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.

5 files changed, 0 insertions, 1218 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
deleted file mode 100644
index a7b1688469..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ /dev/null
@@ -1,772 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-
-#include "LinearMath/btVector3.h"
-#include "btRaycastVehicle.h"
-
-#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
-#include "LinearMath/btQuaternion.h"
-#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
-#include "btVehicleRaycaster.h"
-#include "btWheelInfo.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btIDebugDraw.h"
-#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-
-#define ROLLING_INFLUENCE_FIX
-
-
-btRigidBody& btActionInterface::getFixedBody()
-{
-	static btRigidBody s_fixed(0, 0,0);
-	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-	return s_fixed;
-}
-
-btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-:m_vehicleRaycaster(raycaster),
-m_pitchControl(btScalar(0.))
-{
-	m_chassisBody = chassis;
-	m_indexRightAxis = 0;
-	m_indexUpAxis = 2;
-	m_indexForwardAxis = 1;
-	defaultInit(tuning);
-}
-
-
-void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
-{
-	(void)tuning;
-	m_currentVehicleSpeedKmHour = btScalar(0.);
-	m_steeringValue = btScalar(0.);
-	
-}
-
-	
-
-btRaycastVehicle::~btRaycastVehicle()
-{
-}
-
-
-//
-// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
-//
-btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
-{
-
-	btWheelInfoConstructionInfo ci;
-
-	ci.m_chassisConnectionCS = connectionPointCS;
-	ci.m_wheelDirectionCS = wheelDirectionCS0;
-	ci.m_wheelAxleCS = wheelAxleCS;
-	ci.m_suspensionRestLength = suspensionRestLength;
-	ci.m_wheelRadius = wheelRadius;
-	ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
-	ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
-	ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
-	ci.m_frictionSlip = tuning.m_frictionSlip;
-	ci.m_bIsFrontWheel = isFrontWheel;
-	ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
-	ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
-
-	m_wheelInfo.push_back( btWheelInfo(ci));
-	
-	btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
-	
-	updateWheelTransformsWS( wheel , false );
-	updateWheelTransform(getNumWheels()-1,false);
-	return wheel;
-}
-
-
-
-
-const btTransform&	btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
-{
-	btAssert(wheelIndex < getNumWheels());
-	const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
-	return wheel.m_worldTransform;
-
-}
-
-void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
-{
-	
-	btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
-	updateWheelTransformsWS(wheel,interpolatedTransform);
-	btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
-	const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
-	btVector3 fwd = up.cross(right);
-	fwd = fwd.normalize();
-//	up = right.cross(fwd);
-//	up.normalize();
-
-	//rotate around steering over de wheelAxleWS
-	btScalar steering = wheel.m_steering;
-	
-	btQuaternion steeringOrn(up,steering);//wheel.m_steering);
-	btMatrix3x3 steeringMat(steeringOrn);
-
-	btQuaternion rotatingOrn(right,-wheel.m_rotation);
-	btMatrix3x3 rotatingMat(rotatingOrn);
-
-	btMatrix3x3 basis2(
-		right[0],fwd[0],up[0],
-		right[1],fwd[1],up[1],
-		right[2],fwd[2],up[2]
-	);
-	
-	wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
-	wheel.m_worldTransform.setOrigin(
-		wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
-	);
-}
-
-void btRaycastVehicle::resetSuspension()
-{
-
-	int i;
-	for (i=0;i<m_wheelInfo.size();	i++)
-	{
-			btWheelInfo& wheel = m_wheelInfo[i];
-			wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			
-			wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-			//wheel_info.setContactFriction(btScalar(0.0));
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
-
-void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
-{
-	wheel.m_raycastInfo.m_isInContact = false;
-
-	btTransform chassisTrans = getChassisWorldTransform();
-	if (interpolatedTransform && (getRigidBody()->getMotionState()))
-	{
-		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
-	}
-
-	wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
-	wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *  wheel.m_wheelDirectionCS ;
-	wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
-}
-
-btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
-{
-	updateWheelTransformsWS( wheel,false);
-
-	
-	btScalar depth = -1;
-	
-	btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
-
-	btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
-	const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
-	wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
-	const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
-
-	btScalar param = btScalar(0.);
-	
-	btVehicleRaycaster::btVehicleRaycasterResult	rayResults;
-
-	btAssert(m_vehicleRaycaster);
-
-	void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
-
-	wheel.m_raycastInfo.m_groundObject = 0;
-
-	if (object)
-	{
-		param = rayResults.m_distFraction;
-		depth = raylen * rayResults.m_distFraction;
-		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
-		wheel.m_raycastInfo.m_isInContact = true;
-		
-		wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
-		//wheel.m_raycastInfo.m_groundObject = object;
-
-
-		btScalar hitDistance = param*raylen;
-		wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
-		//clamp on max suspension travel
-
-		btScalar  minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
-		btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
-		if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
-		}
-		if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
-		{
-			wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
-		}
-
-		wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
-
-		btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
-
-		btVector3 chassis_velocity_at_contactPoint;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
-
-		chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
-
-		btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-
-		if ( denominator >= btScalar(-0.1))
-		{
-			wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-			wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / denominator;
-			wheel.m_suspensionRelativeVelocity = projVel * inv;
-			wheel.m_clippedInvContactDotSuspension = inv;
-		}
-			
-	} else
-	{
-		//put wheel info as in rest position
-		wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
-		wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-		wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
-		wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-
-	return depth;
-}
-
-
-const btTransform& btRaycastVehicle::getChassisWorldTransform() const
-{
-	/*if (getRigidBody()->getMotionState())
-	{
-		btTransform chassisWorldTrans;
-		getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
-		return chassisWorldTrans;
-	}
-	*/
-
-	
-	return getRigidBody()->getCenterOfMassTransform();
-}
-
-
-void btRaycastVehicle::updateVehicle( btScalar step )
-{
-	{
-		for (int i=0;i<getNumWheels();i++)
-		{
-			updateWheelTransform(i,false);
-		}
-	}
-
-
-	m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
-	
-	const btTransform& chassisTrans = getChassisWorldTransform();
-
-	btVector3 forwardW (
-		chassisTrans.getBasis()[0][m_indexForwardAxis],
-		chassisTrans.getBasis()[1][m_indexForwardAxis],
-		chassisTrans.getBasis()[2][m_indexForwardAxis]);
-
-	if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
-	{
-		m_currentVehicleSpeedKmHour *= btScalar(-1.);
-	}
-
-	//
-	// simulate suspension
-	//
-	
-	int i=0;
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		//btScalar depth; 
-		//depth = 
-		rayCast( m_wheelInfo[i]);
-	}
-
-	updateSuspension(step);
-
-	
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		//apply suspension force
-		btWheelInfo& wheel = m_wheelInfo[i];
-		
-		btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
-		
-		if (suspensionForce > wheel.m_maxSuspensionForce)
-		{
-			suspensionForce = wheel.m_maxSuspensionForce;
-		}
-		btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
-		
-		getRigidBody()->applyImpulse(impulse, relpos);
-	
-	}
-	
-
-	
-	updateFriction( step);
-
-	
-	for (i=0;i<m_wheelInfo.size();i++)
-	{
-		btWheelInfo& wheel = m_wheelInfo[i];
-		btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
-		btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
-
-		if (wheel.m_raycastInfo.m_isInContact)
-		{
-			const btTransform&	chassisWorldTransform = getChassisWorldTransform();
-
-			btVector3 fwd (
-				chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
-				chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
-
-			btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
-			fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
-
-			btScalar proj2 = fwd.dot(vel);
-			
-			wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
-			wheel.m_rotation += wheel.m_deltaRotation;
-
-		} else
-		{
-			wheel.m_rotation += wheel.m_deltaRotation;
-		}
-		
-		wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
-
-	}
-
-
-
-}
-
-
-void	btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
-{
-	btAssert(wheel>=0 && wheel < getNumWheels());
-
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_steering = steering;
-}
-
-
-
-btScalar	btRaycastVehicle::getSteeringValue(int wheel) const
-{
-	return getWheelInfo(wheel).m_steering;
-}
-
-
-void	btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
-{
-	btAssert(wheel>=0 && wheel < getNumWheels());
-	btWheelInfo& wheelInfo = getWheelInfo(wheel);
-	wheelInfo.m_engineForce = force;
-}
-
-
-const btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) const
-{
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-btWheelInfo&	btRaycastVehicle::getWheelInfo(int index) 
-{
-	btAssert((index >= 0) && (index < 	getNumWheels()));
-	
-	return m_wheelInfo[index];
-}
-
-void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
-{
-	btAssert((wheelIndex >= 0) && (wheelIndex < 	getNumWheels()));
-	getWheelInfo(wheelIndex).m_brake = brake;
-}
-
-
-void	btRaycastVehicle::updateSuspension(btScalar deltaTime)
-{
-	(void)deltaTime;
-
-	btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
-	
-	for (int w_it=0; w_it<getNumWheels(); w_it++)
-	{
-		btWheelInfo &wheel_info = m_wheelInfo[w_it];
-		
-		if ( wheel_info.m_raycastInfo.m_isInContact )
-		{
-			btScalar force;
-			//	Spring
-			{
-				btScalar	susp_length			= wheel_info.getSuspensionRestLength();
-				btScalar	current_length = wheel_info.m_raycastInfo.m_suspensionLength;
-
-				btScalar length_diff = (susp_length - current_length);
-
-				force = wheel_info.m_suspensionStiffness
-					* length_diff * wheel_info.m_clippedInvContactDotSuspension;
-			}
-		
-			// Damper
-			{
-				btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
-				{
-					btScalar	susp_damping;
-					if ( projected_rel_vel < btScalar(0.0) )
-					{
-						susp_damping = wheel_info.m_wheelsDampingCompression;
-					}
-					else
-					{
-						susp_damping = wheel_info.m_wheelsDampingRelaxation;
-					}
-					force -= susp_damping * projected_rel_vel;
-				}
-			}
-
-			// RESULT
-			wheel_info.m_wheelsSuspensionForce = force * chassisMass;
-			if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
-			{
-				wheel_info.m_wheelsSuspensionForce = btScalar(0.);
-			}
-		}
-		else
-		{
-			wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
-		}
-	}
-
-}
-
-
-struct btWheelContactPoint
-{
-	btRigidBody* m_body0;
-	btRigidBody* m_body1;
-	btVector3	m_frictionPositionWorld;
-	btVector3	m_frictionDirectionWorld;
-	btScalar	m_jacDiagABInv;
-	btScalar	m_maxImpulse;
-
-
-	btWheelContactPoint(btRigidBody* body0,btRigidBody* body1,const btVector3& frictionPosWorld,const btVector3& frictionDirectionWorld, btScalar maxImpulse)
-		:m_body0(body0),
-		m_body1(body1),
-		m_frictionPositionWorld(frictionPosWorld),
-		m_frictionDirectionWorld(frictionDirectionWorld),
-		m_maxImpulse(maxImpulse)
-	{
-		btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
-		btScalar	relaxation = 1.f;
-		m_jacDiagABInv = relaxation/(denom0+denom1);
-	}
-
-
-
-};
-
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
-{
-
-	btScalar j1=0.f;
-
-	const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
-
-	btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition(); 
-	btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition();
-	
-	btScalar maxImpulse  = contactPoint.m_maxImpulse;
-	
-	btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
-	btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
-	btVector3 vel = vel1 - vel2;
-
-	btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
-
-	// calculate j that moves us to zero relative velocity
-	j1 = -vrel * contactPoint.m_jacDiagABInv;
-	btSetMin(j1, maxImpulse);
-	btSetMax(j1, -maxImpulse);
-
-	return j1;
-}
-
-
-
-
-btScalar sideFrictionStiffness2 = btScalar(1.0);
-void	btRaycastVehicle::updateFriction(btScalar	timeStep)
-{
-
-		//calculate the impulse, so that the wheels don't move sidewards
-		int numWheel = getNumWheels();
-		if (!numWheel)
-			return;
-
-		m_forwardWS.resize(numWheel);
-		m_axle.resize(numWheel);
-		m_forwardImpulse.resize(numWheel);
-		m_sideImpulse.resize(numWheel);
-		
-		int numWheelsOnGround = 0;
-	
-
-		//collapse all those loops into one!
-		for (int i=0;i<getNumWheels();i++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[i];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-			if (groundObject)
-				numWheelsOnGround++;
-			m_sideImpulse[i] = btScalar(0.);
-			m_forwardImpulse[i] = btScalar(0.);
-
-		}
-	
-		{
-	
-			for (int i=0;i<getNumWheels();i++)
-			{
-
-				btWheelInfo& wheelInfo = m_wheelInfo[i];
-					
-				class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-				if (groundObject)
-				{
-
-					const btTransform& wheelTrans = getWheelTransformWS( i );
-
-					btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
-					m_axle[i] = btVector3(	
-						wheelBasis0[0][m_indexRightAxis],
-						wheelBasis0[1][m_indexRightAxis],
-						wheelBasis0[2][m_indexRightAxis]);
-					
-					const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
-					btScalar proj = m_axle[i].dot(surfNormalWS);
-					m_axle[i] -= surfNormalWS * proj;
-					m_axle[i] = m_axle[i].normalize();
-					
-					m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
-					m_forwardWS[i].normalize();
-
-				
-					resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
-							  btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
-
-					m_sideImpulse[i] *= sideFrictionStiffness2;
-						
-				}
-				
-
-			}
-		}
-
-	btScalar sideFactor = btScalar(1.);
-	btScalar fwdFactor = 0.5;
-
-	bool sliding = false;
-	{
-		for (int wheel =0;wheel <getNumWheels();wheel++)
-		{
-			btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-			class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
-
-			btScalar	rollingFriction = 0.f;
-
-			if (groundObject)
-			{
-				if (wheelInfo.m_engineForce != 0.f)
-				{
-					rollingFriction = wheelInfo.m_engineForce* timeStep;
-				} else
-				{
-					btScalar defaultRollingFrictionImpulse = 0.f;
-					btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
-					btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
-					rollingFriction = calcRollingFriction(contactPt);
-				}
-			}
-
-			//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
-			
-
-
-
-			m_forwardImpulse[wheel] = btScalar(0.);
-			m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
-
-			if (groundObject)
-			{
-				m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
-				
-				btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
-				btScalar maximpSide = maximp;
-
-				btScalar maximpSquared = maximp * maximpSide;
-			
-
-				m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
-
-				btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
-				btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
-				
-				btScalar impulseSquared = (x*x + y*y);
-
-				if (impulseSquared > maximpSquared)
-				{
-					sliding = true;
-					
-					btScalar factor = maximp / btSqrt(impulseSquared);
-					
-					m_wheelInfo[wheel].m_skidInfo *= factor;
-				}
-			} 
-
-		}
-	}
-
-	
-
-
-		if (sliding)
-		{
-			for (int wheel = 0;wheel < getNumWheels(); wheel++)
-			{
-				if (m_sideImpulse[wheel] != btScalar(0.))
-				{
-					if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
-					{
-						m_forwardImpulse[wheel] *=	m_wheelInfo[wheel].m_skidInfo;
-						m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					}
-				}
-			}
-		}
-
-		// apply the impulses
-		{
-			for (int wheel = 0;wheel<getNumWheels() ; wheel++)
-			{
-				btWheelInfo& wheelInfo = m_wheelInfo[wheel];
-
-				btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						m_chassisBody->getCenterOfMassPosition();
-
-				if (m_forwardImpulse[wheel] != btScalar(0.))
-				{
-					m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
-				}
-				if (m_sideImpulse[wheel] != btScalar(0.))
-				{
-					class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
-
-					btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - 
-						groundObject->getCenterOfMassPosition();
-
-					
-					btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
-
-#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
-					btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
-					rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
-#else
-					rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
-#endif
-					m_chassisBody->applyImpulse(sideImp,rel_pos);
-
-					//apply friction impulse on the ground
-					groundObject->applyImpulse(-sideImp,rel_pos2);
-				}
-			}
-		}
-
-	
-}
-
-
-
-void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
-{
-
-	for (int v=0;v<this->getNumWheels();v++)
-	{
-		btVector3 wheelColor(0,1,1);
-		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
-		{
-			wheelColor.setValue(0,0,1);
-		} else
-		{
-			wheelColor.setValue(1,0,1);
-		}
-
-		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
-
-		btVector3 axle = btVector3(	
-			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
-			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
-
-		//debug wheels (cylinders)
-		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
-	}
-}
-
-
-void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
-{
-//	RayResultCallback& resultCallback;
-
-	btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
-
-	m_dynamicsWorld->rayTest(from, to, rayCallback);
-
-	if (rayCallback.hasHit())
-	{
-		
-		const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
-        if (body && body->hasContactResponse())
-		{
-			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
-			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
-			result.m_hitNormalInWorld.normalize();
-			result.m_distFraction = rayCallback.m_closestHitFraction;
-			return (void*)body;
-		}
-	}
-	return 0;
-}
-
diff --git a/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h
deleted file mode 100644
index 04656b912c..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ /dev/null
@@ -1,234 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_RAYCASTVEHICLE_H
-#define BT_RAYCASTVEHICLE_H
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "btVehicleRaycaster.h"
-class btDynamicsWorld;
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-//class btVehicleTuning;
-
-///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btActionInterface
-{
-
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-	
-		///backwards compatibility
-		int	m_userConstraintType;
-		int	m_userConstraintId;
-
-public:
-	class btVehicleTuning
-		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5)),
-				m_maxSuspensionForce(btScalar(6000.))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-			btScalar	m_maxSuspensionForce;
-
-		};
-private:
-
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
-	btScalar m_currentVehicleSpeedKmHour;
-
-	btRigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int	m_indexForwardAxis;
-
-	void defaultInit(const btVehicleTuning& tuning);
-
-public:
-
-	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
-
-
-	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
-	{
-        (void) collisionWorld;
-		updateVehicle(step);
-	}
-	
-
-	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-			
-	const btTransform& getChassisWorldTransform() const;
-	
-	btScalar rayCast(btWheelInfo& wheel);
-
-	virtual void updateVehicle(btScalar step);
-	
-	
-	void resetSuspension();
-
-	btScalar	getSteeringValue(int wheel) const;
-
-	void	setSteeringValue(btScalar steering,int wheel);
-
-
-	void	applyEngineForce(btScalar force, int wheel);
-
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
-
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
-
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
-
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
-	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
-
-
-	const btWheelInfo&	getWheelInfo(int index) const;
-
-	btWheelInfo&	getWheelInfo(int index);
-
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
-
-	
-	void setBrake(btScalar brake,int wheelIndex);
-
-	void	setPitchControl(btScalar pitch)
-	{
-		m_pitchControl = pitch;
-	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
-
-
-
-	inline btRigidBody* getRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const btRigidBody* getRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int	getRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int getUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int getForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	
-	///Worldspace forward vector
-	btVector3 getForwardVector() const
-	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
-
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
-
-		return forwardW;
-	}
-
-	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
-	{
-		return m_currentVehicleSpeedKmHour;
-	}
-
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
-	{
-		m_indexRightAxis = rightIndex;
-		m_indexUpAxis = upIndex;
-		m_indexForwardAxis = forwardIndex;
-	}
-
-
-	///backwards compatibility
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType ;
-	}
-
-	void	setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void	setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-};
-
-class btDefaultVehicleRaycaster : public btVehicleRaycaster
-{
-	btDynamicsWorld*	m_dynamicsWorld;
-public:
-	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
-	{
-	}
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
-};
-
-
-#endif //BT_RAYCASTVEHICLE_H
-
diff --git a/thirdparty/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h b/thirdparty/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h
deleted file mode 100644
index 3cc909c653..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_VEHICLE_RAYCASTER_H
-#define BT_VEHICLE_RAYCASTER_H
-
-#include "LinearMath/btVector3.h"
-
-/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
-struct btVehicleRaycaster
-{
-virtual ~btVehicleRaycaster()
-{
-}
-	struct btVehicleRaycasterResult
-	{
-		btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
-		btVector3	m_hitPointInWorld;
-		btVector3	m_hitNormalInWorld;
-		btScalar	m_distFraction;
-	};
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
-
-};
-
-#endif //BT_VEHICLE_RAYCASTER_H
-
diff --git a/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.cpp b/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.cpp
deleted file mode 100644
index ef93c16fff..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
-
-
-btScalar btWheelInfo::getSuspensionRestLength() const
-{
-
-	return m_suspensionRestLength1;
-
-}
-
-void	btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
-{
-	(void)raycastInfo;
-
-	
-	if (m_raycastInfo.m_isInContact)
-
-	{
-		btScalar	project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
-		btVector3	 chassis_velocity_at_contactPoint;
-		btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
-		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
-		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
-		if ( project >= btScalar(-0.1))
-		{
-			m_suspensionRelativeVelocity = btScalar(0.0);
-			m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
-		}
-		else
-		{
-			btScalar inv = btScalar(-1.) / project;
-			m_suspensionRelativeVelocity = projVel * inv;
-			m_clippedInvContactDotSuspension = inv;
-		}
-		
-	}
-
-	else	// Not in contact : position wheel in a nice (rest length) position
-	{
-		m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
-		m_suspensionRelativeVelocity = btScalar(0.0);
-		m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
-		m_clippedInvContactDotSuspension = btScalar(1.0);
-	}
-}
diff --git a/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h b/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h
deleted file mode 100644
index f991a57b69..0000000000
--- a/thirdparty/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_WHEEL_INFO_H
-#define BT_WHEEL_INFO_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-
-class btRigidBody;
-
-struct btWheelInfoConstructionInfo
-{
-	btVector3	m_chassisConnectionCS;
-	btVector3	m_wheelDirectionCS;
-	btVector3	m_wheelAxleCS;
-	btScalar	m_suspensionRestLength;
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar	m_wheelRadius;
-	
-	btScalar		m_suspensionStiffness;
-	btScalar		m_wheelsDampingCompression;
-	btScalar		m_wheelsDampingRelaxation;
-	btScalar		m_frictionSlip;
-	btScalar		m_maxSuspensionForce;
-	bool m_bIsFrontWheel;
-	
-};
-
-/// btWheelInfo contains information per wheel about friction and suspension.
-struct btWheelInfo
-{
-	struct RaycastInfo
-	{
-		//set by raycaster
-		btVector3	m_contactNormalWS;//contactnormal
-		btVector3	m_contactPointWS;//raycast hitpoint
-		btScalar	m_suspensionLength;
-		btVector3	m_hardPointWS;//raycast starting point
-		btVector3	m_wheelDirectionWS; //direction in worldspace
-		btVector3	m_wheelAxleWS; // axle in worldspace
-		bool		m_isInContact;
-		void*		m_groundObject; //could be general void* ptr
-	};
-
-	RaycastInfo	m_raycastInfo;
-
-	btTransform	m_worldTransform;
-	
-	btVector3	m_chassisConnectionPointCS; //const
-	btVector3	m_wheelDirectionCS;//const
-	btVector3	m_wheelAxleCS; // const or modified by steering
-	btScalar	m_suspensionRestLength1;//const
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar getSuspensionRestLength() const;
-	btScalar	m_wheelsRadius;//const
-	btScalar	m_suspensionStiffness;//const
-	btScalar	m_wheelsDampingCompression;//const
-	btScalar	m_wheelsDampingRelaxation;//const
-	btScalar	m_frictionSlip;
-	btScalar	m_steering;
-	btScalar	m_rotation;
-	btScalar	m_deltaRotation;
-	btScalar	m_rollInfluence;
-	btScalar	m_maxSuspensionForce;
-
-	btScalar	m_engineForce;
-
-	btScalar	m_brake;
-	
-	bool m_bIsFrontWheel;
-	
-	void*		m_clientInfo;//can be used to store pointer to sync transforms...
-
-	btWheelInfo() {}
-
-	btWheelInfo(btWheelInfoConstructionInfo& ci)
-
-	{
-
-		m_suspensionRestLength1 = ci.m_suspensionRestLength;
-		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
-
-		m_wheelsRadius = ci.m_wheelRadius;
-		m_suspensionStiffness = ci.m_suspensionStiffness;
-		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
-		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
-		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
-		m_wheelDirectionCS = ci.m_wheelDirectionCS;
-		m_wheelAxleCS = ci.m_wheelAxleCS;
-		m_frictionSlip = ci.m_frictionSlip;
-		m_steering = btScalar(0.);
-		m_engineForce = btScalar(0.);
-		m_rotation = btScalar(0.);
-		m_deltaRotation = btScalar(0.);
-		m_brake = btScalar(0.);
-		m_rollInfluence = btScalar(0.1);
-		m_bIsFrontWheel = ci.m_bIsFrontWheel;
-		m_maxSuspensionForce = ci.m_maxSuspensionForce;
-
-	}
-
-	void	updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
-
-	btScalar	m_clippedInvContactDotSuspension;
-	btScalar	m_suspensionRelativeVelocity;
-	//calculated by suspension
-	btScalar	m_wheelsSuspensionForce;
-	btScalar	m_skidInfo;
-
-};
-
-#endif //BT_WHEEL_INFO_H
-