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diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
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--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
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-/*
-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 B3_JACOBIAN_ENTRY_H
-#define B3_JACOBIAN_ENTRY_H
-
-#include "Bullet3Common/b3Matrix3x3.h"
-
-//notes:
-// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
-// which makes the b3JacobianEntry memory layout 16 bytes
-// if you only are interested in angular part, just feed massInvA and massInvB zero
-
-/// Jacobian entry is an abstraction that allows to describe constraints
-/// it can be used in combination with a constraint solver
-/// Can be used to relate the effect of an impulse to the constraint error
-B3_ATTRIBUTE_ALIGNED16(class)
-b3JacobianEntry
-{
-public:
-	b3JacobianEntry(){};
-	//constraint between two different rigidbodies
-	b3JacobianEntry(
-		const b3Matrix3x3& world2A,
-		const b3Matrix3x3& world2B,
-		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA,
-		const b3Scalar massInvA,
-		const b3Vector3& inertiaInvB,
-		const b3Scalar massInvB)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(m_linearJointAxis));
-		m_bJ = world2B * (rel_pos2.cross(-m_linearJointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	b3JacobianEntry(const b3Vector3& jointAxis,
-					const b3Matrix3x3& world2A,
-					const b3Matrix3x3& world2B,
-					const b3Vector3& inertiaInvA,
-					const b3Vector3& inertiaInvB)
-		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.)))
-	{
-		m_aJ = world2A * jointAxis;
-		m_bJ = world2B * -jointAxis;
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//angular constraint between two different rigidbodies
-	b3JacobianEntry(const b3Vector3& axisInA,
-					const b3Vector3& axisInB,
-					const b3Vector3& inertiaInvA,
-					const b3Vector3& inertiaInvB)
-		: m_linearJointAxis(b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.))), m_aJ(axisInA), m_bJ(-axisInB)
-	{
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = inertiaInvB * m_bJ;
-		m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	//constraint on one rigidbody
-	b3JacobianEntry(
-		const b3Matrix3x3& world2A,
-		const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
-		const b3Vector3& jointAxis,
-		const b3Vector3& inertiaInvA,
-		const b3Scalar massInvA)
-		: m_linearJointAxis(jointAxis)
-	{
-		m_aJ = world2A * (rel_pos1.cross(jointAxis));
-		m_bJ = world2A * (rel_pos2.cross(-jointAxis));
-		m_0MinvJt = inertiaInvA * m_aJ;
-		m_1MinvJt = b3MakeVector3(b3Scalar(0.), b3Scalar(0.), b3Scalar(0.));
-		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
-
-		b3Assert(m_Adiag > b3Scalar(0.0));
-	}
-
-	b3Scalar getDiagonal() const { return m_Adiag; }
-
-	// for two constraints on the same rigidbody (for example vehicle friction)
-	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA) const
-	{
-		const b3JacobianEntry& jacA = *this;
-		b3Scalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
-		b3Scalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
-		return lin + ang;
-	}
-
-	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	b3Scalar getNonDiagonal(const b3JacobianEntry& jacB, const b3Scalar massInvA, const b3Scalar massInvB) const
-	{
-		const b3JacobianEntry& jacA = *this;
-		b3Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
-		b3Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
-		b3Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
-		b3Vector3 lin0 = massInvA * lin;
-		b3Vector3 lin1 = massInvB * lin;
-		b3Vector3 sum = ang0 + ang1 + lin0 + lin1;
-		return sum[0] + sum[1] + sum[2];
-	}
-
-	b3Scalar getRelativeVelocity(const b3Vector3& linvelA, const b3Vector3& angvelA, const b3Vector3& linvelB, const b3Vector3& angvelB)
-	{
-		b3Vector3 linrel = linvelA - linvelB;
-		b3Vector3 angvela = angvelA * m_aJ;
-		b3Vector3 angvelb = angvelB * m_bJ;
-		linrel *= m_linearJointAxis;
-		angvela += angvelb;
-		angvela += linrel;
-		b3Scalar rel_vel2 = angvela[0] + angvela[1] + angvela[2];
-		return rel_vel2 + B3_EPSILON;
-	}
-	//private:
-
-	b3Vector3 m_linearJointAxis;
-	b3Vector3 m_aJ;
-	b3Vector3 m_bJ;
-	b3Vector3 m_0MinvJt;
-	b3Vector3 m_1MinvJt;
-	//Optimization: can be stored in the w/last component of one of the vectors
-	b3Scalar m_Adiag;
-};
-
-#endif  //B3_JACOBIAN_ENTRY_H