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diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
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+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.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 BT_DYNAMICS_WORLD_H
+#define BT_DYNAMICS_WORLD_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+
+class btTypedConstraint;
+class btActionInterface;
+class btConstraintSolver;
+class btDynamicsWorld;
+
+
+/// Type for the callback for each tick
+typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
+
+enum btDynamicsWorldType
+{
+	BT_SIMPLE_DYNAMICS_WORLD=1,
+	BT_DISCRETE_DYNAMICS_WORLD=2,
+	BT_CONTINUOUS_DYNAMICS_WORLD=3,
+	BT_SOFT_RIGID_DYNAMICS_WORLD=4,
+	BT_GPU_DYNAMICS_WORLD=5,
+    BT_SOFT_MULTIBODY_DYNAMICS_WORLD=6
+};
+
+///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
+class btDynamicsWorld : public btCollisionWorld
+{
+
+protected:
+		btInternalTickCallback m_internalTickCallback;
+		btInternalTickCallback m_internalPreTickCallback;
+		void*	m_worldUserInfo;
+
+		btContactSolverInfo	m_solverInfo;
+
+public:
+		
+
+		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
+		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
+		{
+		}
+
+		virtual ~btDynamicsWorld()
+		{
+		}
+		
+		///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds.
+		///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'.
+		///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'.
+		///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant.
+		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
+			
+		virtual void	debugDrawWorld() = 0;
+				
+		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) 
+		{ 
+			(void)constraint; (void)disableCollisionsBetweenLinkedBodies;
+		}
+
+		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
+
+		virtual void	addAction(btActionInterface* action) = 0;
+
+		virtual void	removeAction(btActionInterface* action) = 0;
+
+		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
+		//existing rigidbodies in the world get gravity assigned too, during this method
+		virtual void	setGravity(const btVector3& gravity) = 0;
+		virtual btVector3 getGravity () const = 0;
+
+		virtual void	synchronizeMotionStates() = 0;
+
+		virtual void	addRigidBody(btRigidBody* body) = 0;
+
+		virtual void	addRigidBody(btRigidBody* body, int group, int mask) = 0;
+
+		virtual void	removeRigidBody(btRigidBody* body) = 0;
+
+		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+
+		virtual btConstraintSolver* getConstraintSolver() = 0;
+		
+		virtual	int		getNumConstraints() const {	return 0;		}
+		
+		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
+		
+		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
+
+		virtual btDynamicsWorldType	getWorldType() const=0;
+
+		virtual void	clearForces() = 0;
+
+		/// Set the callback for when an internal tick (simulation substep) happens, optional user info
+		void setInternalTickCallback(btInternalTickCallback cb,	void* worldUserInfo=0,bool isPreTick=false) 
+		{ 
+			if (isPreTick)
+			{
+				m_internalPreTickCallback = cb;
+			} else
+			{
+				m_internalTickCallback = cb; 
+			}
+			m_worldUserInfo = worldUserInfo;
+		}
+
+		void	setWorldUserInfo(void* worldUserInfo)
+		{
+			m_worldUserInfo = worldUserInfo;
+		}
+
+		void*	getWorldUserInfo() const
+		{
+			return m_worldUserInfo;
+		}
+
+		btContactSolverInfo& getSolverInfo()
+		{
+			return m_solverInfo;
+		}
+
+		const btContactSolverInfo& getSolverInfo() const
+		{
+			return m_solverInfo;
+		}
+
+
+		///obsolete, use addAction instead.
+		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use removeAction instead
+		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use addAction instead.
+		virtual void	addCharacter(btActionInterface* character) {(void)character;}
+		///obsolete, use removeAction instead
+		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btDynamicsWorldDoubleData
+{
+	btContactSolverInfoDoubleData	m_solverInfo;
+	btVector3DoubleData	m_gravity;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btDynamicsWorldFloatData
+{
+	btContactSolverInfoFloatData	m_solverInfo;
+	btVector3FloatData	m_gravity;
+};
+
+
+#endif //BT_DYNAMICS_WORLD_H
+
+