bullet: Sync with upstream 2.89

This allows distro unbundling again for distros that ship Bullet 2.89+.

8 files changed, 62 insertions, 51 deletions

diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
index c94391d816..3c82133037 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h
@@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate
 		for (;;)
 		//while (true)
 		{
-			btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
-			btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
+			btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
+			btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
 
-			btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA);
-			btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB);
+			btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA);
+			btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB);
 
 			btVector3 pWorld = localTransA(pInA);
 			btVector3 qWorld = localTransB(qInB);
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 4339b2ea75..5af93cb2fb 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result
 
 static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)
 {
-	btVector3 seperatingAxisInA = (dir)*localTransA.getBasis();
-	btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis();
+	btVector3 separatingAxisInA = (dir)*localTransA.getBasis();
+	btVector3 separatingAxisInB = (-dir) * localTransB.getBasis();
 
-	btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-	btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+	btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+	btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 
 	btVector3 pInA = pInANoMargin;
 	btVector3 qInB = qInBNoMargin;
@@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 			for (;;)
 			//while (true)
 			{
-				btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
-				btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
+				btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis();
+				btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis();
 
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 
 				btVector3 pWorld = localTransA(pInA);
 				btVector3 qWorld = localTransB(qInB);
@@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 
 			btScalar d2 = 0.f;
 			{
-				btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis();
-				btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis();
+				btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis();
+				btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis();
 
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 
 				btVector3 pWorld = localTransA(pInA);
 				btVector3 qWorld = localTransB(qInB);
@@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 
 			btScalar d1 = 0;
 			{
-				btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis();
-				btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis();
+				btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis();
+				btVector3 separatingAxisInB = -normalInB * localTransB.getBasis();
 
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 
 				btVector3 pWorld = localTransA(pInA);
 				btVector3 qWorld = localTransB(qInB);
@@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 			}
 			btScalar d0 = 0.f;
 			{
-				btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis();
-				btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis();
+				btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis();
+				btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis();
 
-				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+				btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+				btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 
 				btVector3 pWorld = localTransA(pInA);
 				btVector3 qWorld = localTransB(qInB);
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index 659b63551e..faa02287ca 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -64,9 +64,9 @@ public:
 	{
 		m_minkowskiB = minkB;
 	}
-	void setCachedSeperatingAxis(const btVector3& seperatingAxis)
+	void setCachedSeparatingAxis(const btVector3& separatingAxis)
 	{
-		m_cachedSeparatingAxis = seperatingAxis;
+		m_cachedSeparatingAxis = separatingAxis;
 	}
 
 	const btVector3& getCachedSeparatingAxis() const
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 6d21f66202..573fc86bf9 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -55,6 +55,7 @@ public:
 		: m_userPersistentData(0),
 		  m_contactPointFlags(0),
 		  m_appliedImpulse(0.f),
+		  m_prevRHS(0.f),
 		  m_appliedImpulseLateral1(0.f),
 		  m_appliedImpulseLateral2(0.f),
 		  m_contactMotion1(0.f),
@@ -79,6 +80,7 @@ public:
 										 m_userPersistentData(0),
 										 m_contactPointFlags(0),
 										 m_appliedImpulse(0.f),
+										 m_prevRHS(0.f),
 										 m_appliedImpulseLateral1(0.f),
 										 m_appliedImpulseLateral2(0.f),
 										 m_contactMotion1(0.f),
@@ -114,6 +116,7 @@ public:
 	int m_contactPointFlags;
 
 	btScalar m_appliedImpulse;
+	btScalar m_prevRHS;
 	btScalar m_appliedImpulseLateral1;
 	btScalar m_appliedImpulseLateral2;
 	btScalar m_contactMotion1;
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index a77449812f..c042c24208 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	btScalar minProj = btScalar(BT_LARGE_FLOAT);
 	btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
 	btVector3 minA, minB;
-	btVector3 seperatingAxisInA, seperatingAxisInB;
+	btVector3 separatingAxisInA, separatingAxisInB;
 	btVector3 pInA, qInB, pWorld, qWorld, w;
 
 #ifndef __SPU__
@@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 
 	btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
 	btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
-	btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
+	btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
+	btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
 	int i;
 
 	int numSampleDirections = NUM_UNITSPHERE_POINTS;
@@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	for (i = 0; i < numSampleDirections; i++)
 	{
 		btVector3 norm = getPenetrationDirections()[i];
-		seperatingAxisInABatch[i] = (-norm) * transA.getBasis();
-		seperatingAxisInBBatch[i] = norm * transB.getBasis();
+		separatingAxisInABatch[i] = (-norm) * transA.getBasis();
+		separatingAxisInBBatch[i] = norm * transB.getBasis();
 	}
 
 	{
@@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 				convexA->getPreferredPenetrationDirection(i, norm);
 				norm = transA.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
-				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
-				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+				separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+				separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
 				numSampleDirections++;
 			}
 		}
@@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 				convexB->getPreferredPenetrationDirection(i, norm);
 				norm = transB.getBasis() * norm;
 				getPenetrationDirections()[numSampleDirections] = norm;
-				seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
-				seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
+				separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
+				separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
 				numSampleDirections++;
 			}
 		}
 	}
 
-	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections);
-	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
+	convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections);
+	convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
 
 	for (i = 0; i < numSampleDirections; i++)
 	{
@@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 		}
 		if (norm.length2() > 0.01)
 		{
-			seperatingAxisInA = seperatingAxisInABatch[i];
-			seperatingAxisInB = seperatingAxisInBBatch[i];
+			separatingAxisInA = separatingAxisInABatch[i];
+			separatingAxisInB = separatingAxisInBBatch[i];
 
 			pInA = supportVerticesABatch[i];
 			qInB = supportVerticesBBatch[i];
@@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	for (int i = 0; i < numSampleDirections; i++)
 	{
 		const btVector3& norm = getPenetrationDirections()[i];
-		seperatingAxisInA = (-norm) * transA.getBasis();
-		seperatingAxisInB = norm * transB.getBasis();
-		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
-		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+		separatingAxisInA = (-norm) * transA.getBasis();
+		separatingAxisInB = norm * transB.getBasis();
+		pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
+		qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
 		pWorld = transA(pInA);
 		qWorld = transB(qInB);
 		w = qWorld - pWorld;
@@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
 	input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);  //minProj;
 
 	btIntermediateResult res;
-	gjkdet.setCachedSeperatingAxis(-minNorm);
+	gjkdet.setCachedSeparatingAxis(-minNorm);
 	gjkdet.getClosestPoints(input, res, debugDraw);
 
 	btScalar correctedMinNorm = minProj - res.m_depth;
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
index 358bc95d81..534a66d3fa 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h
@@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b,
 						 const btMprCollisionDescription &colDesc,
 						 const btVector3 &dir, btMprSupport_t *supp)
 {
-	btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis();
-	btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis();
+	btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis();
+	btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis();
 
-	btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA);
-	btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB);
+	btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA);
+	btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB);
 
 	supp->v1 = a.getWorldTransform()(pInA);
 	supp->v2 = b.getWorldTransform()(qInB);
@@ -467,7 +467,7 @@ static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b,
 	for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++)
 	//while (1)
 	{
-		// compute direction outside the portal (from v0 throught v1,v2,v3
+		// compute direction outside the portal (from v0 through v1,v2,v3
 		// face)
 		btPortalDir(portal, &dir);
 
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index f1422cad4d..dca3e09267 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma
 	{
 		const btManifoldPoint& pt = manifold->getContactPoint(i);
 		dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
+		dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
 		dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
 		dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
 		pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
@@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa
 		btManifoldPoint& pt = m_pointCache[i];
 
 		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
 		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
 		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
 		pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
@@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat
 		btManifoldPoint& pt = m_pointCache[i];
 
 		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
 		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
 		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
 		pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
@@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat
 		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
 		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
 	}
-}
\ No newline at end of file
+}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index 8a9134c95c..0e26da0ebe 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -173,6 +173,7 @@ public:
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
+			m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
 			m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
@@ -195,6 +196,7 @@ public:
 #ifdef MAINTAIN_PERSISTENCY
 		int lifeTime = m_pointCache[insertIndex].getLifeTime();
 		btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
+		btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
 		btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
 		btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
 
@@ -223,6 +225,7 @@ public:
 			m_pointCache[insertIndex] = newPoint;
 			m_pointCache[insertIndex].m_userPersistentData = cache;
 			m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
+			m_pointCache[insertIndex].m_prevRHS = prevRHS;
 			m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 			m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		}
@@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData
 	btVector3DoubleData	m_pointCacheLateralFrictionDir2[4];
 	double m_pointCacheDistance[4];
 	double m_pointCacheAppliedImpulse[4];
-	double m_pointCacheCombinedFriction[4];
+	double m_pointCachePrevRHS[4];
+	 double m_pointCacheCombinedFriction[4];
 	double m_pointCacheCombinedRollingFriction[4];
 	double m_pointCacheCombinedSpinningFriction[4];
 	double m_pointCacheCombinedRestitution[4];
@@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData
 	btVector3FloatData	m_pointCacheLateralFrictionDir2[4];
 	float m_pointCacheDistance[4];
 	float m_pointCacheAppliedImpulse[4];
+	float m_pointCachePrevRHS[4];
 	float m_pointCacheCombinedFriction[4];
 	float m_pointCacheCombinedRollingFriction[4];
 	float m_pointCacheCombinedSpinningFriction[4];