is only used when useFloatData = false).
+ 	 */
+	btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+
+	virtual ~btHeightfieldTerrainShape();
+
+
+	void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
+
+	///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625	
+	void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	virtual const btVector3& getLocalScaling() const;
+	
+	//debugging
+	virtual const char*	getName()const {return "HEIGHTFIELD";}
+
+};
+
+#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
new file mode 100644
index 0000000000..866f9b4da4
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMaterial.h
@@ -0,0 +1,35 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+/// This file was created by Alex Silverman
+
+#ifndef BT_MATERIAL_H
+#define BT_MATERIAL_H
+
+// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
+class btMaterial
+{
+    // public members so that materials can change due to world events
+public:
+    btScalar m_friction;
+    btScalar m_restitution;
+    int pad[2];
+
+    btMaterial(){}
+    btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
+};
+
+#endif // BT_MATERIAL_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
new file mode 100644
index 0000000000..899ef50056
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
@@ -0,0 +1,77 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btMinkowskiSumShape.h"
+
+
+btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
+: btConvexInternalShape (),
+m_shapeA(shapeA),
+m_shapeB(shapeB)
+{
+	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
+	m_transA.setIdentity();
+	m_transB.setIdentity();
+}
+
+btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
+	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
+	return  supVertexA - supVertexB;
+}
+
+void	btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	///@todo: could make recursive use of batching. probably this shape is not used frequently.
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
+	}
+
+}
+
+
+
+btScalar	btMinkowskiSumShape::getMargin() const
+{
+	return m_shapeA->getMargin() + m_shapeB->getMargin();
+}
+
+
+void	btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	(void)mass;
+	//inertia of the AABB of the Minkowski sum
+	btTransform identity;
+	identity.setIdentity();
+	btVector3 aabbMin,aabbMax;
+	getAabb(identity,aabbMin,aabbMax);
+
+	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+
+	btScalar margin = getMargin();
+
+	btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
+	btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
+	btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(0.08333333);
+
+	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
new file mode 100644
index 0000000000..a3f9a47239
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -0,0 +1,62 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MINKOWSKI_SUM_SHAPE_H
+#define BT_MINKOWSKI_SUM_SHAPE_H
+
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
+ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
+{
+
+	btTransform	m_transA;
+	btTransform	m_transB;
+	const btConvexShape*	m_shapeA;
+	const btConvexShape*	m_shapeB;
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	void	setTransformA(const btTransform&	transA) { m_transA = transA;}
+	void	setTransformB(const btTransform&	transB) { m_transB = transB;}
+
+	const btTransform& getTransformA()const  { return m_transA;}
+	const btTransform& GetTransformB()const  { return m_transB;}
+
+
+	virtual btScalar	getMargin() const;
+
+	const btConvexShape*	getShapeA() const { return m_shapeA;}
+	const btConvexShape*	getShapeB() const { return m_shapeB;}
+
+	virtual const char*	getName()const 
+	{
+		return "MinkowskiSum";
+	}
+};
+
+#endif //BT_MINKOWSKI_SUM_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
new file mode 100644
index 0000000000..4195fa3138
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -0,0 +1,185 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
+#include "btMultiSphereShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btSerializer.h"
+
+btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres)
+:btConvexInternalAabbCachingShape ()
+{
+	m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
+	//btScalar startMargin = btScalar(BT_LARGE_FLOAT);
+
+	m_localPositionArray.resize(numSpheres);
+	m_radiArray.resize(numSpheres);
+	for (int i=0;i<numSpheres;i++)
+	{
+		m_localPositionArray[i] = positions[i];
+		m_radiArray[i] = radi[i];
+		
+	}
+
+	recalcLocalAabb();
+
+}
+
+#ifndef MIN
+	#define MIN( _a, _b)    ((_a) < (_b) ? (_a) : (_b))
+#endif
+ btVector3	btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+	btVector3 supVec(0,0,0);
+
+	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	btVector3 vtx;
+	btScalar newDot;
+
+	const btVector3* pos = &m_localPositionArray[0];
+	const btScalar* rad = &m_radiArray[0];
+	int numSpheres = m_localPositionArray.size();
+
+	for( int k = 0; k < numSpheres; k+= 128 )
+	{
+		btVector3 temp[128];
+		int inner_count = MIN( numSpheres - k, 128 );
+        for( long i = 0; i < inner_count; i++ )
+        {
+            temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin();
+            pos++;
+            rad++;
+        }
+        long i = vec.maxDot( temp, inner_count, newDot);
+        if( newDot > maxDot )
+		{
+			maxDot = newDot;
+			supVec = temp[i];
+		}
+    }
+
+	return supVec;
+
+}
+
+ void	btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+
+	for (int j=0;j<numVectors;j++)
+	{
+		btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+
+		const btVector3& vec = vectors[j];
+
+		btVector3 vtx;
+		btScalar newDot;
+
+		const btVector3* pos = &m_localPositionArray[0];
+		const btScalar* rad = &m_radiArray[0];
+		int numSpheres = m_localPositionArray.size();
+
+        for( int k = 0; k < numSpheres; k+= 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN( numSpheres - k, 128 );
+            for( long i = 0; i < inner_count; i++ )
+            {
+                temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin();
+                pos++;
+                rad++;
+            }
+            long i = vec.maxDot( temp, inner_count, newDot);
+            if( newDot > maxDot )
+            {
+                maxDot = newDot;
+                supportVerticesOut[j] = temp[i];
+            }
+        }
+        
+	}
+}
+
+
+
+
+
+
+
+
+void	btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//as an approximation, take the inertia of the box that bounds the spheres
+
+	btVector3 localAabbMin,localAabbMax;
+	getCachedLocalAabb(localAabbMin,localAabbMax);
+	btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5);
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer;
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
+
+	int numElem = m_localPositionArray.size();
+	shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]):  0;
+	
+	shapeData->m_localPositionArraySize = numElem;
+	if (numElem)
+	{
+		btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem);
+		btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			m_localPositionArray[i].serializeFloat(memPtr->m_pos);
+			memPtr->m_radius = float(m_radiArray[i]);
+		}
+		serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
+	}
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
+
+	return "btMultiSphereShapeData";
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
new file mode 100644
index 0000000000..5d3b402684
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -0,0 +1,101 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
+#define BT_MULTI_SPHERE_MINKOWSKI_H
+
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btAabbUtil2.h"
+
+
+
+///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
+///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
+ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
+{
+	
+	btAlignedObjectArray<btVector3> m_localPositionArray;
+	btAlignedObjectArray<btScalar>  m_radiArray;
+	
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
+
+	///CollisionShape Interface
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	/// btConvexShape Interface
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+	int	getSphereCount() const
+	{
+		return m_localPositionArray.size();
+	}
+
+	const btVector3&	getSpherePosition(int index) const
+	{
+		return m_localPositionArray[index];
+	}
+
+	btScalar	getSphereRadius(int index) const
+	{
+		return m_radiArray[index];
+	}
+
+
+	virtual const char*	getName()const 
+	{
+		return "MultiSphere";
+	}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+
+struct	btPositionAndRadius
+{
+	btVector3FloatData	m_pos;
+	float		m_radius;
+};
+
+struct	btMultiSphereShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	btPositionAndRadius	*m_localPositionArrayPtr;
+	int				m_localPositionArraySize;
+	char	m_padding[4];
+};
+
+
+
+SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btMultiSphereShapeData);
+}
+
+
+
+#endif //BT_MULTI_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
new file mode 100644
index 0000000000..58799ac96a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
@@ -0,0 +1,45 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+/// This file was created by Alex Silverman
+
+#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
+//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+
+
+///Obtains the material for a specific triangle
+const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
+{
+    const unsigned char * materialBase = 0;
+    int numMaterials;
+    PHY_ScalarType materialType;
+    int materialStride;
+    const unsigned char * triangleMaterialBase = 0;
+    int numTriangles;
+    int triangleMaterialStride;
+    PHY_ScalarType triangleType;
+
+    ((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
+        &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
+
+    // return the pointer to the place with the friction for the triangle
+    // TODO: This depends on whether it's a moving mesh or not
+    // BUG IN GIMPACT
+    //return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
+    int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
+    btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
+    return (matVal);
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
new file mode 100644
index 0000000000..5ebaede4a8
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
@@ -0,0 +1,119 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+/// This file was created by Alex Silverman
+
+#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+
+#include "btBvhTriangleMeshShape.h"
+#include "btMaterial.h"
+
+///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution.
+ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
+{
+    btAlignedObjectArray <btMaterial*> m_materialList;
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+    btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
+        btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
+        {
+            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
+            const unsigned char *vertexbase;
+            int numverts;
+            PHY_ScalarType type;
+            int stride;
+            const unsigned char *indexbase;
+            int indexstride;
+            int numfaces;
+            PHY_ScalarType indicestype;
+
+            //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
+
+            for(int i = 0; i < meshInterface->getNumSubParts(); i++)
+            {
+                m_meshInterface->getLockedReadOnlyVertexIndexBase(
+                    &vertexbase,
+                    numverts,
+                    type,
+                    stride,
+                    &indexbase,
+                    indexstride,
+                    numfaces,
+                    indicestype,
+                    i);
+                //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
+            }
+        }
+
+	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
+	btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
+        btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
+        {
+            m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
+
+            const unsigned char *vertexbase;
+            int numverts;
+            PHY_ScalarType type;
+            int stride;
+            const unsigned char *indexbase;
+            int indexstride;
+            int numfaces;
+            PHY_ScalarType indicestype;
+
+            //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
+
+            for(int i = 0; i < meshInterface->getNumSubParts(); i++)
+            {
+                m_meshInterface->getLockedReadOnlyVertexIndexBase(
+                    &vertexbase,
+                    numverts,
+                    type,
+                    stride,
+                    &indexbase,
+                    indexstride,
+                    numfaces,
+                    indicestype,
+                    i);
+                //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
+            }
+        }
+	
+    virtual ~btMultimaterialTriangleMeshShape()
+    {
+/*
+        for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
+        {
+            btAlignedFree(m_materialValues[i]);
+            m_materialLookup[i] = NULL;
+        }
+        btAlignedFree(m_materialValues);
+        m_materialLookup = NULL;
+*/
+    }
+	//debugging
+	virtual const char*	getName()const {return "MULTIMATERIALTRIANGLEMESH";}
+
+    ///Obtains the material for a specific triangle
+    const btMaterial * getMaterialProperties(int partID, int triIndex);
+
+}
+;
+
+#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
new file mode 100644
index 0000000000..6f36775f7c
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -0,0 +1,391 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btOptimizedBvh.h"
+#include "btStridingMeshInterface.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "LinearMath/btIDebugDraw.h"
+
+
+btOptimizedBvh::btOptimizedBvh()
+{ 
+}
+
+btOptimizedBvh::~btOptimizedBvh()
+{
+}
+
+
+void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
+{
+	m_useQuantization = useQuantizedAabbCompression;
+
+
+	// NodeArray	triangleNodes;
+
+	struct	NodeTriangleCallback : public btInternalTriangleIndexCallback
+	{
+
+		NodeArray&	m_triangleNodes;
+
+		NodeTriangleCallback& operator=(NodeTriangleCallback& other)
+		{
+			m_triangleNodes.copyFromArray(other.m_triangleNodes);
+			return *this;
+		}
+		
+		NodeTriangleCallback(NodeArray&	triangleNodes)
+			:m_triangleNodes(triangleNodes)
+		{
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		{
+			btOptimizedBvhNode node;
+			btVector3	aabbMin,aabbMax;
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+			aabbMin.setMin(triangle[0]);
+			aabbMax.setMax(triangle[0]);
+			aabbMin.setMin(triangle[1]);
+			aabbMax.setMax(triangle[1]);
+			aabbMin.setMin(triangle[2]);
+			aabbMax.setMax(triangle[2]);
+
+			//with quantization?
+			node.m_aabbMinOrg = aabbMin;
+			node.m_aabbMaxOrg = aabbMax;
+
+			node.m_escapeIndex = -1;
+	
+			//for child nodes
+			node.m_subPart = partId;
+			node.m_triangleIndex = triangleIndex;
+			m_triangleNodes.push_back(node);
+		}
+	};
+	struct	QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
+	{
+		QuantizedNodeArray&	m_triangleNodes;
+		const btQuantizedBvh* m_optimizedTree; // for quantization
+
+		QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
+		{
+			m_triangleNodes.copyFromArray(other.m_triangleNodes);
+			m_optimizedTree = other.m_optimizedTree;
+			return *this;
+		}
+
+		QuantizedNodeTriangleCallback(QuantizedNodeArray&	triangleNodes,const btQuantizedBvh* tree)
+			:m_triangleNodes(triangleNodes),m_optimizedTree(tree)
+		{
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		{
+			// The partId and triangle index must fit in the same (positive) integer
+			btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
+			btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
+			//negative indices are reserved for escapeIndex
+			btAssert(triangleIndex>=0);
+
+			btQuantizedBvhNode node;
+			btVector3	aabbMin,aabbMax;
+			aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+			aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+			aabbMin.setMin(triangle[0]);
+			aabbMax.setMax(triangle[0]);
+			aabbMin.setMin(triangle[1]);
+			aabbMax.setMax(triangle[1]);
+			aabbMin.setMin(triangle[2]);
+			aabbMax.setMax(triangle[2]);
+
+			//PCK: add these checks for zero dimensions of aabb
+			const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
+			const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
+			if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION)
+			{
+				aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION);
+				aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION);
+			}
+			if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION)
+			{
+				aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION);
+				aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION);
+			}
+			if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION)
+			{
+				aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION);
+				aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
+			}
+
+			m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
+			m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+
+			node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+
+			m_triangleNodes.push_back(node);
+		}
+	};
+	
+
+
+	int numLeafNodes = 0;
+
+	
+	if (m_useQuantization)
+	{
+
+		//initialize quantization values
+		setQuantizationValues(bvhAabbMin,bvhAabbMax);
+
+		QuantizedNodeTriangleCallback	callback(m_quantizedLeafNodes,this);
+
+	
+		triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
+
+		//now we have an array of leafnodes in m_leafNodes
+		numLeafNodes = m_quantizedLeafNodes.size();
+
+
+		m_quantizedContiguousNodes.resize(2*numLeafNodes);
+
+
+	} else
+	{
+		NodeTriangleCallback	callback(m_leafNodes);
+
+		btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+		btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+
+		triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
+
+		//now we have an array of leafnodes in m_leafNodes
+		numLeafNodes = m_leafNodes.size();
+
+		m_contiguousNodes.resize(2*numLeafNodes);
+	}
+
+	m_curNodeIndex = 0;
+
+	buildTree(0,numLeafNodes);
+
+	///if the entire tree is small then subtree size, we need to create a header info for the tree
+	if(m_useQuantization && !m_SubtreeHeaders.size())
+	{
+		btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
+		subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
+		subtree.m_rootNodeIndex = 0;
+		subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
+	}
+
+	//PCK: update the copy of the size
+	m_subtreeHeaderCount = m_SubtreeHeaders.size();
+
+	//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
+	m_quantizedLeafNodes.clear();
+	m_leafNodes.clear();
+}
+
+
+
+
+void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	if (m_useQuantization)
+	{
+
+		setQuantizationValues(aabbMin,aabbMax);
+
+		updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
+
+		///now update all subtree headers
+
+		int i;
+		for (i=0;i<m_SubtreeHeaders.size();i++)
+		{
+			btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
+			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
+		}
+
+	} else
+	{
+
+	}
+}
+
+
+
+
+void	btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	//incrementally initialize quantization values
+	btAssert(m_useQuantization);
+
+	btAssert(aabbMin.getX() > m_bvhAabbMin.getX());
+	btAssert(aabbMin.getY() > m_bvhAabbMin.getY());
+	btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ());
+
+	btAssert(aabbMax.getX() < m_bvhAabbMax.getX());
+	btAssert(aabbMax.getY() < m_bvhAabbMax.getY());
+	btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ());
+
+	///we should update all quantization values, using updateBvhNodes(meshInterface);
+	///but we only update chunks that overlap the given aabb
+	
+	unsigned short	quantizedQueryAabbMin[3];
+	unsigned short	quantizedQueryAabbMax[3];
+
+	quantize(&quantizedQueryAabbMin[0],aabbMin,0);
+	quantize(&quantizedQueryAabbMax[0],aabbMax,1);
+
+	int i;
+	for (i=0;i<this->m_SubtreeHeaders.size();i++)
+	{
+		btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
+
+		//PCK: unsigned instead of bool
+		unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+		if (overlap != 0)
+		{
+			updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
+
+			subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
+		}
+	}
+	
+}
+
+void	btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
+{
+	(void)index;
+
+	btAssert(m_useQuantization);
+
+	int curNodeSubPart=-1;
+
+	//get access info to trianglemesh data
+		const unsigned char *vertexbase = 0;
+		int numverts = 0;
+		PHY_ScalarType type = PHY_INTEGER;
+		int stride = 0;
+		const unsigned char *indexbase = 0;
+		int indexstride = 0;
+		int numfaces = 0;
+		PHY_ScalarType indicestype = PHY_INTEGER;
+
+		btVector3	triangleVerts[3];
+		btVector3	aabbMin,aabbMax;
+		const btVector3& meshScaling = meshInterface->getScaling();
+		
+		int i;
+		for (i=endNode-1;i>=firstNode;i--)
+		{
+
+
+			btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
+			if (curNode.isLeafNode())
+			{
+				//recalc aabb from triangle data
+				int nodeSubPart = curNode.getPartId();
+				int nodeTriangleIndex = curNode.getTriangleIndex();
+				if (nodeSubPart != curNodeSubPart)
+				{
+					if (curNodeSubPart >= 0)
+						meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
+					meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
+
+					curNodeSubPart = nodeSubPart;
+					btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+				}
+				//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
+
+				unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+				
+				
+				for (int j=2;j>=0;j--)
+				{
+					
+					int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+					if (type == PHY_FLOAT)
+					{
+						float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+						triangleVerts[j] = btVector3(
+							graphicsbase[0]*meshScaling.getX(),
+							graphicsbase[1]*meshScaling.getY(),
+							graphicsbase[2]*meshScaling.getZ());
+					}
+					else
+					{
+						double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+						triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
+					}
+				}
+
+
+				
+				aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+				aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); 
+				aabbMin.setMin(triangleVerts[0]);
+				aabbMax.setMax(triangleVerts[0]);
+				aabbMin.setMin(triangleVerts[1]);
+				aabbMax.setMax(triangleVerts[1]);
+				aabbMin.setMin(triangleVerts[2]);
+				aabbMax.setMax(triangleVerts[2]);
+
+				quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
+				quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
+				
+			} else
+			{
+				//combine aabb from both children
+
+				btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
+				
+				btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
+					&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
+				
+
+				{
+					for (int i=0;i<3;i++)
+					{
+						curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
+						if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
+							curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
+
+						curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
+						if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
+							curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
+					}
+				}
+			}
+
+		}
+
+		if (curNodeSubPart >= 0)
+			meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
+
+		
+}
+
+///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
+btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+{
+	btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
+	
+	//we don't add additional data so just do a static upcast
+	return static_cast<btOptimizedBvh*>(bvh);
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
new file mode 100644
index 0000000000..715961f552
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
@@ -0,0 +1,65 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///Contains contributions from Disney Studio's
+
+#ifndef BT_OPTIMIZED_BVH_H
+#define BT_OPTIMIZED_BVH_H
+
+#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
+
+class btStridingMeshInterface;
+
+
+///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
+ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh
+{
+	
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+protected:
+
+public:
+
+	btOptimizedBvh();
+
+	virtual ~btOptimizedBvh();
+
+	void	build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
+
+	void	refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
+
+	void	refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
+
+	void	updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
+
+	/// Data buffer MUST be 16 byte aligned
+	virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
+	{
+		return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
+
+	}
+
+	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
+	static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
+
+
+};
+
+
+#endif //BT_OPTIMIZED_BVH_H
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
new file mode 100644
index 0000000000..4854f370f7
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -0,0 +1,500 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+#if defined (_WIN32) || defined (__i386__)
+#define BT_USE_SSE_IN_API
+#endif
+
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+#include <new>
+#include "LinearMath/btGeometryUtil.h"
+#include "LinearMath/btGrahamScan2dConvexHull.h"
+
+
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_polyhedron(0)
+{
+
+}
+
+btPolyhedralConvexShape::~btPolyhedralConvexShape()
+{
+	if (m_polyhedron)
+	{
+		m_polyhedron->~btConvexPolyhedron();
+		btAlignedFree(m_polyhedron);
+	}
+}
+
+
+bool	btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
+{
+
+	if (m_polyhedron)
+	{
+		m_polyhedron->~btConvexPolyhedron();
+		btAlignedFree(m_polyhedron);
+	}
+	
+	void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+	m_polyhedron = new (mem) btConvexPolyhedron;
+
+	btAlignedObjectArray<btVector3> orgVertices;
+
+	for (int i=0;i<getNumVertices();i++)
+	{
+		btVector3& newVertex = orgVertices.expand();
+		getVertex(i,newVertex);
+	}
+	
+	btConvexHullComputer conv;
+	
+	if (shiftVerticesByMargin)
+	{
+		btAlignedObjectArray<btVector3> planeEquations;
+		btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
+
+		btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+		for (int p=0;p<planeEquations.size();p++)
+		{
+			   btVector3 plane = planeEquations[p];
+		//	   btScalar margin = getMargin();
+			   plane[3] -= getMargin();
+			   shiftedPlaneEquations.push_back(plane);
+		}
+
+		btAlignedObjectArray<btVector3> tmpVertices;
+
+		btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
+	
+		conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+	} else
+	{
+		
+		conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+	}
+
+
+
+	btAlignedObjectArray<btVector3> faceNormals;
+	int numFaces = conv.faces.size();
+	faceNormals.resize(numFaces);
+	btConvexHullComputer* convexUtil = &conv;
+
+	
+	btAlignedObjectArray<btFace>	tmpFaces;
+	tmpFaces.resize(numFaces);
+
+	int numVertices = convexUtil->vertices.size();
+	m_polyhedron->m_vertices.resize(numVertices);
+	for (int p=0;p<numVertices;p++)
+	{
+		m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
+	}
+
+
+	for (int i=0;i<numFaces;i++)
+	{
+		int face = convexUtil->faces[i];
+		//printf("face=%d\n",face);
+		const btConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
+		const btConvexHullComputer::Edge*  edge = firstEdge;
+
+		btVector3 edges[3];
+		int numEdges = 0;
+		//compute face normals
+
+		do
+		{
+			
+			int src = edge->getSourceVertex();
+			tmpFaces[i].m_indices.push_back(src);
+			int targ = edge->getTargetVertex();
+			btVector3 wa = convexUtil->vertices[src];
+
+			btVector3 wb = convexUtil->vertices[targ];
+			btVector3 newEdge = wb-wa;
+			newEdge.normalize();
+			if (numEdges<2)
+				edges[numEdges++] = newEdge;
+
+			edge = edge->getNextEdgeOfFace();
+		} while (edge!=firstEdge);
+
+		btScalar planeEq = 1e30f;
+
+		
+		if (numEdges==2)
+		{
+			faceNormals[i] = edges[0].cross(edges[1]);
+			faceNormals[i].normalize();
+			tmpFaces[i].m_plane[0] = faceNormals[i].getX();
+			tmpFaces[i].m_plane[1] = faceNormals[i].getY();
+			tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
+			tmpFaces[i].m_plane[3] = planeEq;
+
+		}
+		else
+		{
+			btAssert(0);//degenerate?
+			faceNormals[i].setZero();
+		}
+
+		for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+		{
+			btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
+			if (planeEq>eq)
+			{
+				planeEq=eq;
+			}
+		}
+		tmpFaces[i].m_plane[3] = -planeEq;
+	}
+
+	//merge coplanar faces and copy them to m_polyhedron
+
+	btScalar faceWeldThreshold= 0.999f;
+	btAlignedObjectArray<int> todoFaces;
+	for (int i=0;i<tmpFaces.size();i++)
+		todoFaces.push_back(i);
+
+	while (todoFaces.size())
+	{
+		btAlignedObjectArray<int> coplanarFaceGroup;
+		int refFace = todoFaces[todoFaces.size()-1];
+
+		coplanarFaceGroup.push_back(refFace);
+		btFace& faceA = tmpFaces[refFace];
+		todoFaces.pop_back();
+
+		btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
+		for (int j=todoFaces.size()-1;j>=0;j--)
+		{
+			int i = todoFaces[j];
+			btFace& faceB = tmpFaces[i];
+			btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
+			if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+			{
+				coplanarFaceGroup.push_back(i);
+				todoFaces.remove(i);
+			}
+		}
+
+
+		bool did_merge = false;
+		if (coplanarFaceGroup.size()>1)
+		{
+			//do the merge: use Graham Scan 2d convex hull
+
+			btAlignedObjectArray<GrahamVector3> orgpoints;
+			btVector3 averageFaceNormal(0,0,0);
+
+			for (int i=0;i<coplanarFaceGroup.size();i++)
+			{
+//				m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+
+				btFace& face = tmpFaces[coplanarFaceGroup[i]];
+				btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
+				averageFaceNormal+=faceNormal;
+				for (int f=0;f<face.m_indices.size();f++)
+				{
+					int orgIndex = face.m_indices[f];
+					btVector3 pt = m_polyhedron->m_vertices[orgIndex];
+					
+					bool found = false;
+
+					for (int i=0;i<orgpoints.size();i++)
+					{
+						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
+						if (orgpoints[i].m_orgIndex == orgIndex)
+						{
+							found=true;
+							break;
+						}
+					}
+					if (!found)
+						orgpoints.push_back(GrahamVector3(pt,orgIndex));
+				}
+			}
+
+			
+
+			btFace combinedFace;
+			for (int i=0;i<4;i++)
+				combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
+
+			btAlignedObjectArray<GrahamVector3> hull;
+
+			averageFaceNormal.normalize();
+			GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal);
+
+			for (int i=0;i<hull.size();i++)
+			{
+				combinedFace.m_indices.push_back(hull[i].m_orgIndex);
+				for(int k = 0; k < orgpoints.size(); k++) 
+				{
+					if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) 
+					{
+						orgpoints[k].m_orgIndex = -1; // invalidate...
+						break;
+					}
+				}
+			}
+
+			// are there rejected vertices?
+			bool reject_merge = false;
+			
+
+
+			for(int i = 0; i < orgpoints.size(); i++) {
+				if(orgpoints[i].m_orgIndex == -1)
+					continue; // this is in the hull...
+				// this vertex is rejected -- is anybody else using this vertex?
+				for(int j = 0; j < tmpFaces.size(); j++) {
+					
+					btFace& face = tmpFaces[j];
+					// is this a face of the current coplanar group?
+					bool is_in_current_group = false;
+					for(int k = 0; k < coplanarFaceGroup.size(); k++) {
+						if(coplanarFaceGroup[k] == j) {
+							is_in_current_group = true;
+							break;
+						}
+					}
+					if(is_in_current_group) // ignore this face...
+						continue;
+					// does this face use this rejected vertex?
+					for(int v = 0; v < face.m_indices.size(); v++) {
+						if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+							// this rejected vertex is used in another face -- reject merge
+							reject_merge = true;
+							break;
+						}
+					}
+					if(reject_merge)
+						break;
+				}
+				if(reject_merge)
+					break;
+			}
+
+			if (!reject_merge)
+			{
+				// do this merge!
+				did_merge = true;
+				m_polyhedron->m_faces.push_back(combinedFace);
+			}
+		}
+		if(!did_merge)
+		{
+			for (int i=0;i<coplanarFaceGroup.size();i++)
+			{
+				btFace face = tmpFaces[coplanarFaceGroup[i]];
+				m_polyhedron->m_faces.push_back(face);
+			}
+
+		} 
+
+
+
+	}
+	
+	m_polyhedron->initialize();
+
+	return true;
+}
+
+#ifndef MIN
+    #define MIN(_a, _b)     ((_a) < (_b) ? (_a) : (_b))
+#endif
+
+btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+{
+
+
+	btVector3 supVec(0,0,0);
+#ifndef __SPU__
+	int i;
+	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
+
+	btVector3 vec = vec0;
+	btScalar lenSqr = vec.length2();
+	if (lenSqr < btScalar(0.0001))
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	btVector3 vtx;
+	btScalar newDot;
+
+    for( int k = 0; k < getNumVertices(); k += 128 )
+    {
+        btVector3 temp[128];
+        int inner_count = MIN(getNumVertices() - k, 128);
+        for( i = 0; i < inner_count; i++ )
+            getVertex(i,temp[i]); 
+        i = (int) vec.maxDot( temp, inner_count, newDot);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = temp[i];
+		}        
+    }
+	
+#endif //__SPU__
+	return supVec;
+}
+
+
+
+void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+#ifndef __SPU__
+	int i;
+
+	btVector3 vtx;
+	btScalar newDot;
+
+	for (i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
+	}
+
+	for (int j=0;j<numVectors;j++)
+	{
+        const btVector3& vec = vectors[j];
+        
+        for( int k = 0; k < getNumVertices(); k += 128 )
+        {
+            btVector3 temp[128];
+            int inner_count = MIN(getNumVertices() - k, 128);
+            for( i = 0; i < inner_count; i++ )
+                getVertex(i,temp[i]); 
+            i = (int) vec.maxDot( temp, inner_count, newDot);
+            if (newDot > supportVerticesOut[j][3])
+            {
+				supportVerticesOut[j] = temp[i];
+				supportVerticesOut[j][3] = newDot;
+            }        
+        }
+    }
+
+#endif //__SPU__
+}
+
+
+
+void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+#ifndef __SPU__
+	//not yet, return box inertia
+
+	btScalar margin = getMargin();
+
+	btTransform ident;
+	ident.setIdentity();
+	btVector3 aabbMin,aabbMax;
+	getAabb(ident,aabbMin,aabbMax);
+	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+
+	btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
+	btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
+	btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(0.08333333);
+
+	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+#endif //__SPU__
+}
+
+
+
+void	btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
+{
+	btConvexInternalShape::setLocalScaling(scaling);
+	recalcLocalAabb();
+}
+
+btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
+:btPolyhedralConvexShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
+
+void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+}
+
+void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
+{
+	m_isLocalAabbValid = true;
+	
+	#if 1
+	static const btVector3 _directions[] =
+	{
+		btVector3( 1.,  0.,  0.),
+		btVector3( 0.,  1.,  0.),
+		btVector3( 0.,  0.,  1.),
+		btVector3( -1., 0.,  0.),
+		btVector3( 0., -1.,  0.),
+		btVector3( 0.,  0., -1.)
+	};
+	
+	btVector3 _supporting[] =
+	{
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.)
+	};
+	
+	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+	
+	for ( int i = 0; i < 3; ++i )
+	{
+		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+	}
+	
+	#else
+
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+		btVector3 tmp = localGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i];
+		vec[i] = btScalar(-1.);
+		tmp = localGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i];
+	}
+	#endif
+}
+
+
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
new file mode 100644
index 0000000000..7bf8e01c1f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -0,0 +1,118 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
+#define BT_POLYHEDRAL_CONVEX_SHAPE_H
+
+#include "LinearMath/btMatrix3x3.h"
+#include "btConvexInternalShape.h"
+class btConvexPolyhedron;
+
+
+///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
+ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
+{
+	
+
+protected:
+	
+	btConvexPolyhedron* m_polyhedron;
+
+public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+
+	btPolyhedralConvexShape();
+
+	virtual ~btPolyhedralConvexShape();
+
+	///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
+	///experimental/work-in-progress
+	virtual bool	initializePolyhedralFeatures(int shiftVerticesByMargin=0);
+
+	const btConvexPolyhedron*	getConvexPolyhedron() const
+	{
+		return m_polyhedron;
+	}
+
+	//brute force implementations
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+	
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	
+	
+	virtual int	getNumVertices() const = 0 ;
+	virtual int getNumEdges() const = 0;
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
+	virtual void getVertex(int i,btVector3& vtx) const = 0;
+	virtual int	getNumPlanes() const = 0;
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
+//	virtual int getIndex(int i) const = 0 ; 
+
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
+	
+};
+
+
+///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
+class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
+{
+
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	bool		m_isLocalAabbValid;
+		
+protected:
+
+	void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+	{
+		m_isLocalAabbValid = true;
+		m_localAabbMin = aabbMin;
+		m_localAabbMax = aabbMax;
+	}
+
+	inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+	{
+		btAssert(m_isLocalAabbValid);
+		aabbMin = m_localAabbMin;
+		aabbMax = m_localAabbMax;
+	}
+
+protected:
+
+	btPolyhedralConvexAabbCachingShape();
+	
+public:
+	
+	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	{
+
+		//lazy evaluation of local aabb
+		btAssert(m_isLocalAabbValid);
+		btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+	}
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	void	recalcLocalAabb();
+
+};
+
+#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
new file mode 100644
index 0000000000..6a337c786c
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@@ -0,0 +1,121 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btScaledBvhTriangleMeshShape.h"
+
+btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
+:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
+{
+	m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
+}
+
+btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
+{
+}
+
+
+class btScaledTriangleCallback : public btTriangleCallback
+{
+	btTriangleCallback* m_originalCallback;
+
+	btVector3	m_localScaling;
+
+public:
+
+	btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
+		:m_originalCallback(originalCallback),
+		m_localScaling(localScaling)
+	{
+	}
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+	{
+		btVector3 newTriangle[3];
+		newTriangle[0] = triangle[0]*m_localScaling;
+		newTriangle[1] = triangle[1]*m_localScaling;
+		newTriangle[2] = triangle[2]*m_localScaling;
+		m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
+	}
+};
+
+void	btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	btScaledTriangleCallback scaledCallback(callback,m_localScaling);
+	
+	btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
+	btVector3 scaledAabbMin,scaledAabbMax;
+
+	///support negative scaling
+	scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
+	scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
+	scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
+	scaledAabbMin[3] = 0.f;
+	
+	scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
+	scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
+	scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
+	scaledAabbMax[3] = 0.f;
+	
+	
+	m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
+}
+
+
+void	btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
+	btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
+
+	btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
+	btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
+
+	localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
+	localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
+	localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
+	localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
+	localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
+	localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
+
+	btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
+	btScalar margin = m_bvhTriMeshShape->getMargin();
+	localHalfExtents += btVector3(margin,margin,margin);
+	btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
+	
+	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	btVector3 center = trans(localCenter);
+
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+}
+
+void	btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+
+const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
+{
+	return m_localScaling;
+}
+
+void	btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	///don't make this a movable object!
+//	btAssert(0);
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
new file mode 100644
index 0000000000..39049eaf08
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@@ -0,0 +1,95 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+
+
+///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
+///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
+ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
+{
+	
+	
+	btVector3	m_localScaling;
+
+	btBvhTriangleMeshShape*	m_bvhTriMeshShape;
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+
+	btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
+
+	virtual ~btScaledBvhTriangleMeshShape();
+
+
+	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 void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	btBvhTriangleMeshShape*	getChildShape()
+	{
+		return m_bvhTriMeshShape;
+	}
+
+	const btBvhTriangleMeshShape*	getChildShape() const
+	{
+		return m_bvhTriMeshShape;
+	}
+
+	//debugging
+	virtual const char*	getName()const {return "SCALEDBVHTRIANGLEMESH";}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btScaledTriangleMeshShapeData
+{
+	btTriangleMeshShapeData	m_trimeshShapeData;
+
+	btVector3FloatData	m_localScaling;
+};
+
+
+SIMD_FORCE_INLINE	int	btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btScaledTriangleMeshShapeData);
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer;
+	m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer);
+	scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	m_localScaling.serializeFloat(scaledMeshData->m_localScaling);
+	return "btScaledTriangleMeshShapeData";
+}
+
+
+#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
new file mode 100644
index 0000000000..3beaf86580
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -0,0 +1,170 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+//btShapeHull was implemented by John McCutchan.
+
+
+#include "btShapeHull.h"
+#include "LinearMath/btConvexHull.h"
+
+#define NUM_UNITSPHERE_POINTS 42
+
+btShapeHull::btShapeHull (const btConvexShape* shape)
+{
+	m_shape = shape;
+	m_vertices.clear ();
+	m_indices.clear();
+	m_numIndices = 0;
+}
+
+btShapeHull::~btShapeHull ()
+{
+	m_indices.clear();	
+	m_vertices.clear ();
+}
+
+bool
+btShapeHull::buildHull (btScalar /*margin*/)
+{
+	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+	{
+		int numPDA = m_shape->getNumPreferredPenetrationDirections();
+		if (numPDA)
+		{
+			for (int i=0;i<numPDA;i++)
+			{
+				btVector3 norm;
+				m_shape->getPreferredPenetrationDirection(i,norm);
+				getUnitSpherePoints()[numSampleDirections] = norm;
+				numSampleDirections++;
+			}
+		}
+	}
+
+	btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	int i;
+	for (i = 0; i < numSampleDirections; i++)
+	{
+		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+	}
+
+	HullDesc hd;
+	hd.mFlags = QF_TRIANGLES;
+	hd.mVcount = static_cast<unsigned int>(numSampleDirections);
+
+#ifdef BT_USE_DOUBLE_PRECISION
+	hd.mVertices = &supportPoints[0];
+	hd.mVertexStride = sizeof(btVector3);
+#else
+	hd.mVertices = &supportPoints[0];
+	hd.mVertexStride = sizeof (btVector3);
+#endif
+
+	HullLibrary hl;
+	HullResult hr;
+	if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
+	{
+		return false;
+	}
+
+	m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
+
+
+	for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
+	{
+		m_vertices[i] = hr.m_OutputVertices[i];
+	}
+	m_numIndices = hr.mNumIndices;
+	m_indices.resize(static_cast<int>(m_numIndices));
+	for (i = 0; i < static_cast<int>(m_numIndices); i++)
+	{
+		m_indices[i] = hr.m_Indices[i];
+	}
+
+	// free temporary hull result that we just copied
+	hl.ReleaseResult (hr);
+
+	return true;
+}
+
+int
+btShapeHull::numTriangles () const
+{
+	return static_cast<int>(m_numIndices / 3);
+}
+
+int
+btShapeHull::numVertices () const
+{
+	return m_vertices.size ();
+}
+
+int
+btShapeHull::numIndices () const
+{
+	return static_cast<int>(m_numIndices);
+}
+
+
+btVector3* btShapeHull::getUnitSpherePoints()
+{
+	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)),
+		btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+		btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+		btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+		btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+		btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+		btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+		btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+		btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+		btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+		btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+		btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+		btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+		btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+		btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+		btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+		btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+		btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+		btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+		btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+		btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+		btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+		btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+		btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+		btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+		btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+		btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+		btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+		btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+		btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+		btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+		btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+		btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+		btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+		btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+		btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+		btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+		btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+		btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+		btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+		btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+	};
+	return sUnitSpherePoints;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
new file mode 100644
index 0000000000..e959f198b6
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
@@ -0,0 +1,61 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///btShapeHull implemented by John McCutchan.
+
+#ifndef BT_SHAPE_HULL_H
+#define BT_SHAPE_HULL_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+
+
+///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
+///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
+///It approximates the convex hull using the supporting vertex of 42 directions.
+ATTRIBUTE_ALIGNED16(class) btShapeHull
+{
+protected:
+
+	btAlignedObjectArray<btVector3> m_vertices;
+	btAlignedObjectArray<unsigned int> m_indices;
+	unsigned int m_numIndices;
+	const btConvexShape* m_shape;
+
+	static btVector3* getUnitSpherePoints();
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btShapeHull (const btConvexShape* shape);
+	~btShapeHull ();
+
+	bool buildHull (btScalar margin);
+
+	int numTriangles () const;
+	int numVertices () const;
+	int numIndices () const;
+
+	const btVector3* getVertexPointer() const
+	{
+		return &m_vertices[0];
+	}
+	const unsigned int* getIndexPointer() const
+	{
+		return &m_indices[0];
+	}
+};
+
+#endif //BT_SHAPE_HULL_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
new file mode 100644
index 0000000000..b9a736c0fd
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
@@ -0,0 +1,71 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+#include "LinearMath/btQuaternion.h"
+
+btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	(void)vec;
+	return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+}
+
+void	btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	(void)vectors;
+
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	}
+}
+
+
+btVector3	btSphereShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 supVertex;
+	supVertex = localGetSupportingVertexWithoutMargin(vec);
+
+	btVector3 vecnorm = vec;
+	if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+	{
+		vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+	} 
+	vecnorm.normalize();
+	supVertex+= getMargin() * vecnorm;
+	return supVertex;
+}
+
+
+//broken due to scaling
+void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	const btVector3& center = t.getOrigin();
+	btVector3 extent(getMargin(),getMargin(),getMargin());
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+}
+
+
+
+void	btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
+	inertia.setValue(elem,elem,elem);
+
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
new file mode 100644
index 0000000000..50561f7f54
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.h
@@ -0,0 +1,76 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef BT_SPHERE_MINKOWSKI_H
+#define BT_SPHERE_MINKOWSKI_H
+
+#include "btConvexInternalShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
+ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
+
+{
+	
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btSphereShape (btScalar radius) : btConvexInternalShape ()
+	{
+		m_shapeType = SPHERE_SHAPE_PROXYTYPE;
+		m_localScaling.setValue(1.0, 1.0, 1.0);
+		m_implicitShapeDimensions.setZero();
+		m_implicitShapeDimensions.setX(radius);
+		m_collisionMargin = radius;
+		m_padding = 0;
+	}
+	
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+	//notice that the vectors should be unit length
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+
+	btScalar	getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
+
+	void	setUnscaledRadius(btScalar	radius)
+	{
+		m_implicitShapeDimensions.setX(radius);
+		btConvexInternalShape::setMargin(radius);
+	}
+
+	//debugging
+	virtual const char*	getName()const {return "SPHERE";}
+
+	virtual void	setMargin(btScalar margin)
+	{
+		btConvexInternalShape::setMargin(margin);
+	}
+	virtual btScalar	getMargin() const
+	{
+		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
+		//this means, non-uniform scaling is not supported anymore
+		return getRadius();
+	}
+
+
+};
+
+
+#endif //BT_SPHERE_MINKOWSKI_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
new file mode 100644
index 0000000000..d17141e3f2
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -0,0 +1,107 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btStaticPlaneShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
+: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
+m_planeConstant(planeConstant),
+m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
+{
+	m_shapeType = STATIC_PLANE_PROXYTYPE;
+	//	btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
+}
+
+
+btStaticPlaneShape::~btStaticPlaneShape()
+{
+}
+
+
+
+void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	(void)t;
+	/*
+	btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+
+	btVector3 center = m_planeNormal*m_planeConstant;
+	aabbMin = center + infvec*m_planeNormal;
+	aabbMax = aabbMin;
+	aabbMin.setMin(center - infvec*m_planeNormal);
+	aabbMax.setMax(center - infvec*m_planeNormal); 
+	*/
+
+	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+	aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+
+}
+
+
+
+
+void	btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
+	btScalar radius = halfExtents.length();
+	btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
+	
+	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
+
+	btVector3 tangentDir0,tangentDir1;
+
+	//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];
+	triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+	triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
+	triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,0);
+
+	triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+	triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
+	triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,1);
+
+}
+
+void	btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	(void)mass;
+
+	//moving concave objects not supported
+	
+	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+}
+
+void	btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+const btVector3& btStaticPlaneShape::getLocalScaling() const
+{
+	return m_localScaling;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
new file mode 100644
index 0000000000..5e9eccc77d
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -0,0 +1,111 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_STATIC_PLANE_SHAPE_H
+#define BT_STATIC_PLANE_SHAPE_H
+
+#include "btConcaveShape.h"
+
+
+///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
+ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	
+	btVector3	m_planeNormal;
+	btScalar      m_planeConstant;
+	btVector3	m_localScaling;
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
+
+	virtual ~btStaticPlaneShape();
+
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+	
+	const btVector3&	getPlaneNormal() const
+	{
+		return	m_planeNormal;
+	}
+
+	const btScalar&	getPlaneConstant() const
+	{
+		return	m_planeConstant;
+	}
+
+	//debugging
+	virtual const char*	getName()const {return "STATICPLANE";}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btStaticPlaneShapeData
+{
+	btCollisionShapeData	m_collisionShapeData;
+
+	btVector3FloatData	m_localScaling;
+	btVector3FloatData	m_planeNormal;
+	float			m_planeConstant;
+	char	m_pad[4];
+};
+
+
+SIMD_FORCE_INLINE	int	btStaticPlaneShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btStaticPlaneShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer;
+	btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer);
+
+	m_localScaling.serializeFloat(planeData->m_localScaling);
+	m_planeNormal.serializeFloat(planeData->m_planeNormal);
+	planeData->m_planeConstant = float(m_planeConstant);
+
+	// Fill padding with zeros to appease msan.
+	planeData->m_pad[0] = 0;
+	planeData->m_pad[1] = 0;
+	planeData->m_pad[2] = 0;
+	planeData->m_pad[3] = 0;
+
+	return "btStaticPlaneShapeData";
+}
+
+
+#endif //BT_STATIC_PLANE_SHAPE_H
+
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
new file mode 100644
index 0000000000..78ddeb3704
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -0,0 +1,388 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btStridingMeshInterface.h"
+#include "LinearMath/btSerializer.h"
+
+btStridingMeshInterface::~btStridingMeshInterface()
+{
+
+}
+
+
+void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	(void)aabbMin;
+	(void)aabbMax;
+	int numtotalphysicsverts = 0;
+	int part,graphicssubparts = getNumSubParts();
+	const unsigned char * vertexbase;
+	const unsigned char * indexbase;
+	int indexstride;
+	PHY_ScalarType type;
+	PHY_ScalarType gfxindextype;
+	int stride,numverts,numtriangles;
+	int gfxindex;
+	btVector3 triangle[3];
+
+	btVector3 meshScaling = getScaling();
+
+	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
+	for (part=0;part<graphicssubparts ;part++)
+	{
+		getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+		numtotalphysicsverts+=numtriangles*3; //upper bound
+
+		///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
+		///so disable this feature by default
+		///see patch http://code.google.com/p/bullet/issues/detail?id=213
+
+		switch (type)
+		{
+		case PHY_FLOAT:
+		 {
+
+			 float* graphicsbase;
+
+			 switch (gfxindextype)
+			 {
+			 case PHY_INTEGER:
+				 {
+					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+					 {
+						 unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+					 }
+					 break;
+				 }
+			 case PHY_SHORT:
+				 {
+					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+					 {
+						 unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+					 }
+					 break;
+				 }
+			case PHY_UCHAR:
+				 {
+					 for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+					 {
+						 unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+						 graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+						 triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+						 triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+						 triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),	graphicsbase[2]*meshScaling.getZ());
+						 callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+					 }
+					 break;
+				 }
+			 default:
+				 btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+			 }
+			 break;
+		 }
+
+		case PHY_DOUBLE:
+			{
+				double* graphicsbase;
+
+				switch (gfxindextype)
+				{
+				case PHY_INTEGER:
+					{
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+						}
+						break;
+					}
+				case PHY_SHORT:
+					{
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+						}
+						break;
+					}
+				case PHY_UCHAR:
+					{
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+							graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+							triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+							triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+							triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),  (btScalar)graphicsbase[2]*meshScaling.getZ());
+							callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+						}
+						break;
+					}
+				default:
+					btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+				}
+				break;
+			}
+		default:
+			btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+		}
+
+		unLockReadOnlyVertexBase(part);
+	}
+}
+
+void	btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
+{
+
+	struct	AabbCalculationCallback : public btInternalTriangleIndexCallback
+	{
+		btVector3	m_aabbMin;
+		btVector3	m_aabbMax;
+
+		AabbCalculationCallback()
+		{
+			m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+			m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+		{
+			(void)partId;
+			(void)triangleIndex;
+
+			m_aabbMin.setMin(triangle[0]);
+			m_aabbMax.setMax(triangle[0]);
+			m_aabbMin.setMin(triangle[1]);
+			m_aabbMax.setMax(triangle[1]);
+			m_aabbMin.setMin(triangle[2]);
+			m_aabbMax.setMax(triangle[2]);
+		}
+	};
+
+	//first calculate the total aabb for all triangles
+	AabbCalculationCallback	aabbCallback;
+	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+	aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
+
+	aabbMin = aabbCallback.m_aabbMin;
+	aabbMax = aabbCallback.m_aabbMax;
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
+
+	trimeshData->m_numMeshParts = getNumSubParts();
+
+	//void* uniquePtr = 0;
+
+	trimeshData->m_meshPartsPtr = 0;
+
+	if (trimeshData->m_numMeshParts)
+	{
+		btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts);
+		btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
+		trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
+
+
+	//	int numtotalphysicsverts = 0;
+		int part,graphicssubparts = getNumSubParts();
+		const unsigned char * vertexbase;
+		const unsigned char * indexbase;
+		int indexstride;
+		PHY_ScalarType type;
+		PHY_ScalarType gfxindextype;
+		int stride,numverts,numtriangles;
+		int gfxindex;
+	//	btVector3 triangle[3];
+
+	//	btVector3 meshScaling = getScaling();
+
+		///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
+		for (part=0;part<graphicssubparts ;part++,memPtr++)
+		{
+			getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+			memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
+			memPtr->m_numVertices = numverts;
+			memPtr->m_indices16 = 0;
+			memPtr->m_indices32 = 0;
+			memPtr->m_3indices16 = 0;
+			memPtr->m_3indices8 = 0;
+			memPtr->m_vertices3f = 0;
+			memPtr->m_vertices3d = 0;
+
+
+			switch (gfxindextype)
+			{
+			case PHY_INTEGER:
+				{
+					int numindices = numtriangles*3;
+				
+					if (numindices)
+					{
+						btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices);
+						btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
+						memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+							tmpIndices[gfxindex*3].m_value = tri_indices[0];
+							tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
+							tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
+						}
+						serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+					}
+					break;
+				}
+			case PHY_SHORT:
+				{
+					if (numtriangles)
+					{
+						btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles);
+						btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
+						memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
+							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
+							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+							// Fill padding with zeros to appease msan.
+							tmpIndices[gfxindex].m_pad[0] = 0;
+							tmpIndices[gfxindex].m_pad[1] = 0;
+						}
+						serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+					}
+					break;
+				}
+				case PHY_UCHAR:
+				{
+					if (numtriangles)
+					{
+						btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
+						btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
+						memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
+						for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+						{
+							unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
+							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
+							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+							// Fill padding with zeros to appease msan.
+							tmpIndices[gfxindex].m_pad = 0;
+						}
+						serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+					}
+					break;
+				}
+			default:
+				{
+					btAssert(0);
+					//unknown index type
+				}
+			}
+
+			switch (type)
+			{
+			case PHY_FLOAT:
+			 {
+				 float* graphicsbase;
+
+				 if (numverts)
+				 {
+					 btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts);
+					 btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
+					 memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
+					 for (int i=0;i<numverts;i++)
+					 {
+						 graphicsbase = (float*)(vertexbase+i*stride);
+						 tmpVertices[i].m_floats[0] = graphicsbase[0];
+						 tmpVertices[i].m_floats[1] = graphicsbase[1];
+						 tmpVertices[i].m_floats[2] = graphicsbase[2];
+					 }
+					 serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+				 }
+				 break;
+				}
+
+			case PHY_DOUBLE:
+				{
+					if (numverts)
+					{
+						btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts);
+						btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
+						memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
+						for (int i=0;i<numverts;i++)
+					 {
+						 double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double
+						 tmpVertices[i].m_floats[0] = graphicsbase[0];
+						 tmpVertices[i].m_floats[1] = graphicsbase[1];
+						 tmpVertices[i].m_floats[2] = graphicsbase[2];
+					 }
+						serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+					}
+					break;
+				}
+
+			default:
+				btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+			}
+
+			unLockReadOnlyVertexBase(part);
+		}
+
+		serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
+	}
+
+	// Fill padding with zeros to appease msan.
+	memset(trimeshData->m_padding, 0, sizeof(trimeshData->m_padding));
+
+	m_scaling.serializeFloat(trimeshData->m_scaling);
+	return "btStridingMeshInterfaceData";
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
new file mode 100644
index 0000000000..9fbe139768
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -0,0 +1,164 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_STRIDING_MESHINTERFACE_H
+#define BT_STRIDING_MESHINTERFACE_H
+
+#include "LinearMath/btVector3.h"
+#include "btTriangleCallback.h"
+#include "btConcaveShape.h"
+
+
+
+
+
+///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
+/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
+/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
+ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
+{
+	protected:
+	
+		btVector3 m_scaling;
+
+	public:
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+		
+		btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
+		{
+
+		}
+
+		virtual ~btStridingMeshInterface();
+
+
+
+		virtual void	InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+		///brute force method to calculate aabb
+		void	calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);
+
+		/// get read and write access to a subpart of a triangle mesh
+		/// this subpart has a continuous array of vertices and indices
+		/// in this way the mesh can be handled as chunks of memory with striding
+		/// very similar to OpenGL vertexarray support
+		/// make a call to unLockVertexBase when the read and write access is finished	
+		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
+		
+		virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
+	
+		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+		virtual void	unLockVertexBase(int subpart)=0;
+
+		virtual void	unLockReadOnlyVertexBase(int subpart) const=0;
+
+
+		/// getNumSubParts returns the number of seperate subparts
+		/// each subpart has a continuous array of vertices and indices
+		virtual int		getNumSubParts() const=0;
+
+		virtual void	preallocateVertices(int numverts)=0;
+		virtual void	preallocateIndices(int numindices)=0;
+
+		virtual bool	hasPremadeAabb() const { return false; }
+		virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
+                {
+                        (void) aabbMin;
+                        (void) aabbMax;
+                }
+		virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
+        {
+            (void) aabbMin;
+            (void) aabbMax;
+        }
+
+		const btVector3&	getScaling() const {
+			return m_scaling;
+		}
+		void	setScaling(const btVector3& scaling)
+		{
+			m_scaling = scaling;
+		}
+
+		virtual	int	calculateSerializeBufferSize() const;
+
+		///fills the dataBuffer and returns the struct name (and 0 on failure)
+		virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+struct	btIntIndexData
+{
+	int	m_value;
+};
+
+struct	btShortIntIndexData
+{
+	short m_value;
+	char m_pad[2];
+};
+
+struct	btShortIntIndexTripletData
+{
+	short	m_values[3];
+	char	m_pad[2];
+};
+
+struct	btCharIndexTripletData
+{
+	unsigned char m_values[3];
+	char	m_pad;
+};
+
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btMeshPartData
+{
+	btVector3FloatData			*m_vertices3f;
+	btVector3DoubleData			*m_vertices3d;
+
+	btIntIndexData				*m_indices32;
+	btShortIntIndexTripletData	*m_3indices16;
+	btCharIndexTripletData		*m_3indices8;
+
+	btShortIntIndexData			*m_indices16;//backwards compatibility
+
+	int                     m_numTriangles;//length of m_indices = m_numTriangles
+	int                     m_numVertices;
+};
+
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btStridingMeshInterfaceData
+{
+	btMeshPartData	*m_meshPartsPtr;
+	btVector3FloatData	m_scaling;
+	int	m_numMeshParts;
+	char m_padding[4];
+};
+
+
+
+
+SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize() const
+{
+	return sizeof(btStridingMeshInterfaceData);
+}
+
+
+
+#endif //BT_STRIDING_MESHINTERFACE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
new file mode 100644
index 0000000000..52f346bf72
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
@@ -0,0 +1,218 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTetrahedronShape.h"
+#include "LinearMath/btMatrix3x3.h"
+
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+	addVertex(pt0);
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+	addVertex(pt0);
+	addVertex(pt1);
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+	addVertex(pt0);
+	addVertex(pt1);
+	addVertex(pt2);
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+	m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+	addVertex(pt0);
+	addVertex(pt1);
+	addVertex(pt2);
+	addVertex(pt3);
+}
+
+
+void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+#if 1
+	btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+#else
+	aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+
+	//just transform the vertices in worldspace, and take their AABB
+	for (int i=0;i<m_numVertices;i++)
+	{
+		btVector3 worldVertex = t(m_vertices[i]);
+		aabbMin.setMin(worldVertex);
+		aabbMax.setMax(worldVertex);
+	}
+#endif
+}
+
+
+
+
+
+void btBU_Simplex1to4::addVertex(const btVector3& pt)
+{
+	m_vertices[m_numVertices++] = pt;
+	recalcLocalAabb();
+}
+
+
+int	btBU_Simplex1to4::getNumVertices() const
+{
+	return m_numVertices;
+}
+
+int btBU_Simplex1to4::getNumEdges() const
+{
+	//euler formula, F-E+V = 2, so E = F+V-2
+
+	switch (m_numVertices)
+	{
+	case 0:
+		return 0;
+	case 1: return 0;
+	case 2: return 1;
+	case 3: return 3;
+	case 4: return 6;
+
+
+	}
+
+	return 0;
+}
+
+void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
+{
+	
+    switch (m_numVertices)
+	{
+
+	case 2: 
+		pa = m_vertices[0];
+		pb = m_vertices[1];
+		break;
+	case 3:  
+		switch (i)
+		{
+		case 0:
+			pa = m_vertices[0];
+			pb = m_vertices[1];
+			break;
+		case 1:
+			pa = m_vertices[1];
+			pb = m_vertices[2];
+			break;
+		case 2:
+			pa = m_vertices[2];
+			pb = m_vertices[0];
+			break;
+
+		}
+		break;
+	case 4: 
+		switch (i)
+		{
+		case 0:
+			pa = m_vertices[0];
+			pb = m_vertices[1];
+			break;
+		case 1:
+			pa = m_vertices[1];
+			pb = m_vertices[2];
+			break;
+		case 2:
+			pa = m_vertices[2];
+			pb = m_vertices[0];
+			break;
+		case 3:
+			pa = m_vertices[0];
+			pb = m_vertices[3];
+			break;
+		case 4:
+			pa = m_vertices[1];
+			pb = m_vertices[3];
+			break;
+		case 5:
+			pa = m_vertices[2];
+			pb = m_vertices[3];
+			break;
+		}
+
+	}
+
+
+
+
+}
+
+void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
+{
+	vtx = m_vertices[i];
+}
+
+int	btBU_Simplex1to4::getNumPlanes() const
+{
+	switch (m_numVertices)
+	{
+	case 0:
+			return 0;
+	case 1:
+			return 0;
+	case 2:
+			return 0;
+	case 3:
+			return 2;
+	case 4:
+			return 4;
+	default:
+		{
+		}
+	}
+	return 0;
+}
+
+
+void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
+{
+	
+}
+
+int btBU_Simplex1to4::getIndex(int ) const
+{
+	return 0;
+}
+
+bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
+{
+	return false;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
new file mode 100644
index 0000000000..b69209835e
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
@@ -0,0 +1,76 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SIMPLEX_1TO4_SHAPE
+#define BT_SIMPLEX_1TO4_SHAPE
+
+
+#include "btPolyhedralConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+
+
+///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
+ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
+{
+protected:
+
+	int	m_numVertices;
+	btVector3	m_vertices[4];
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btBU_Simplex1to4();
+
+	btBU_Simplex1to4(const btVector3& pt0);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2);
+	btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3);
+
+    
+	void	reset()
+	{
+		m_numVertices = 0;
+	}
+	
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	void addVertex(const btVector3& pt);
+
+	//PolyhedralConvexShape interface
+
+	virtual int	getNumVertices() const;
+
+	virtual int getNumEdges() const;
+
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
+	
+	virtual void getVertex(int i,btVector3& vtx) const;
+
+	virtual int	getNumPlanes() const;
+
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const;
+
+	virtual int getIndex(int i) const;
+
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+
+
+	///getName is for debugging
+	virtual const char*	getName()const { return "btBU_Simplex1to4";}
+
+};
+
+#endif //BT_SIMPLEX_1TO4_SHAPE
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
new file mode 100644
index 0000000000..3027e65b25
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
@@ -0,0 +1,35 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTriangleBuffer.h"
+
+
+
+
+
+
+
+void btTriangleBuffer::processTriangle(btVector3* triangle,int partId,int  triangleIndex)
+{
+		btTriangle	tri;
+		tri.m_vertex0 = triangle[0];
+		tri.m_vertex1 = triangle[1];
+		tri.m_vertex2 = triangle[2];
+		tri.m_partId = partId;
+		tri.m_triangleIndex = triangleIndex;
+			
+		m_triangleBuffer.push_back(tri);
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
new file mode 100644
index 0000000000..b71fc8b374
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
@@ -0,0 +1,69 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_BUFFER_H
+#define BT_TRIANGLE_BUFFER_H
+
+#include "btTriangleCallback.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+struct	btTriangle
+{
+	btVector3	m_vertex0;
+	btVector3	m_vertex1;
+	btVector3	m_vertex2;
+	int	m_partId;
+	int	m_triangleIndex;
+};
+
+///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
+///Example usage of this class:
+///			btTriangleBuffer	triBuf;
+///			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
+///			for (int i=0;i<triBuf.getNumTriangles();i++)
+///			{
+///				const btTriangle& tri = triBuf.getTriangle(i);
+///				//do something useful here with the triangle
+///			}
+class btTriangleBuffer : public btTriangleCallback
+{
+
+	btAlignedObjectArray<btTriangle>	m_triangleBuffer;
+	
+public:
+
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
+	
+	int	getNumTriangles() const
+	{
+		return int(m_triangleBuffer.size());
+	}
+	
+	const btTriangle&	getTriangle(int index) const
+	{
+		return m_triangleBuffer[index];
+	}
+
+	void	clearBuffer()
+	{
+		m_triangleBuffer.clear();
+	}
+	
+};
+
+
+#endif //BT_TRIANGLE_BUFFER_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
new file mode 100644
index 0000000000..f558bf6d24
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTriangleCallback.h"
+
+btTriangleCallback::~btTriangleCallback()
+{
+
+}
+
+
+btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback()
+{
+
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
new file mode 100644
index 0000000000..461c57f877
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
@@ -0,0 +1,42 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_CALLBACK_H
+#define BT_TRIANGLE_CALLBACK_H
+
+#include "LinearMath/btVector3.h"
+
+
+///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles.
+///This callback is called by processAllTriangles for all btConcaveShape derived class, such as  btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape.
+class btTriangleCallback
+{
+public:
+
+	virtual ~btTriangleCallback();
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0;
+};
+
+class btInternalTriangleIndexCallback
+{
+public:
+
+	virtual ~btInternalTriangleIndexCallback();
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex) = 0;
+};
+
+
+
+#endif //BT_TRIANGLE_CALLBACK_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
new file mode 100644
index 0000000000..a665024cb6
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -0,0 +1,95 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTriangleIndexVertexArray.h"
+
+btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
+: m_hasAabb(0)
+{
+	btIndexedMesh mesh;
+
+	mesh.m_numTriangles = numTriangles;
+	mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase;
+	mesh.m_triangleIndexStride = triangleIndexStride;
+	mesh.m_numVertices = numVertices;
+	mesh.m_vertexBase = (const unsigned char *)vertexBase;
+	mesh.m_vertexStride = vertexStride;
+
+	addIndexedMesh(mesh);
+
+}
+
+btTriangleIndexVertexArray::~btTriangleIndexVertexArray()
+{
+
+}
+
+void	btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+{
+	btAssert(subpart< getNumSubParts() );
+
+	btIndexedMesh& mesh = m_indexedMeshes[subpart];
+
+	numverts = mesh.m_numVertices;
+	(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
+
+   type = mesh.m_vertexType;
+
+	vertexStride = mesh.m_vertexStride;
+
+	numfaces = mesh.m_numTriangles;
+
+	(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
+	indexstride = mesh.m_triangleIndexStride;
+	indicestype = mesh.m_indexType;
+}
+
+void	btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+{
+	const btIndexedMesh& mesh = m_indexedMeshes[subpart];
+
+	numverts = mesh.m_numVertices;
+	(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
+
+   type = mesh.m_vertexType;
+   
+	vertexStride = mesh.m_vertexStride;
+
+	numfaces = mesh.m_numTriangles;
+	(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
+	indexstride = mesh.m_triangleIndexStride;
+	indicestype = mesh.m_indexType;
+}
+
+bool	btTriangleIndexVertexArray::hasPremadeAabb() const
+{
+	return (m_hasAabb == 1);
+}
+
+
+void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
+{
+	m_aabbMin = aabbMin;
+	m_aabbMax = aabbMax;
+	m_hasAabb = 1; // this is intentionally an int see notes in header
+}
+
+void	btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const
+{
+	*aabbMin = m_aabbMin;
+	*aabbMax = m_aabbMax;
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
new file mode 100644
index 0000000000..9e1544e87a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -0,0 +1,133 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
+
+#include "btStridingMeshInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btScalar.h"
+
+
+///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh.
+///Instead of the number of indices, we pass the number of triangles.
+ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+   int                     m_numTriangles;
+   const unsigned char *   m_triangleIndexBase;
+   // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
+   int                     m_triangleIndexStride;
+   int                     m_numVertices;
+   const unsigned char *   m_vertexBase;
+   // Size of a vertex, in bytes
+   int                     m_vertexStride;
+
+   // The index type is set when adding an indexed mesh to the
+   // btTriangleIndexVertexArray, do not set it manually
+   PHY_ScalarType m_indexType;
+
+   // The vertex type has a default type similar to Bullet's precision mode (float or double)
+   // but can be set manually if you for example run Bullet with double precision but have
+   // mesh data in single precision..
+   PHY_ScalarType m_vertexType;
+
+
+   btIndexedMesh()
+	   :m_indexType(PHY_INTEGER),
+#ifdef BT_USE_DOUBLE_PRECISION
+      m_vertexType(PHY_DOUBLE)
+#else // BT_USE_DOUBLE_PRECISION
+      m_vertexType(PHY_FLOAT)
+#endif // BT_USE_DOUBLE_PRECISION
+      {
+      }
+}
+;
+
+
+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.
+///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
+ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
+{
+protected:
+	IndexedMeshArray	m_indexedMeshes;
+	int m_pad[2];
+	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable btVector3 m_aabbMin;
+	mutable btVector3 m_aabbMax;
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btTriangleIndexVertexArray() : m_hasAabb(0)
+	{
+	}
+
+	virtual ~btTriangleIndexVertexArray();
+
+	//just to be backwards compatible
+	btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride);
+	
+	void	addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER)
+	{
+		m_indexedMeshes.push_back(mesh);
+		m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType;
+	}
+	
+	
+	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
+
+	virtual void	getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
+
+	/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+	/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+	virtual void	unLockVertexBase(int subpart) {(void)subpart;}
+
+	virtual void	unLockReadOnlyVertexBase(int subpart) const {(void)subpart;}
+
+	/// getNumSubParts returns the number of seperate subparts
+	/// each subpart has a continuous array of vertices and indices
+	virtual int		getNumSubParts() const { 
+		return (int)m_indexedMeshes.size();
+	}
+
+	IndexedMeshArray&	getIndexedMeshArray()
+	{
+		return m_indexedMeshes;
+	}
+
+	const IndexedMeshArray&	getIndexedMeshArray() const
+	{
+		return m_indexedMeshes;
+	}
+
+	virtual void	preallocateVertices(int numverts){(void) numverts;}
+	virtual void	preallocateIndices(int numindices){(void) numindices;}
+
+	virtual bool	hasPremadeAabb() const;
+	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
+	virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
+
+}
+;
+
+#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
new file mode 100644
index 0000000000..dc562941ad
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
@@ -0,0 +1,86 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///This file was created by Alex Silverman
+
+#include "btTriangleIndexVertexMaterialArray.h"
+
+btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
+                                   int numVertices,btScalar* vertexBase,int vertexStride,
+                                   int numMaterials, unsigned char* materialBase, int materialStride,
+                                   int* triangleMaterialsBase, int materialIndexStride) :
+btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
+{
+    btMaterialProperties mat;
+
+    mat.m_numMaterials = numMaterials;
+    mat.m_materialBase = materialBase;
+    mat.m_materialStride = materialStride;
+#ifdef BT_USE_DOUBLE_PRECISION
+    mat.m_materialType = PHY_DOUBLE;
+#else
+    mat.m_materialType = PHY_FLOAT;
+#endif
+
+    mat.m_numTriangles = numTriangles;
+    mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
+    mat.m_triangleMaterialStride = materialIndexStride;
+    mat.m_triangleType = PHY_INTEGER;
+
+    addMaterialProperties(mat);
+}
+
+
+void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+                                   unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
+{
+    btAssert(subpart< getNumSubParts() );
+
+    btMaterialProperties& mats = m_materials[subpart];
+
+    numMaterials = mats.m_numMaterials;
+    (*materialBase) = (unsigned char *) mats.m_materialBase;
+#ifdef BT_USE_DOUBLE_PRECISION
+    materialType = PHY_DOUBLE;
+#else
+    materialType = PHY_FLOAT;
+#endif
+    materialStride = mats.m_materialStride;
+
+    numTriangles = mats.m_numTriangles;
+    (*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
+    triangleMaterialStride = mats.m_triangleMaterialStride;
+    triangleType = mats.m_triangleType;
+}
+
+void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+                                           const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
+{
+    btMaterialProperties& mats = m_materials[subpart];
+
+    numMaterials = mats.m_numMaterials;
+    (*materialBase) = (const unsigned char *) mats.m_materialBase;
+#ifdef BT_USE_DOUBLE_PRECISION
+    materialType = PHY_DOUBLE;
+#else
+    materialType = PHY_FLOAT;
+#endif
+    materialStride = mats.m_materialStride;
+
+    numTriangles = mats.m_numTriangles;
+    (*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
+    triangleMaterialStride = mats.m_triangleMaterialStride;
+    triangleType = mats.m_triangleType;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
new file mode 100644
index 0000000000..ba4f7b4607
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
@@ -0,0 +1,84 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///This file was created by Alex Silverman
+
+#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
+#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
+
+#include "btTriangleIndexVertexArray.h"
+
+
+ATTRIBUTE_ALIGNED16( struct)	btMaterialProperties
+{
+    ///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
+    int m_numMaterials;
+    const unsigned char * m_materialBase;
+    int m_materialStride;
+    PHY_ScalarType m_materialType;
+    ///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
+    ///                           padding the structure, it can be reproduced at no real cost
+    ///m_triangleMaterials =====> 1 integer value makes up one entry
+    ///                           eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
+    int m_numTriangles; 
+    const unsigned char * m_triangleMaterialsBase;
+    int m_triangleMaterialStride;
+    ///m_triangleType <========== Automatically set in addMaterialProperties
+    PHY_ScalarType m_triangleType;
+};
+
+typedef btAlignedObjectArray<btMaterialProperties>	MaterialArray;
+
+///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
+///The addition of a material array allows for the utilization of the partID and
+///triangleIndex that are returned in the ContactAddedCallback.  As with
+///TriangleIndexVertexArray, no duplicate is made of the material data, so it
+///is the users responsibility to maintain the array during the lifetime of the
+///TriangleIndexVertexMaterialArray.
+ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
+{
+protected:
+    MaterialArray       m_materials;
+		
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+    btTriangleIndexVertexMaterialArray()
+	{
+	}
+
+    btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
+        int numVertices,btScalar* vertexBase,int vertexStride,
+        int numMaterials, unsigned char* materialBase, int materialStride,
+        int* triangleMaterialsBase, int materialIndexStride);
+
+    virtual ~btTriangleIndexVertexMaterialArray() {}
+
+    void	addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
+    {
+        m_materials.push_back(mat);
+        m_materials[m_materials.size()-1].m_triangleType = triangleType;
+    }
+
+    virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+        unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
+
+    virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
+        const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
+
+}
+;
+
+#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
new file mode 100644
index 0000000000..6427589590
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -0,0 +1,248 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2010 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef _BT_TRIANGLE_INFO_MAP_H
+#define _BT_TRIANGLE_INFO_MAP_H
+
+
+#include "LinearMath/btHashMap.h"
+#include "LinearMath/btSerializer.h"
+
+
+///for btTriangleInfo m_flags
+#define TRI_INFO_V0V1_CONVEX 1
+#define TRI_INFO_V1V2_CONVEX 2
+#define TRI_INFO_V2V0_CONVEX 4
+
+#define TRI_INFO_V0V1_SWAP_NORMALB 8
+#define TRI_INFO_V1V2_SWAP_NORMALB 16
+#define TRI_INFO_V2V0_SWAP_NORMALB 32
+
+
+///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
+///it can be generated using 
+struct	btTriangleInfo
+{
+	btTriangleInfo()
+	{
+		m_edgeV0V1Angle = SIMD_2_PI;
+		m_edgeV1V2Angle = SIMD_2_PI;
+		m_edgeV2V0Angle = SIMD_2_PI;
+		m_flags=0;
+	}
+
+	int			m_flags;
+
+	btScalar	m_edgeV0V1Angle;
+	btScalar	m_edgeV1V2Angle;
+	btScalar	m_edgeV2V0Angle;
+
+};
+
+typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
+
+
+///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
+struct	btTriangleInfoMap : public btInternalTriangleInfoMap
+{
+	btScalar	m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
+	btScalar	m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
+	btScalar	m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
+	btScalar	m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+	btScalar	m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
+	btScalar	m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
+	
+	
+	btTriangleInfoMap()
+	{
+		m_convexEpsilon = 0.00f;
+		m_planarEpsilon = 0.0001f;
+		m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
+		m_edgeDistanceThreshold = btScalar(0.1);
+		m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+		m_maxEdgeAngleThreshold = SIMD_2_PI;
+	}
+	virtual ~btTriangleInfoMap() {}
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	void	deSerialize(struct btTriangleInfoMapData& data);
+
+};
+
+///those fields have to be float and not btScalar for the serialization to work properly
+struct	btTriangleInfoData
+{
+	int			m_flags;
+	float	m_edgeV0V1Angle;
+	float	m_edgeV1V2Angle;
+	float	m_edgeV2V0Angle;
+};
+
+struct	btTriangleInfoMapData
+{
+	int					*m_hashTablePtr;
+	int					*m_nextPtr;
+	btTriangleInfoData	*m_valueArrayPtr;
+	int					*m_keyArrayPtr;
+
+	float	m_convexEpsilon;
+	float	m_planarEpsilon;
+	float	m_equalVertexThreshold; 
+	float	m_edgeDistanceThreshold;
+	float	m_zeroAreaThreshold;
+
+	int		m_nextSize;
+	int		m_hashTableSize;
+	int		m_numValues;
+	int		m_numKeys;
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btTriangleInfoMap::calculateSerializeBufferSize() const
+{
+	return sizeof(btTriangleInfoMapData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
+	tmapData->m_convexEpsilon = (float)m_convexEpsilon;
+	tmapData->m_planarEpsilon = (float)m_planarEpsilon;
+	tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
+	tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
+	tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
+	
+	tmapData->m_hashTableSize = m_hashTable.size();
+
+	tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
+	if (tmapData->m_hashTablePtr)
+	{ 
+		//serialize an int buffer
+		int sz = sizeof(int);
+		int numElem = tmapData->m_hashTableSize;
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		int* memPtr = (int*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			*memPtr = m_hashTable[i];
+		}
+		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
+
+	}
+
+	tmapData->m_nextSize = m_next.size();
+	tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
+	if (tmapData->m_nextPtr)
+	{
+		int sz = sizeof(int);
+		int numElem = tmapData->m_nextSize;
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		int* memPtr = (int*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			*memPtr = m_next[i];
+		}
+		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
+	}
+	
+	tmapData->m_numValues = m_valueArray.size();
+	tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
+	if (tmapData->m_valueArrayPtr)
+	{
+		int sz = sizeof(btTriangleInfoData);
+		int numElem = tmapData->m_numValues;
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
+			memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
+			memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
+			memPtr->m_flags = m_valueArray[i].m_flags;
+		}
+		serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
+	}
+	
+	tmapData->m_numKeys = m_keyArray.size();
+	tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
+	if (tmapData->m_keyArrayPtr)
+	{
+		int sz = sizeof(int);
+		int numElem = tmapData->m_numValues;
+		btChunk* chunk = serializer->allocate(sz,numElem);
+		int* memPtr = (int*)chunk->m_oldPtr;
+		for (int i=0;i<numElem;i++,memPtr++)
+		{
+			*memPtr = m_keyArray[i].getUid1();
+		}
+		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
+
+	}
+
+	// Fill padding with zeros to appease msan.
+	tmapData->m_padding[0] = 0;
+	tmapData->m_padding[1] = 0;
+	tmapData->m_padding[2] = 0;
+	tmapData->m_padding[3] = 0;
+
+	return "btTriangleInfoMapData";
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	void	btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
+{
+
+
+	m_convexEpsilon = tmapData.m_convexEpsilon;
+	m_planarEpsilon = tmapData.m_planarEpsilon;
+	m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
+	m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
+	m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
+	m_hashTable.resize(tmapData.m_hashTableSize);
+	int i =0;
+	for (i=0;i<tmapData.m_hashTableSize;i++)
+	{
+		m_hashTable[i] = tmapData.m_hashTablePtr[i];
+	}
+	m_next.resize(tmapData.m_nextSize);
+	for (i=0;i<tmapData.m_nextSize;i++)
+	{
+		m_next[i] = tmapData.m_nextPtr[i];
+	}
+	m_valueArray.resize(tmapData.m_numValues);
+	for (i=0;i<tmapData.m_numValues;i++)
+	{
+		m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
+		m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
+		m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
+		m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
+	}
+	
+	m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
+	for (i=0;i<tmapData.m_numKeys;i++)
+	{
+		m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
+	}
+}
+
+
+#endif //_BT_TRIANGLE_INFO_MAP_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
new file mode 100644
index 0000000000..e4de732093
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -0,0 +1,169 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTriangleMesh.h"
+
+
+
+btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
+:m_use32bitIndices(use32bitIndices),
+m_use4componentVertices(use4componentVertices),
+m_weldingThreshold(0.0)
+{
+	btIndexedMesh meshIndex;
+	meshIndex.m_numTriangles = 0;
+	meshIndex.m_numVertices = 0;
+	meshIndex.m_indexType = PHY_INTEGER;
+	meshIndex.m_triangleIndexBase = 0;
+	meshIndex.m_triangleIndexStride = 3*sizeof(int);
+	meshIndex.m_vertexBase = 0;
+	meshIndex.m_vertexStride = sizeof(btVector3);
+	m_indexedMeshes.push_back(meshIndex);
+
+	if (m_use32bitIndices)
+	{
+		m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
+		m_indexedMeshes[0].m_triangleIndexBase = 0;
+		m_indexedMeshes[0].m_indexType = PHY_INTEGER;
+		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
+	} else
+	{
+		m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
+		m_indexedMeshes[0].m_triangleIndexBase = 0;
+		m_indexedMeshes[0].m_indexType = PHY_SHORT;
+		m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
+	}
+
+	if (m_use4componentVertices)
+	{
+		m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
+		m_indexedMeshes[0].m_vertexBase = 0;
+		m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
+	} else
+	{
+		m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
+		m_indexedMeshes[0].m_vertexBase = 0;
+		m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
+	}
+
+
+}
+
+void	btTriangleMesh::addIndex(int index)
+{
+	if (m_use32bitIndices)
+	{
+		m_32bitIndices.push_back(index);
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
+	} else
+	{
+		m_16bitIndices.push_back(index);
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
+	}
+}
+
+void	btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 )
+{
+	m_indexedMeshes[0].m_numTriangles++;
+	addIndex( index1 );
+	addIndex( index2 );
+	addIndex( index3 );
+}
+
+int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
+{
+	//return index of new/existing vertex
+	///@todo: could use acceleration structure for this
+	if (m_use4componentVertices)
+	{
+		if (removeDuplicateVertices)
+			{
+			for (int i=0;i< m_4componentVertices.size();i++)
+			{
+				if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
+				{
+					return i;
+				}
+			}
+		}
+		m_indexedMeshes[0].m_numVertices++;
+		m_4componentVertices.push_back(vertex);
+		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
+
+		return m_4componentVertices.size()-1;
+		
+	} else
+	{
+		
+		if (removeDuplicateVertices)
+		{
+			for (int i=0;i< m_3componentVertices.size();i+=3)
+			{
+				btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
+				if ((vtx-vertex).length2() <= m_weldingThreshold)
+				{
+					return i/3;
+				}
+			}
+		}
+		m_3componentVertices.push_back(vertex.getX());
+		m_3componentVertices.push_back(vertex.getY());
+		m_3componentVertices.push_back(vertex.getZ());
+		m_indexedMeshes[0].m_numVertices++;
+		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
+		return (m_3componentVertices.size()/3)-1;
+	}
+
+}
+		
+void	btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
+{
+	m_indexedMeshes[0].m_numTriangles++;
+	addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
+	addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
+}
+
+int btTriangleMesh::getNumTriangles() const
+{
+	if (m_use32bitIndices)
+	{
+		return m_32bitIndices.size() / 3;
+	}
+	return m_16bitIndices.size() / 3;
+}
+
+void btTriangleMesh::preallocateVertices(int numverts)
+{
+	if (m_use4componentVertices)
+	{
+		m_4componentVertices.reserve(numverts);
+	} else
+	{
+		m_3componentVertices.reserve(numverts);
+	}
+}
+
+void btTriangleMesh::preallocateIndices(int numindices)
+{
+	if (m_use32bitIndices)
+	{
+		m_32bitIndices.reserve(numindices);
+	} else
+	{
+		m_16bitIndices.reserve(numindices);
+	}
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
new file mode 100644
index 0000000000..ac4afa7f6b
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
@@ -0,0 +1,72 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_MESH_H
+#define BT_TRIANGLE_MESH_H
+
+#include "btTriangleIndexVertexArray.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+///The btTriangleMesh class is a convenience class derived from btTriangleIndexVertexArray, that provides storage for a concave triangle mesh. It can be used as data for the btBvhTriangleMeshShape.
+///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices.
+///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface.
+///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
+class btTriangleMesh : public btTriangleIndexVertexArray
+{
+	btAlignedObjectArray<btVector3>	m_4componentVertices;
+	btAlignedObjectArray<btScalar>	m_3componentVertices;
+
+	btAlignedObjectArray<unsigned int>		m_32bitIndices;
+	btAlignedObjectArray<unsigned short int>		m_16bitIndices;
+	bool	m_use32bitIndices;
+	bool	m_use4componentVertices;
+	
+
+	public:
+		btScalar	m_weldingThreshold;
+
+		btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
+
+		bool	getUse32bitIndices() const
+		{
+			return m_use32bitIndices;
+		}
+
+		bool	getUse4componentVertices() const
+		{
+			return m_use4componentVertices;
+		}
+		///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes.
+		///In general it is better to directly use btTriangleIndexVertexArray instead.
+		void	addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false);
+
+		///Add a triangle using its indices. Make sure the indices are pointing within the vertices array, so add the vertices first (and to be sure, avoid removal of duplicate vertices)	
+		void	addTriangleIndices(int index1, int index2, int index3 );
+	
+		int getNumTriangles() const;
+
+		virtual void	preallocateVertices(int numverts);
+		virtual void	preallocateIndices(int numindices);
+
+		///findOrAddVertex is an internal method, use addTriangle instead
+		int		findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
+		///addIndex is an internal method, use addTriangle instead
+		void	addIndex(int index);
+		
+};
+
+#endif //BT_TRIANGLE_MESH_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
new file mode 100644
index 0000000000..0e17951405
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -0,0 +1,207 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btTriangleMeshShape.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btQuaternion.h"
+#include "btStridingMeshInterface.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+
+
+btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
+: btConcaveShape (), m_meshInterface(meshInterface)
+{
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	if(meshInterface->hasPremadeAabb())
+	{
+		meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
+	}
+	else
+	{
+		recalcLocalAabb();
+	}
+}
+
+
+btTriangleMeshShape::~btTriangleMeshShape()
+{
+		
+}
+
+
+
+
+void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+
+	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
+	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+	
+	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	btVector3 center = trans(localCenter);
+
+    btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+}
+
+void	btTriangleMeshShape::recalcLocalAabb()
+{
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+		btVector3 tmp = localGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		vec[i] = btScalar(-1.);
+		tmp = localGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+	}
+}
+
+
+
+class SupportVertexCallback : public btTriangleCallback
+{
+
+	btVector3 m_supportVertexLocal;
+public:
+
+	btTransform	m_worldTrans;
+	btScalar m_maxDot;
+	btVector3 m_supportVecLocal;
+
+	SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
+		: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
+		
+	{
+		m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
+	}
+
+	virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex)
+	{
+		(void)partId;
+		(void)triangleIndex;
+		for (int i=0;i<3;i++)
+		{
+			btScalar dot = m_supportVecLocal.dot(triangle[i]);
+			if (dot > m_maxDot)
+			{
+				m_maxDot = dot;
+				m_supportVertexLocal = triangle[i];
+			}
+		}
+	}
+
+	btVector3 GetSupportVertexWorldSpace()
+	{
+		return m_worldTrans(m_supportVertexLocal);
+	}
+
+	btVector3	GetSupportVertexLocal()
+	{
+		return m_supportVertexLocal;
+	}
+
+};
+
+	
+void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+	m_meshInterface->setScaling(scaling);
+	recalcLocalAabb();
+}
+
+const btVector3& btTriangleMeshShape::getLocalScaling() const
+{
+	return m_meshInterface->getScaling();
+}
+
+
+
+
+
+
+//#define DEBUG_TRIANGLE_MESH
+
+
+
+void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+		struct FilteredCallback : public btInternalTriangleIndexCallback
+	{
+		btTriangleCallback* m_callback;
+		btVector3 m_aabbMin;
+		btVector3 m_aabbMax;
+
+		FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
+			:m_callback(callback),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax)
+		{
+		}
+
+		virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+		{
+			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
+			{
+				//check aabb in triangle-space, before doing this
+				m_callback->processTriangle(triangle,partId,triangleIndex);
+			}
+			
+		}
+
+	};
+
+	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+
+	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
+}
+
+
+
+
+
+void	btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	(void)mass;
+	//moving concave objects not supported
+	btAssert(0);
+	inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+}
+
+
+btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
+{
+	btVector3 supportVertex;
+
+	btTransform ident;
+	ident.setIdentity();
+
+	SupportVertexCallback supportCallback(vec,ident);
+
+	btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+	
+	processAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		
+	supportVertex = supportCallback.GetSupportVertexLocal();
+
+	return supportVertex;
+}
+
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
new file mode 100644
index 0000000000..453e58005a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -0,0 +1,90 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_TRIANGLE_MESH_SHAPE_H
+#define BT_TRIANGLE_MESH_SHAPE_H
+
+#include "btConcaveShape.h"
+#include "btStridingMeshInterface.h"
+
+
+///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
+ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	btStridingMeshInterface* m_meshInterface;
+
+	///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class.
+	///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
+	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
+
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	virtual ~btTriangleMeshShape();
+
+	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
+
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	{
+		btAssert(0);
+		return localGetSupportingVertex(vec);
+	}
+
+	void	recalcLocalAabb();
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+	
+	btStridingMeshInterface* getMeshInterface()
+	{
+		return m_meshInterface;
+	}
+
+	const btStridingMeshInterface* getMeshInterface() const
+	{
+		return m_meshInterface;
+	}
+
+	const btVector3& getLocalAabbMin() const
+	{
+		return m_localAabbMin;
+	}
+	const btVector3& getLocalAabbMax() const
+	{
+		return m_localAabbMax;
+	}
+
+
+
+	//debugging
+	virtual const char*	getName()const {return "TRIANGLEMESH";}
+
+	
+
+};
+
+
+
+
+#endif //BT_TRIANGLE_MESH_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
new file mode 100644
index 0000000000..a8a80f82fe
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
@@ -0,0 +1,184 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
+#define BT_OBB_TRIANGLE_MINKOWSKI_H
+
+#include "btConvexShape.h"
+#include "btBoxShape.h"
+
+ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
+{
+
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3	m_vertices1[3];
+
+	virtual int getNumVertices() const
+	{
+		return 3;
+	}
+
+	btVector3& getVertexPtr(int index)
+	{
+		return m_vertices1[index];
+	}
+
+	const btVector3& getVertexPtr(int index) const
+	{
+		return m_vertices1[index];
+	}
+	virtual void getVertex(int index,btVector3& vert) const
+	{
+		vert = m_vertices1[index];
+	}
+
+	virtual int getNumEdges() const
+	{
+		return 3;
+	}
+	
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	{
+		getVertex(i,pa);
+		getVertex((i+1)%3,pb);
+	}
+
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
+	{
+//		btAssert(0);
+		getAabbSlow(t,aabbMin,aabbMax);
+	}
+
+	btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const 
+	{
+        btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
+	  	return m_vertices1[dots.maxAxis()];
+
+	}
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			const btVector3& dir = vectors[i];
+            btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
+  			supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
+		}
+
+	}
+
+	btTriangleShape() : btPolyhedralConvexShape ()
+    {
+		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
+	}
+
+	btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
+    {
+		m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
+        m_vertices1[0] = p0;
+        m_vertices1[1] = p1;
+        m_vertices1[2] = p2;
+    }
+
+
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
+	{
+		getPlaneEquation(i,planeNormal,planeSupport);
+	}
+
+	virtual int	getNumPlanes() const
+	{
+		return 1;
+	}
+
+	void calcNormal(btVector3& normal) const
+	{
+		normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		normal.normalize();
+	}
+
+	virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
+	{
+		(void)i;
+		calcNormal(planeNormal);
+		planeSupport = m_vertices1[0];
+	}
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
+	{
+		(void)mass;
+		btAssert(0);
+		inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	}
+
+		virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	{
+		btVector3 normal;
+		calcNormal(normal);
+		//distance to plane
+		btScalar dist = pt.dot(normal);
+		btScalar planeconst = m_vertices1[0].dot(normal);
+		dist -= planeconst;
+		if (dist >= -tolerance && dist <= tolerance)
+		{
+			//inside check on edge-planes
+			int i;
+			for (i=0;i<3;i++)
+			{
+				btVector3 pa,pb;
+				getEdge(i,pa,pb);
+				btVector3 edge = pb-pa;
+				btVector3 edgeNormal = edge.cross(normal);
+				edgeNormal.normalize();
+				btScalar dist = pt.dot( edgeNormal);
+				btScalar edgeConst = pa.dot(edgeNormal);
+				dist -= edgeConst;
+				if (dist < -tolerance)
+					return false;
+			}
+			
+			return true;
+		}
+
+		return false;
+	}
+		//debugging
+		virtual const char*	getName()const
+		{
+			return "Triangle";
+		}
+
+		virtual int		getNumPreferredPenetrationDirections() const
+		{
+			return 2;
+		}
+		
+		virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+		{
+			calcNormal(penetrationVector);
+			if (index)
+				penetrationVector *= btScalar(-1.);
+		}
+
+
+};
+
+#endif //BT_OBB_TRIANGLE_MINKOWSKI_H
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
new file mode 100644
index 0000000000..b148bbd99a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
@@ -0,0 +1,160 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "btUniformScalingShape.h"
+
+btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
+btConvexShape (), m_childConvexShape(convexChildShape),
+m_uniformScalingFactor(uniformScalingFactor)
+{
+	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
+}
+	
+btUniformScalingShape::~btUniformScalingShape()
+{
+}
+	
+
+btVector3	btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	btVector3 tmpVertex;
+	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
+	return tmpVertex*m_uniformScalingFactor;
+}
+
+void	btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+	int i;
+	for (i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
+	}
+}
+
+
+btVector3	btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
+{
+	btVector3 tmpVertex;
+	tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
+	return tmpVertex*m_uniformScalingFactor;
+}
+
+
+void	btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+
+	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
+	btVector3 tmpInertia;
+	m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
+	inertia = tmpInertia * m_uniformScalingFactor;
+}
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	getAabbSlow(trans,aabbMin,aabbMax);
+
+}
+
+void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+#if 1
+	btVector3 _directions[] =
+	{
+		btVector3( 1.,  0.,  0.),
+		btVector3( 0.,  1.,  0.),
+		btVector3( 0.,  0.,  1.),
+		btVector3( -1., 0.,  0.),
+		btVector3( 0., -1.,  0.),
+		btVector3( 0.,  0., -1.)
+	};
+	
+	btVector3 _supporting[] =
+	{
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.)
+	};
+
+	for (int i=0;i<6;i++)
+	{
+		_directions[i] = _directions[i]*t.getBasis();
+	}
+	
+	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+	
+	btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
+
+	for ( int i = 0; i < 3; ++i )
+	{
+		aabbMax1[i] = t(_supporting[i])[i];
+		aabbMin1[i] = t(_supporting[i + 3])[i];
+	}
+	btVector3 marginVec(getMargin(),getMargin(),getMargin());
+	aabbMin = aabbMin1-marginVec;
+	aabbMax = aabbMax1+marginVec;
+	
+#else
+
+	btScalar margin = getMargin();
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+		btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
+		btVector3 tmp = t(sv);
+		aabbMax[i] = tmp[i]+margin;
+		vec[i] = btScalar(-1.);
+		sv = localGetSupportingVertex(vec*t.getBasis());
+		tmp = t(sv);
+		aabbMin[i] = tmp[i]-margin;
+	}
+
+#endif
+}
+
+void	btUniformScalingShape::setLocalScaling(const btVector3& scaling) 
+{
+	m_childConvexShape->setLocalScaling(scaling);
+}
+
+const btVector3& btUniformScalingShape::getLocalScaling() const
+{
+	return m_childConvexShape->getLocalScaling();
+}
+
+void	btUniformScalingShape::setMargin(btScalar margin)
+{
+	m_childConvexShape->setMargin(margin);
+}
+btScalar	btUniformScalingShape::getMargin() const
+{
+	return m_childConvexShape->getMargin() * m_uniformScalingFactor;
+}
+
+int		btUniformScalingShape::getNumPreferredPenetrationDirections() const
+{
+	return m_childConvexShape->getNumPreferredPenetrationDirections();
+}
+	
+void	btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+{
+	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
new file mode 100644
index 0000000000..a10f58d242
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
@@ -0,0 +1,89 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_UNIFORM_SCALING_SHAPE_H
+#define BT_UNIFORM_SCALING_SHAPE_H
+
+#include "btConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
+///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
+ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
+{
+	btConvexShape*	m_childConvexShape;
+
+	btScalar	m_uniformScalingFactor;
+	
+	public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+	btUniformScalingShape(	btConvexShape* convexChildShape, btScalar uniformScalingFactor);
+	
+	virtual ~btUniformScalingShape();
+	
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+	btScalar	getUniformScalingFactor() const
+	{
+		return m_uniformScalingFactor;
+	}
+
+	btConvexShape*	getChildShape() 
+	{
+		return m_childConvexShape;
+	}
+
+	const btConvexShape*	getChildShape() const
+	{
+		return m_childConvexShape;
+	}
+
+	virtual const char*	getName()const 
+	{
+		return "UniformScalingShape";
+	}
+	
+
+
+	///////////////////////////
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	setLocalScaling(const btVector3& scaling) ;
+	virtual const btVector3& getLocalScaling() const ;
+
+	virtual void	setMargin(btScalar margin);
+	virtual btScalar	getMargin() const;
+
+	virtual int		getNumPreferredPenetrationDirections() const;
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
+
+
+};
+
+#endif //BT_UNIFORM_SCALING_SHAPE_H