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diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
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+++ b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
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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.
+*/
+
+
+
+#include "btSolve2LinearConstraint.h"
+
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+
+
+void btSolve2LinearConstraint::resolveUnilateralPairConstraint(
+ btRigidBody* body1,
+ btRigidBody* body2,
+
+ const btMatrix3x3& world2A,
+ const btMatrix3x3& world2B,
+
+ const btVector3& invInertiaADiag,
+ const btScalar invMassA,
+ const btVector3& linvelA,const btVector3& angvelA,
+ const btVector3& rel_posA1,
+ const btVector3& invInertiaBDiag,
+ const btScalar invMassB,
+ const btVector3& linvelB,const btVector3& angvelB,
+ const btVector3& rel_posA2,
+
+ btScalar depthA, const btVector3& normalA,
+ const btVector3& rel_posB1,const btVector3& rel_posB2,
+ btScalar depthB, const btVector3& normalB,
+ btScalar& imp0,btScalar& imp1)
+{
+ (void)linvelA;
+ (void)linvelB;
+ (void)angvelB;
+ (void)angvelA;
+
+
+
+ imp0 = btScalar(0.);
+ imp1 = btScalar(0.);
+
+ btScalar len = btFabs(normalA.length()) - btScalar(1.);
+ if (btFabs(len) >= SIMD_EPSILON)
+ return;
+
+ btAssert(len < SIMD_EPSILON);
+
+
+ //this jacobian entry could be re-used for all iterations
+ btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+ invInertiaBDiag,invMassB);
+ btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+ invInertiaBDiag,invMassB);
+
+ //const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+ //const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+ const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+ const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv
+ btScalar massTerm = btScalar(1.) / (invMassA + invMassB);
+
+
+ // calculate rhs (or error) terms
+ const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping;
+ const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping;
+
+
+ // dC/dv * dv = -C
+
+ // jacobian * impulse = -error
+ //
+
+ //impulse = jacobianInverse * -error
+
+ // inverting 2x2 symmetric system (offdiagonal are equal!)
+ //
+
+
+ btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+ btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+
+ //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+ //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+ imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+ imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+ //[a b] [d -c]
+ //[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+ //[jA nD] * [imp0] = [dv0]
+ //[nD jB] [imp1] [dv1]
+
+}
+
+
+
+void btSolve2LinearConstraint::resolveBilateralPairConstraint(
+ btRigidBody* body1,
+ btRigidBody* body2,
+ const btMatrix3x3& world2A,
+ const btMatrix3x3& world2B,
+
+ const btVector3& invInertiaADiag,
+ const btScalar invMassA,
+ const btVector3& linvelA,const btVector3& angvelA,
+ const btVector3& rel_posA1,
+ const btVector3& invInertiaBDiag,
+ const btScalar invMassB,
+ const btVector3& linvelB,const btVector3& angvelB,
+ const btVector3& rel_posA2,
+
+ btScalar depthA, const btVector3& normalA,
+ const btVector3& rel_posB1,const btVector3& rel_posB2,
+ btScalar depthB, const btVector3& normalB,
+ btScalar& imp0,btScalar& imp1)
+{
+
+ (void)linvelA;
+ (void)linvelB;
+ (void)angvelA;
+ (void)angvelB;
+
+
+
+ imp0 = btScalar(0.);
+ imp1 = btScalar(0.);
+
+ btScalar len = btFabs(normalA.length()) - btScalar(1.);
+ if (btFabs(len) >= SIMD_EPSILON)
+ return;
+
+ btAssert(len < SIMD_EPSILON);
+
+
+ //this jacobian entry could be re-used for all iterations
+ btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+ invInertiaBDiag,invMassB);
+ btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+ invInertiaBDiag,invMassB);
+
+ //const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+ //const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+ const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+ const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+ // calculate rhs (or error) terms
+ const btScalar dv0 = depthA * m_tau - vel0 * m_damping;
+ const btScalar dv1 = depthB * m_tau - vel1 * m_damping;
+
+ // dC/dv * dv = -C
+
+ // jacobian * impulse = -error
+ //
+
+ //impulse = jacobianInverse * -error
+
+ // inverting 2x2 symmetric system (offdiagonal are equal!)
+ //
+
+
+ btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+ btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+
+ //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+ //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+ imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+ imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+ //[a b] [d -c]
+ //[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+ //[jA nD] * [imp0] = [dv0]
+ //[nD jB] [imp1] [dv1]
+
+ if ( imp0 > btScalar(0.0))
+ {
+ if ( imp1 > btScalar(0.0) )
+ {
+ //both positive
+ }
+ else
+ {
+ imp1 = btScalar(0.);
+
+ // now imp0>0 imp1<0
+ imp0 = dv0 / jacA.getDiagonal();
+ if ( imp0 > btScalar(0.0) )
+ {
+ } else
+ {
+ imp0 = btScalar(0.);
+ }
+ }
+ }
+ else
+ {
+ imp0 = btScalar(0.);
+
+ imp1 = dv1 / jacB.getDiagonal();
+ if ( imp1 <= btScalar(0.0) )
+ {
+ imp1 = btScalar(0.);
+ // now imp0>0 imp1<0
+ imp0 = dv0 / jacA.getDiagonal();
+ if ( imp0 > btScalar(0.0) )
+ {
+ } else
+ {
+ imp0 = btScalar(0.);
+ }
+ } else
+ {
+ }
+ }
+}
+
+
+/*
+void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invInertiaAWS,
+ const btScalar invMassA,
+ const btVector3& linvelA,const btVector3& angvelA,
+ const btVector3& rel_posA1,
+ const btMatrix3x3& invInertiaBWS,
+ const btScalar invMassB,
+ const btVector3& linvelB,const btVector3& angvelB,
+ const btVector3& rel_posA2,
+
+ btScalar depthA, const btVector3& normalA,
+ const btVector3& rel_posB1,const btVector3& rel_posB2,
+ btScalar depthB, const btVector3& normalB,
+ btScalar& imp0,btScalar& imp1)
+{
+
+}
+*/
+
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