diff --git a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
index 0c424d50a..e8f85ab1d 100644
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
@@ -19,1472 +19,1563 @@
 // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
 #ifndef __BULLET_H__
 #define __BULLET_H__
-namespace Bullet
-{
+namespace Bullet {
+
 // put an empty struct in the case
-typedef struct bInvalidHandle
-{
+typedef struct bInvalidHandle {
 	int unused;
-} bInvalidHandle;
-
-class PointerArray;
-class btPhysicsSystem;
-class ListBase;
-class btVector3FloatData;
-class btVector3DoubleData;
-class btQuaternionFloatData;
-class btQuaternionDoubleData;
-class btMatrix3x3FloatData;
-class btMatrix3x3DoubleData;
-class btTransformFloatData;
-class btTransformDoubleData;
-class btBvhSubtreeInfoData;
-class btOptimizedBvhNodeFloatData;
-class btOptimizedBvhNodeDoubleData;
-class btQuantizedBvhNodeData;
-class btQuantizedBvhFloatData;
-class btQuantizedBvhDoubleData;
-class btCollisionShapeData;
-class btStaticPlaneShapeData;
-class btConvexInternalShapeData;
-class btPositionAndRadius;
-class btMultiSphereShapeData;
-class btIntIndexData;
-class btShortIntIndexData;
-class btShortIntIndexTripletData;
-class btCharIndexTripletData;
-class btMeshPartData;
-class btStridingMeshInterfaceData;
-class btTriangleMeshShapeData;
-class btScaledTriangleMeshShapeData;
-class btCompoundShapeChildData;
-class btCompoundShapeData;
-class btCylinderShapeData;
-class btConeShapeData;
-class btCapsuleShapeData;
-class btTriangleInfoData;
-class btTriangleInfoMapData;
-class btPersistentManifoldDoubleData;
-class btPersistentManifoldFloatData;
-class btGImpactMeshShapeData;
-class btConvexHullShapeData;
-class btCollisionObjectDoubleData;
-class btCollisionObjectFloatData;
-class btContactSolverInfoDoubleData;
-class btContactSolverInfoFloatData;
-class btDynamicsWorldDoubleData;
-class btDynamicsWorldFloatData;
-class btRigidBodyFloatData;
-class btRigidBodyDoubleData;
-class btConstraintInfo1;
-class btTypedConstraintFloatData;
-class btTypedConstraintData;
-class btTypedConstraintDoubleData;
-class btPoint2PointConstraintFloatData;
-class btPoint2PointConstraintDoubleData2;
-class btPoint2PointConstraintDoubleData;
-class btHingeConstraintDoubleData;
-class btHingeConstraintFloatData;
-class btHingeConstraintDoubleData2;
-class btConeTwistConstraintDoubleData;
-class btConeTwistConstraintData;
-class btGeneric6DofConstraintData;
-class btGeneric6DofConstraintDoubleData2;
-class btGeneric6DofSpringConstraintData;
-class btGeneric6DofSpringConstraintDoubleData2;
-class btGeneric6DofSpring2ConstraintData;
-class btGeneric6DofSpring2ConstraintDoubleData2;
-class btSliderConstraintData;
-class btSliderConstraintDoubleData;
-class btGearConstraintFloatData;
-class btGearConstraintDoubleData;
-class SoftBodyMaterialData;
-class SoftBodyNodeData;
-class SoftBodyLinkData;
-class SoftBodyFaceData;
-class SoftBodyTetraData;
-class SoftRigidAnchorData;
-class SoftBodyConfigData;
-class SoftBodyPoseData;
-class SoftBodyClusterData;
-class btSoftBodyJointData;
-class btSoftBodyFloatData;
-class btMultiBodyLinkDoubleData;
-class btMultiBodyLinkFloatData;
-class btMultiBodyDoubleData;
-class btMultiBodyFloatData;
-class btMultiBodyLinkColliderFloatData;
-class btMultiBodyLinkColliderDoubleData;
-// -------------------------------------------------- //
-class PointerArray
-{
-public:
-	int m_size;
-	int m_capacity;
-	void *m_data;
-};
-
-// -------------------------------------------------- //
-class btPhysicsSystem
-{
-public:
-	PointerArray m_collisionShapes;
-	PointerArray m_collisionObjects;
-	PointerArray m_constraints;
-};
-
-// -------------------------------------------------- //
-class ListBase
-{
-public:
-	void *first;
-	void *last;
-};
-
-// -------------------------------------------------- //
-class btVector3FloatData
-{
-public:
-	float m_floats[4];
-};
-
-// -------------------------------------------------- //
-class btVector3DoubleData
-{
-public:
-	double m_floats[4];
-};
-
-// -------------------------------------------------- //
-class btQuaternionFloatData
-{
-public:
-	float m_floats[4];
-};
-
-// -------------------------------------------------- //
-class btQuaternionDoubleData
-{
-public:
-	double m_floats[4];
-};
-
-// -------------------------------------------------- //
-class btMatrix3x3FloatData
-{
-public:
-	btVector3FloatData m_el[3];
-};
-
-// -------------------------------------------------- //
-class btMatrix3x3DoubleData
-{
-public:
-	btVector3DoubleData m_el[3];
-};
-
-// -------------------------------------------------- //
-class btTransformFloatData
-{
-public:
-	btMatrix3x3FloatData m_basis;
-	btVector3FloatData m_origin;
-};
-
-// -------------------------------------------------- //
-class btTransformDoubleData
-{
-public:
-	btMatrix3x3DoubleData m_basis;
-	btVector3DoubleData m_origin;
-};
-
-// -------------------------------------------------- //
-class btBvhSubtreeInfoData
-{
-public:
-	int m_rootNodeIndex;
-	int m_subtreeSize;
-	short m_quantizedAabbMin[3];
-	short m_quantizedAabbMax[3];
-};
-
-// -------------------------------------------------- //
-class btOptimizedBvhNodeFloatData
-{
-public:
-	btVector3FloatData m_aabbMinOrg;
-	btVector3FloatData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class btOptimizedBvhNodeDoubleData
-{
-public:
-	btVector3DoubleData m_aabbMinOrg;
-	btVector3DoubleData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class btQuantizedBvhNodeData
-{
-public:
-	short m_quantizedAabbMin[3];
-	short m_quantizedAabbMax[3];
-	int m_escapeIndexOrTriangleIndex;
-};
-
-// -------------------------------------------------- //
-class btQuantizedBvhFloatData
-{
-public:
-	btVector3FloatData m_bvhAabbMin;
-	btVector3FloatData m_bvhAabbMax;
-	btVector3FloatData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
-	btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-	btBvhSubtreeInfoData *m_subTreeInfoPtr;
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-};
-
-// -------------------------------------------------- //
-class btQuantizedBvhDoubleData
-{
-public:
-	btVector3DoubleData m_bvhAabbMin;
-	btVector3DoubleData m_bvhAabbMax;
-	btVector3DoubleData m_bvhQuantization;
-	int m_curNodeIndex;
-	int m_useQuantization;
-	int m_numContiguousLeafNodes;
-	int m_numQuantizedContiguousNodes;
-	btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
-	btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
-	int m_traversalMode;
-	int m_numSubtreeHeaders;
-	btBvhSubtreeInfoData *m_subTreeInfoPtr;
-};
-
-// -------------------------------------------------- //
-class btCollisionShapeData
-{
-public:
-	char *m_name;
-	int m_shapeType;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btStaticPlaneShapeData
-{
-public:
-	btCollisionShapeData m_collisionShapeData;
-	btVector3FloatData m_localScaling;
-	btVector3FloatData m_planeNormal;
-	float m_planeConstant;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class btConvexInternalShapeData
-{
-public:
-	btCollisionShapeData m_collisionShapeData;
-	btVector3FloatData m_localScaling;
-	btVector3FloatData m_implicitShapeDimensions;
-	float m_collisionMargin;
-	int m_padding;
-};
-
-// -------------------------------------------------- //
-class btPositionAndRadius
-{
-public:
-	btVector3FloatData m_pos;
-	float m_radius;
-};
-
-// -------------------------------------------------- //
-class btMultiSphereShapeData
-{
-public:
-	btConvexInternalShapeData m_convexInternalShapeData;
-	btPositionAndRadius *m_localPositionArrayPtr;
-	int m_localPositionArraySize;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btIntIndexData
-{
-public:
-	int m_value;
-};
-
-// -------------------------------------------------- //
-class btShortIntIndexData
-{
-public:
-	short m_value;
-	char m_pad[2];
-};
-
-// -------------------------------------------------- //
-class btShortIntIndexTripletData
-{
-public:
-	short m_values[3];
-	char m_pad[2];
-};
-
-// -------------------------------------------------- //
-class btCharIndexTripletData
-{
-public:
-	char m_values[3];
-	char m_pad;
-};
-
-// -------------------------------------------------- //
-class btMeshPartData
-{
-public:
-	btVector3FloatData *m_vertices3f;
-	btVector3DoubleData *m_vertices3d;
-	btIntIndexData *m_indices32;
-	btShortIntIndexTripletData *m_3indices16;
-	btCharIndexTripletData *m_3indices8;
-	btShortIntIndexData *m_indices16;
-	int m_numTriangles;
-	int m_numVertices;
-};
-
-// -------------------------------------------------- //
-class btStridingMeshInterfaceData
-{
-public:
-	btMeshPartData *m_meshPartsPtr;
-	btVector3FloatData m_scaling;
-	int m_numMeshParts;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btTriangleMeshShapeData
-{
-public:
-	btCollisionShapeData m_collisionShapeData;
-	btStridingMeshInterfaceData m_meshInterface;
-	btQuantizedBvhFloatData *m_quantizedFloatBvh;
-	btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
-	btTriangleInfoMapData *m_triangleInfoMap;
-	float m_collisionMargin;
-	char m_pad3[4];
-};
-
-// -------------------------------------------------- //
-class btScaledTriangleMeshShapeData
-{
-public:
-	btTriangleMeshShapeData m_trimeshShapeData;
-	btVector3FloatData m_localScaling;
-};
-
-// -------------------------------------------------- //
-class btCompoundShapeChildData
-{
-public:
-	btTransformFloatData m_transform;
-	btCollisionShapeData *m_childShape;
-	int m_childShapeType;
-	float m_childMargin;
-};
-
-// -------------------------------------------------- //
-class btCompoundShapeData
-{
-public:
-	btCollisionShapeData m_collisionShapeData;
-	btCompoundShapeChildData *m_childShapePtr;
-	int m_numChildShapes;
-	float m_collisionMargin;
-};
-
-// -------------------------------------------------- //
-class btCylinderShapeData
-{
-public:
-	btConvexInternalShapeData m_convexInternalShapeData;
-	int m_upAxis;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btConeShapeData
-{
-public:
-	btConvexInternalShapeData m_convexInternalShapeData;
-	int m_upIndex;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btCapsuleShapeData
-{
-public:
-	btConvexInternalShapeData m_convexInternalShapeData;
-	int m_upAxis;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btTriangleInfoData
-{
-public:
-	int m_flags;
-	float m_edgeV0V1Angle;
-	float m_edgeV1V2Angle;
-	float m_edgeV2V0Angle;
-};
-
-// -------------------------------------------------- //
-class btTriangleInfoMapData
-{
-public:
-	int *m_hashTablePtr;
-	int *m_nextPtr;
-	btTriangleInfoData *m_valueArrayPtr;
-	int *m_keyArrayPtr;
-	float m_convexEpsilon;
-	float m_planarEpsilon;
-	float m_equalVertexThreshold;
-	float m_edgeDistanceThreshold;
-	float m_zeroAreaThreshold;
-	int m_nextSize;
-	int m_hashTableSize;
-	int m_numValues;
-	int m_numKeys;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btPersistentManifoldDoubleData
-{
-public:
-	btVector3DoubleData m_pointCacheLocalPointA[4];
-	btVector3DoubleData m_pointCacheLocalPointB[4];
-	btVector3DoubleData m_pointCachePositionWorldOnA[4];
-	btVector3DoubleData m_pointCachePositionWorldOnB[4];
-	btVector3DoubleData m_pointCacheNormalWorldOnB[4];
-	btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
-	btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
-	double m_pointCacheDistance[4];
-	double m_pointCacheAppliedImpulse[4];
-	double m_pointCacheCombinedFriction[4];
-	double m_pointCacheCombinedRollingFriction[4];
-	double m_pointCacheCombinedSpinningFriction[4];
-	double m_pointCacheCombinedRestitution[4];
-	int m_pointCachePartId0[4];
-	int m_pointCachePartId1[4];
-	int m_pointCacheIndex0[4];
-	int m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	double m_pointCacheAppliedImpulseLateral1[4];
-	double m_pointCacheAppliedImpulseLateral2[4];
-	double m_pointCacheContactMotion1[4];
-	double m_pointCacheContactMotion2[4];
-	double m_pointCacheContactCFM[4];
-	double m_pointCacheCombinedContactStiffness1[4];
-	double m_pointCacheContactERP[4];
-	double m_pointCacheCombinedContactDamping1[4];
-	double m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-	int m_objectType;
-	double m_contactBreakingThreshold;
-	double m_contactProcessingThreshold;
-	int m_padding;
-	btCollisionObjectDoubleData *m_body0;
-	btCollisionObjectDoubleData *m_body1;
-};
-
-// -------------------------------------------------- //
-class btPersistentManifoldFloatData
-{
-public:
-	btVector3FloatData m_pointCacheLocalPointA[4];
-	btVector3FloatData m_pointCacheLocalPointB[4];
-	btVector3FloatData m_pointCachePositionWorldOnA[4];
-	btVector3FloatData m_pointCachePositionWorldOnB[4];
-	btVector3FloatData m_pointCacheNormalWorldOnB[4];
-	btVector3FloatData m_pointCacheLateralFrictionDir1[4];
-	btVector3FloatData m_pointCacheLateralFrictionDir2[4];
-	float m_pointCacheDistance[4];
-	float m_pointCacheAppliedImpulse[4];
-	float m_pointCacheCombinedFriction[4];
-	float m_pointCacheCombinedRollingFriction[4];
-	float m_pointCacheCombinedSpinningFriction[4];
-	float m_pointCacheCombinedRestitution[4];
-	int m_pointCachePartId0[4];
-	int m_pointCachePartId1[4];
-	int m_pointCacheIndex0[4];
-	int m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	float m_pointCacheAppliedImpulseLateral1[4];
-	float m_pointCacheAppliedImpulseLateral2[4];
-	float m_pointCacheContactMotion1[4];
-	float m_pointCacheContactMotion2[4];
-	float m_pointCacheContactCFM[4];
-	float m_pointCacheCombinedContactStiffness1[4];
-	float m_pointCacheContactERP[4];
-	float m_pointCacheCombinedContactDamping1[4];
-	float m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-	int m_objectType;
-	float m_contactBreakingThreshold;
-	float m_contactProcessingThreshold;
-	int m_padding;
-	btCollisionObjectFloatData *m_body0;
-	btCollisionObjectFloatData *m_body1;
-};
-
-// -------------------------------------------------- //
-class btGImpactMeshShapeData
-{
-public:
-	btCollisionShapeData m_collisionShapeData;
-	btStridingMeshInterfaceData m_meshInterface;
-	btVector3FloatData m_localScaling;
-	float m_collisionMargin;
-	int m_gimpactSubType;
-};
-
-// -------------------------------------------------- //
-class btConvexHullShapeData
-{
-public:
-	btConvexInternalShapeData m_convexInternalShapeData;
-	btVector3FloatData *m_unscaledPointsFloatPtr;
-	btVector3DoubleData *m_unscaledPointsDoublePtr;
-	int m_numUnscaledPoints;
-	char m_padding3[4];
-};
-
-// -------------------------------------------------- //
-class btCollisionObjectDoubleData
-{
-public:
-	void *m_broadphaseHandle;
-	void *m_collisionShape;
-	btCollisionShapeData *m_rootCollisionShape;
-	char *m_name;
-	btTransformDoubleData m_worldTransform;
-	btTransformDoubleData m_interpolationWorldTransform;
-	btVector3DoubleData m_interpolationLinearVelocity;
-	btVector3DoubleData m_interpolationAngularVelocity;
-	btVector3DoubleData m_anisotropicFriction;
-	double m_contactProcessingThreshold;
-	double m_deactivationTime;
-	double m_friction;
-	double m_rollingFriction;
-	double m_contactDamping;
-	double m_contactStiffness;
-	double m_restitution;
-	double m_hitFraction;
-	double m_ccdSweptSphereRadius;
-	double m_ccdMotionThreshold;
-	int m_hasAnisotropicFriction;
-	int m_collisionFlags;
-	int m_islandTag1;
-	int m_companionId;
-	int m_activationState1;
-	int m_internalType;
-	int m_checkCollideWith;
-	int m_collisionFilterGroup;
-	int m_collisionFilterMask;
-	int m_uniqueId;
-};
-
-// -------------------------------------------------- //
-class btCollisionObjectFloatData
-{
-public:
-	void *m_broadphaseHandle;
-	void *m_collisionShape;
-	btCollisionShapeData *m_rootCollisionShape;
-	char *m_name;
-	btTransformFloatData m_worldTransform;
-	btTransformFloatData m_interpolationWorldTransform;
-	btVector3FloatData m_interpolationLinearVelocity;
-	btVector3FloatData m_interpolationAngularVelocity;
-	btVector3FloatData m_anisotropicFriction;
-	float m_contactProcessingThreshold;
-	float m_deactivationTime;
-	float m_friction;
-	float m_rollingFriction;
-	float m_contactDamping;
-	float m_contactStiffness;
-	float m_restitution;
-	float m_hitFraction;
-	float m_ccdSweptSphereRadius;
-	float m_ccdMotionThreshold;
-	int m_hasAnisotropicFriction;
-	int m_collisionFlags;
-	int m_islandTag1;
-	int m_companionId;
-	int m_activationState1;
-	int m_internalType;
-	int m_checkCollideWith;
-	int m_collisionFilterGroup;
-	int m_collisionFilterMask;
-	int m_uniqueId;
-};
-
-// -------------------------------------------------- //
-class btContactSolverInfoDoubleData
-{
-public:
-	double m_tau;
-	double m_damping;
-	double m_friction;
-	double m_timeStep;
-	double m_restitution;
-	double m_maxErrorReduction;
-	double m_sor;
-	double m_erp;
-	double m_erp2;
-	double m_globalCfm;
-	double m_splitImpulsePenetrationThreshold;
-	double m_splitImpulseTurnErp;
-	double m_linearSlop;
-	double m_warmstartingFactor;
-	double m_maxGyroscopicForce;
-	double m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btContactSolverInfoFloatData
-{
-public:
-	float m_tau;
-	float m_damping;
-	float m_friction;
-	float m_timeStep;
-	float m_restitution;
-	float m_maxErrorReduction;
-	float m_sor;
-	float m_erp;
-	float m_erp2;
-	float m_globalCfm;
-	float m_splitImpulsePenetrationThreshold;
-	float m_splitImpulseTurnErp;
-	float m_linearSlop;
-	float m_warmstartingFactor;
-	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
-	int m_numIterations;
-	int m_solverMode;
-	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
-	int m_splitImpulse;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btDynamicsWorldDoubleData
-{
-public:
-	btContactSolverInfoDoubleData m_solverInfo;
-	btVector3DoubleData m_gravity;
-};
-
-// -------------------------------------------------- //
-class btDynamicsWorldFloatData
-{
-public:
-	btContactSolverInfoFloatData m_solverInfo;
-	btVector3FloatData m_gravity;
-};
-
-// -------------------------------------------------- //
-class btRigidBodyFloatData
-{
-public:
-	btCollisionObjectFloatData m_collisionObjectData;
-	btMatrix3x3FloatData m_invInertiaTensorWorld;
-	btVector3FloatData m_linearVelocity;
-	btVector3FloatData m_angularVelocity;
-	btVector3FloatData m_angularFactor;
-	btVector3FloatData m_linearFactor;
-	btVector3FloatData m_gravity;
-	btVector3FloatData m_gravity_acceleration;
-	btVector3FloatData m_invInertiaLocal;
-	btVector3FloatData m_totalForce;
-	btVector3FloatData m_totalTorque;
-	float m_inverseMass;
-	float m_linearDamping;
-	float m_angularDamping;
-	float m_additionalDampingFactor;
-	float m_additionalLinearDampingThresholdSqr;
-	float m_additionalAngularDampingThresholdSqr;
-	float m_additionalAngularDampingFactor;
-	float m_linearSleepingThreshold;
-	float m_angularSleepingThreshold;
-	int m_additionalDamping;
-};
-
-// -------------------------------------------------- //
-class btRigidBodyDoubleData
-{
-public:
-	btCollisionObjectDoubleData m_collisionObjectData;
-	btMatrix3x3DoubleData m_invInertiaTensorWorld;
-	btVector3DoubleData m_linearVelocity;
-	btVector3DoubleData m_angularVelocity;
-	btVector3DoubleData m_angularFactor;
-	btVector3DoubleData m_linearFactor;
-	btVector3DoubleData m_gravity;
-	btVector3DoubleData m_gravity_acceleration;
-	btVector3DoubleData m_invInertiaLocal;
-	btVector3DoubleData m_totalForce;
-	btVector3DoubleData m_totalTorque;
-	double m_inverseMass;
-	double m_linearDamping;
-	double m_angularDamping;
-	double m_additionalDampingFactor;
-	double m_additionalLinearDampingThresholdSqr;
-	double m_additionalAngularDampingThresholdSqr;
-	double m_additionalAngularDampingFactor;
-	double m_linearSleepingThreshold;
-	double m_angularSleepingThreshold;
-	int m_additionalDamping;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btConstraintInfo1
-{
-public:
-	int m_numConstraintRows;
-	int nub;
-};
-
-// -------------------------------------------------- //
-class btTypedConstraintFloatData
-{
-public:
-	btRigidBodyFloatData *m_rbA;
-	btRigidBodyFloatData *m_rbB;
-	char *m_name;
-	int m_objectType;
-	int m_userConstraintType;
-	int m_userConstraintId;
-	int m_needsFeedback;
-	float m_appliedImpulse;
-	float m_dbgDrawSize;
-	int m_disableCollisionsBetweenLinkedBodies;
-	int m_overrideNumSolverIterations;
-	float m_breakingImpulseThreshold;
-	int m_isEnabled;
-};
-
-// -------------------------------------------------- //
-class btTypedConstraintData
-{
-public:
-	bInvalidHandle *m_rbA;
-	bInvalidHandle *m_rbB;
-	char *m_name;
-	int m_objectType;
-	int m_userConstraintType;
-	int m_userConstraintId;
-	int m_needsFeedback;
-	float m_appliedImpulse;
-	float m_dbgDrawSize;
-	int m_disableCollisionsBetweenLinkedBodies;
-	int m_overrideNumSolverIterations;
-	float m_breakingImpulseThreshold;
-	int m_isEnabled;
-};
-
-// -------------------------------------------------- //
-class btTypedConstraintDoubleData
-{
-public:
-	btRigidBodyDoubleData *m_rbA;
-	btRigidBodyDoubleData *m_rbB;
-	char *m_name;
-	int m_objectType;
-	int m_userConstraintType;
-	int m_userConstraintId;
-	int m_needsFeedback;
-	double m_appliedImpulse;
-	double m_dbgDrawSize;
-	int m_disableCollisionsBetweenLinkedBodies;
-	int m_overrideNumSolverIterations;
-	double m_breakingImpulseThreshold;
-	int m_isEnabled;
-	char padding[4];
-};
-
-// -------------------------------------------------- //
-class btPoint2PointConstraintFloatData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btVector3FloatData m_pivotInA;
-	btVector3FloatData m_pivotInB;
-};
-
-// -------------------------------------------------- //
-class btPoint2PointConstraintDoubleData2
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btVector3DoubleData m_pivotInA;
-	btVector3DoubleData m_pivotInB;
-};
-
-// -------------------------------------------------- //
-class btPoint2PointConstraintDoubleData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btVector3DoubleData m_pivotInA;
-	btVector3DoubleData m_pivotInB;
-};
-
-// -------------------------------------------------- //
-class btHingeConstraintDoubleData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-
-// -------------------------------------------------- //
-class btHingeConstraintFloatData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	float m_motorTargetVelocity;
-	float m_maxMotorImpulse;
-	float m_lowerLimit;
-	float m_upperLimit;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-};
-
-// -------------------------------------------------- //
-class btHingeConstraintDoubleData2
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	int m_useReferenceFrameA;
-	int m_angularOnly;
-	int m_enableAngularMotor;
-	double m_motorTargetVelocity;
-	double m_maxMotorImpulse;
-	double m_lowerLimit;
-	double m_upperLimit;
-	double m_limitSoftness;
-	double m_biasFactor;
-	double m_relaxationFactor;
-	char m_padding1[4];
-};
-
-// -------------------------------------------------- //
-class btConeTwistConstraintDoubleData
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	double m_swingSpan1;
-	double m_swingSpan2;
-	double m_twistSpan;
-	double m_limitSoftness;
-	double m_biasFactor;
-	double m_relaxationFactor;
-	double m_damping;
-};
-
-// -------------------------------------------------- //
-class btConeTwistConstraintData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-	float m_swingSpan1;
-	float m_swingSpan2;
-	float m_twistSpan;
-	float m_limitSoftness;
-	float m_biasFactor;
-	float m_relaxationFactor;
-	float m_damping;
-	char m_pad[4];
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofConstraintData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-	btVector3FloatData m_linearUpperLimit;
-	btVector3FloatData m_linearLowerLimit;
-	btVector3FloatData m_angularUpperLimit;
-	btVector3FloatData m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofConstraintDoubleData2
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	btVector3DoubleData m_linearUpperLimit;
-	btVector3DoubleData m_linearLowerLimit;
-	btVector3DoubleData m_angularUpperLimit;
-	btVector3DoubleData m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofSpringConstraintData
-{
-public:
-	btGeneric6DofConstraintData m_6dofData;
-	int m_springEnabled[6];
-	float m_equilibriumPoint[6];
-	float m_springStiffness[6];
-	float m_springDamping[6];
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofSpringConstraintDoubleData2
-{
-public:
-	btGeneric6DofConstraintDoubleData2 m_6dofData;
-	int m_springEnabled[6];
-	double m_equilibriumPoint[6];
-	double m_springStiffness[6];
-	double m_springDamping[6];
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofSpring2ConstraintData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-	btVector3FloatData m_linearUpperLimit;
-	btVector3FloatData m_linearLowerLimit;
-	btVector3FloatData m_linearBounce;
-	btVector3FloatData m_linearStopERP;
-	btVector3FloatData m_linearStopCFM;
-	btVector3FloatData m_linearMotorERP;
-	btVector3FloatData m_linearMotorCFM;
-	btVector3FloatData m_linearTargetVelocity;
-	btVector3FloatData m_linearMaxMotorForce;
-	btVector3FloatData m_linearServoTarget;
-	btVector3FloatData m_linearSpringStiffness;
-	btVector3FloatData m_linearSpringDamping;
-	btVector3FloatData m_linearEquilibriumPoint;
-	char m_linearEnableMotor[4];
-	char m_linearServoMotor[4];
-	char m_linearEnableSpring[4];
-	char m_linearSpringStiffnessLimited[4];
-	char m_linearSpringDampingLimited[4];
-	char m_padding1[4];
-	btVector3FloatData m_angularUpperLimit;
-	btVector3FloatData m_angularLowerLimit;
-	btVector3FloatData m_angularBounce;
-	btVector3FloatData m_angularStopERP;
-	btVector3FloatData m_angularStopCFM;
-	btVector3FloatData m_angularMotorERP;
-	btVector3FloatData m_angularMotorCFM;
-	btVector3FloatData m_angularTargetVelocity;
-	btVector3FloatData m_angularMaxMotorForce;
-	btVector3FloatData m_angularServoTarget;
-	btVector3FloatData m_angularSpringStiffness;
-	btVector3FloatData m_angularSpringDamping;
-	btVector3FloatData m_angularEquilibriumPoint;
-	char m_angularEnableMotor[4];
-	char m_angularServoMotor[4];
-	char m_angularEnableSpring[4];
-	char m_angularSpringStiffnessLimited[4];
-	char m_angularSpringDampingLimited[4];
-	int m_rotateOrder;
-};
-
-// -------------------------------------------------- //
-class btGeneric6DofSpring2ConstraintDoubleData2
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	btVector3DoubleData m_linearUpperLimit;
-	btVector3DoubleData m_linearLowerLimit;
-	btVector3DoubleData m_linearBounce;
-	btVector3DoubleData m_linearStopERP;
-	btVector3DoubleData m_linearStopCFM;
-	btVector3DoubleData m_linearMotorERP;
-	btVector3DoubleData m_linearMotorCFM;
-	btVector3DoubleData m_linearTargetVelocity;
-	btVector3DoubleData m_linearMaxMotorForce;
-	btVector3DoubleData m_linearServoTarget;
-	btVector3DoubleData m_linearSpringStiffness;
-	btVector3DoubleData m_linearSpringDamping;
-	btVector3DoubleData m_linearEquilibriumPoint;
-	char m_linearEnableMotor[4];
-	char m_linearServoMotor[4];
-	char m_linearEnableSpring[4];
-	char m_linearSpringStiffnessLimited[4];
-	char m_linearSpringDampingLimited[4];
-	char m_padding1[4];
-	btVector3DoubleData m_angularUpperLimit;
-	btVector3DoubleData m_angularLowerLimit;
-	btVector3DoubleData m_angularBounce;
-	btVector3DoubleData m_angularStopERP;
-	btVector3DoubleData m_angularStopCFM;
-	btVector3DoubleData m_angularMotorERP;
-	btVector3DoubleData m_angularMotorCFM;
-	btVector3DoubleData m_angularTargetVelocity;
-	btVector3DoubleData m_angularMaxMotorForce;
-	btVector3DoubleData m_angularServoTarget;
-	btVector3DoubleData m_angularSpringStiffness;
-	btVector3DoubleData m_angularSpringDamping;
-	btVector3DoubleData m_angularEquilibriumPoint;
-	char m_angularEnableMotor[4];
-	char m_angularServoMotor[4];
-	char m_angularEnableSpring[4];
-	char m_angularSpringStiffnessLimited[4];
-	char m_angularSpringDampingLimited[4];
-	int m_rotateOrder;
-};
-
-// -------------------------------------------------- //
-class btSliderConstraintData
-{
-public:
-	btTypedConstraintData m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-	float m_linearUpperLimit;
-	float m_linearLowerLimit;
-	float m_angularUpperLimit;
-	float m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class btSliderConstraintDoubleData
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btTransformDoubleData m_rbAFrame;
-	btTransformDoubleData m_rbBFrame;
-	double m_linearUpperLimit;
-	double m_linearLowerLimit;
-	double m_angularUpperLimit;
-	double m_angularLowerLimit;
-	int m_useLinearReferenceFrameA;
-	int m_useOffsetForConstraintFrame;
-};
-
-// -------------------------------------------------- //
-class btGearConstraintFloatData
-{
-public:
-	btTypedConstraintFloatData m_typeConstraintData;
-	btVector3FloatData m_axisInA;
-	btVector3FloatData m_axisInB;
-	float m_ratio;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btGearConstraintDoubleData
-{
-public:
-	btTypedConstraintDoubleData m_typeConstraintData;
-	btVector3DoubleData m_axisInA;
-	btVector3DoubleData m_axisInB;
-	double m_ratio;
-};
-
-// -------------------------------------------------- //
-class SoftBodyMaterialData
-{
-public:
-	float m_linearStiffness;
-	float m_angularStiffness;
-	float m_volumeStiffness;
-	int m_flags;
-};
-
-// -------------------------------------------------- //
-class SoftBodyNodeData
-{
-public:
-	SoftBodyMaterialData *m_material;
-	btVector3FloatData m_position;
-	btVector3FloatData m_previousPosition;
-	btVector3FloatData m_velocity;
-	btVector3FloatData m_accumulatedForce;
-	btVector3FloatData m_normal;
-	float m_inverseMass;
-	float m_area;
-	int m_attach;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftBodyLinkData
-{
-public:
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[2];
-	float m_restLength;
-	int m_bbending;
-};
-
-// -------------------------------------------------- //
-class SoftBodyFaceData
-{
-public:
-	btVector3FloatData m_normal;
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[3];
-	float m_restArea;
-};
-
-// -------------------------------------------------- //
-class SoftBodyTetraData
-{
-public:
-	btVector3FloatData m_c0[4];
-	SoftBodyMaterialData *m_material;
-	int m_nodeIndices[4];
-	float m_restVolume;
-	float m_c1;
-	float m_c2;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftRigidAnchorData
-{
-public:
-	btMatrix3x3FloatData m_c0;
-	btVector3FloatData m_c1;
-	btVector3FloatData m_localFrame;
-	bInvalidHandle *m_rigidBody;
-	int m_nodeIndex;
-	float m_c2;
-};
-
-// -------------------------------------------------- //
-class SoftBodyConfigData
-{
-public:
-	int m_aeroModel;
-	float m_baumgarte;
-	float m_damping;
-	float m_drag;
-	float m_lift;
-	float m_pressure;
-	float m_volume;
-	float m_dynamicFriction;
-	float m_poseMatch;
-	float m_rigidContactHardness;
-	float m_kineticContactHardness;
-	float m_softContactHardness;
-	float m_anchorHardness;
-	float m_softRigidClusterHardness;
-	float m_softKineticClusterHardness;
-	float m_softSoftClusterHardness;
-	float m_softRigidClusterImpulseSplit;
-	float m_softKineticClusterImpulseSplit;
-	float m_softSoftClusterImpulseSplit;
-	float m_maxVolume;
-	float m_timeScale;
-	int m_velocityIterations;
-	int m_positionIterations;
-	int m_driftIterations;
-	int m_clusterIterations;
-	int m_collisionFlags;
-};
-
-// -------------------------------------------------- //
-class SoftBodyPoseData
-{
-public:
-	btMatrix3x3FloatData m_rot;
-	btMatrix3x3FloatData m_scale;
-	btMatrix3x3FloatData m_aqq;
-	btVector3FloatData m_com;
-	btVector3FloatData *m_positions;
-	float *m_weights;
-	int m_numPositions;
-	int m_numWeigts;
-	int m_bvolume;
-	int m_bframe;
-	float m_restVolume;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class SoftBodyClusterData
-{
-public:
-	btTransformFloatData m_framexform;
-	btMatrix3x3FloatData m_locii;
-	btMatrix3x3FloatData m_invwi;
-	btVector3FloatData m_com;
-	btVector3FloatData m_vimpulses[2];
-	btVector3FloatData m_dimpulses[2];
-	btVector3FloatData m_lv;
-	btVector3FloatData m_av;
-	btVector3FloatData *m_framerefs;
-	int *m_nodeIndices;
-	float *m_masses;
-	int m_numFrameRefs;
-	int m_numNodes;
-	int m_numMasses;
-	float m_idmass;
-	float m_imass;
-	int m_nvimpulses;
-	int m_ndimpulses;
-	float m_ndamping;
-	float m_ldamping;
-	float m_adamping;
-	float m_matching;
-	float m_maxSelfCollisionImpulse;
-	float m_selfCollisionImpulseFactor;
-	int m_containsAnchor;
-	int m_collide;
-	int m_clusterIndex;
-};
-
-// -------------------------------------------------- //
-class btSoftBodyJointData
-{
-public:
-	void *m_bodyA;
-	void *m_bodyB;
-	btVector3FloatData m_refs[2];
-	float m_cfm;
-	float m_erp;
-	float m_split;
-	int m_delete;
-	btVector3FloatData m_relPosition[2];
-	int m_bodyAtype;
-	int m_bodyBtype;
-	int m_jointType;
-	int m_pad;
-};
-
-// -------------------------------------------------- //
-class btSoftBodyFloatData
-{
-public:
-	btCollisionObjectFloatData m_collisionObjectData;
-	SoftBodyPoseData *m_pose;
-	SoftBodyMaterialData **m_materials;
-	SoftBodyNodeData *m_nodes;
-	SoftBodyLinkData *m_links;
-	SoftBodyFaceData *m_faces;
-	SoftBodyTetraData *m_tetrahedra;
-	SoftRigidAnchorData *m_anchors;
-	SoftBodyClusterData *m_clusters;
-	btSoftBodyJointData *m_joints;
-	int m_numMaterials;
-	int m_numNodes;
-	int m_numLinks;
-	int m_numFaces;
-	int m_numTetrahedra;
-	int m_numAnchors;
-	int m_numClusters;
-	int m_numJoints;
-	SoftBodyConfigData m_config;
-};
-
-// -------------------------------------------------- //
-class btMultiBodyLinkDoubleData
-{
-public:
-	btQuaternionDoubleData m_zeroRotParentToThis;
-	btVector3DoubleData m_parentComToThisPivotOffset;
-	btVector3DoubleData m_thisPivotToThisComOffset;
-	btVector3DoubleData m_jointAxisTop[6];
-	btVector3DoubleData m_jointAxisBottom[6];
-	btVector3DoubleData m_linkInertia;
-	btVector3DoubleData m_absFrameTotVelocityTop;
-	btVector3DoubleData m_absFrameTotVelocityBottom;
-	btVector3DoubleData m_absFrameLocVelocityTop;
-	btVector3DoubleData m_absFrameLocVelocityBottom;
-	double m_linkMass;
-	int m_parentIndex;
-	int m_jointType;
-	int m_dofCount;
-	int m_posVarCount;
-	double m_jointPos[7];
-	double m_jointVel[6];
-	double m_jointTorque[6];
-	double m_jointDamping;
-	double m_jointFriction;
-	double m_jointLowerLimit;
-	double m_jointUpperLimit;
-	double m_jointMaxForce;
-	double m_jointMaxVelocity;
-	char *m_linkName;
-	char *m_jointName;
-	btCollisionObjectDoubleData *m_linkCollider;
-	char *m_paddingPtr;
-};
-
-// -------------------------------------------------- //
-class btMultiBodyLinkFloatData
-{
-public:
-	btQuaternionFloatData m_zeroRotParentToThis;
-	btVector3FloatData m_parentComToThisPivotOffset;
-	btVector3FloatData m_thisPivotToThisComOffset;
-	btVector3FloatData m_jointAxisTop[6];
-	btVector3FloatData m_jointAxisBottom[6];
-	btVector3FloatData m_linkInertia;
-	btVector3FloatData m_absFrameTotVelocityTop;
-	btVector3FloatData m_absFrameTotVelocityBottom;
-	btVector3FloatData m_absFrameLocVelocityTop;
-	btVector3FloatData m_absFrameLocVelocityBottom;
-	int m_dofCount;
-	float m_linkMass;
-	int m_parentIndex;
-	int m_jointType;
-	float m_jointPos[7];
-	float m_jointVel[6];
-	float m_jointTorque[6];
-	int m_posVarCount;
-	float m_jointDamping;
-	float m_jointFriction;
-	float m_jointLowerLimit;
-	float m_jointUpperLimit;
-	float m_jointMaxForce;
-	float m_jointMaxVelocity;
-	char *m_linkName;
-	char *m_jointName;
-	btCollisionObjectFloatData *m_linkCollider;
-	char *m_paddingPtr;
-};
-
-// -------------------------------------------------- //
-class btMultiBodyDoubleData
-{
-public:
-	btVector3DoubleData m_baseWorldPosition;
-	btQuaternionDoubleData m_baseWorldOrientation;
-	btVector3DoubleData m_baseLinearVelocity;
-	btVector3DoubleData m_baseAngularVelocity;
-	btVector3DoubleData m_baseInertia;
-	double m_baseMass;
-	int m_numLinks;
-	char m_padding[4];
-	char *m_baseName;
-	btMultiBodyLinkDoubleData *m_links;
-	btCollisionObjectDoubleData *m_baseCollider;
-};
-
-// -------------------------------------------------- //
-class btMultiBodyFloatData
-{
-public:
-	btVector3FloatData m_baseWorldPosition;
-	btQuaternionFloatData m_baseWorldOrientation;
-	btVector3FloatData m_baseLinearVelocity;
-	btVector3FloatData m_baseAngularVelocity;
-	btVector3FloatData m_baseInertia;
-	float m_baseMass;
-	int m_numLinks;
-	char *m_baseName;
-	btMultiBodyLinkFloatData *m_links;
-	btCollisionObjectFloatData *m_baseCollider;
-};
-
-// -------------------------------------------------- //
-class btMultiBodyLinkColliderFloatData
-{
-public:
-	btCollisionObjectFloatData m_colObjData;
-	btMultiBodyFloatData *m_multiBody;
-	int m_link;
-	char m_padding[4];
-};
-
-// -------------------------------------------------- //
-class btMultiBodyLinkColliderDoubleData
-{
-public:
-	btCollisionObjectDoubleData m_colObjData;
-	btMultiBodyDoubleData *m_multiBody;
-	int m_link;
-	char m_padding[4];
-};
-
-}  // namespace Bullet
-#endif  //__BULLET_H__
\ No newline at end of file
+}bInvalidHandle;
+
+    class PointerArray;
+    class btPhysicsSystem;
+    class ListBase;
+    class btVector3FloatData;
+    class btVector3DoubleData;
+    class btQuaternionFloatData;
+    class btQuaternionDoubleData;
+    class btMatrix3x3FloatData;
+    class btMatrix3x3DoubleData;
+    class btTransformFloatData;
+    class btTransformDoubleData;
+    class btBvhSubtreeInfoData;
+    class btOptimizedBvhNodeFloatData;
+    class btOptimizedBvhNodeDoubleData;
+    class btQuantizedBvhNodeData;
+    class btQuantizedBvhFloatData;
+    class btQuantizedBvhDoubleData;
+    class btCollisionShapeData;
+    class btStaticPlaneShapeData;
+    class btConvexInternalShapeData;
+    class btPositionAndRadius;
+    class btMultiSphereShapeData;
+    class btIntIndexData;
+    class btShortIntIndexData;
+    class btShortIntIndexTripletData;
+    class btCharIndexTripletData;
+    class btMeshPartData;
+    class btStridingMeshInterfaceData;
+    class btTriangleMeshShapeData;
+    class btScaledTriangleMeshShapeData;
+    class btCompoundShapeChildData;
+    class btCompoundShapeData;
+    class btCylinderShapeData;
+    class btConeShapeData;
+    class btCapsuleShapeData;
+    class btTriangleInfoData;
+    class btTriangleInfoMapData;
+    class btPersistentManifoldDoubleData;
+    class btPersistentManifoldFloatData;
+    class btGImpactMeshShapeData;
+    class btConvexHullShapeData;
+    class btCollisionObjectDoubleData;
+    class btCollisionObjectFloatData;
+    class btContactSolverInfoDoubleData;
+    class btContactSolverInfoFloatData;
+    class btDynamicsWorldDoubleData;
+    class btDynamicsWorldFloatData;
+    class btRigidBodyFloatData;
+    class btRigidBodyDoubleData;
+    class btConstraintInfo1;
+    class btTypedConstraintFloatData;
+    class btTypedConstraintData;
+    class btTypedConstraintDoubleData;
+    class btPoint2PointConstraintFloatData;
+    class btPoint2PointConstraintDoubleData2;
+    class btPoint2PointConstraintDoubleData;
+    class btHingeConstraintDoubleData;
+    class btHingeConstraintFloatData;
+    class btHingeConstraintDoubleData2;
+    class btConeTwistConstraintDoubleData;
+    class btConeTwistConstraintData;
+    class btGeneric6DofConstraintData;
+    class btGeneric6DofConstraintDoubleData2;
+    class btGeneric6DofSpringConstraintData;
+    class btGeneric6DofSpringConstraintDoubleData2;
+    class btGeneric6DofSpring2ConstraintData;
+    class btGeneric6DofSpring2ConstraintDoubleData2;
+    class btSliderConstraintData;
+    class btSliderConstraintDoubleData;
+    class btGearConstraintFloatData;
+    class btGearConstraintDoubleData;
+    class SoftBodyMaterialData;
+    class SoftBodyNodeData;
+    class SoftBodyLinkData;
+    class SoftBodyFaceData;
+    class SoftBodyTetraData;
+    class SoftRigidAnchorData;
+    class SoftBodyConfigData;
+    class SoftBodyPoseData;
+    class SoftBodyClusterData;
+    class btSoftBodyJointData;
+    class btSoftBodyFloatData;
+    class btMultiBodyLinkDoubleData;
+    class btMultiBodyLinkFloatData;
+    class btMultiBodyDoubleData;
+    class btMultiBodyFloatData;
+    class btMultiBodyLinkColliderFloatData;
+    class btMultiBodyLinkColliderDoubleData;
+// -------------------------------------------------- //
+    class PointerArray
+    {
+    public:
+        int m_size;
+        int m_capacity;
+        void *m_data;
+    };
+
+
+// -------------------------------------------------- //
+    class btPhysicsSystem
+    {
+    public:
+        PointerArray m_collisionShapes;
+        PointerArray m_collisionObjects;
+        PointerArray m_constraints;
+    };
+
+
+// -------------------------------------------------- //
+    class ListBase
+    {
+    public:
+        void *first;
+        void *last;
+    };
+
+
+// -------------------------------------------------- //
+    class btVector3FloatData
+    {
+    public:
+        float m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btVector3DoubleData
+    {
+    public:
+        double m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btQuaternionFloatData
+    {
+    public:
+        float m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btQuaternionDoubleData
+    {
+    public:
+        double m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btMatrix3x3FloatData
+    {
+    public:
+        btVector3FloatData m_el[3];
+    };
+
+
+// -------------------------------------------------- //
+    class btMatrix3x3DoubleData
+    {
+    public:
+        btVector3DoubleData m_el[3];
+    };
+
+
+// -------------------------------------------------- //
+    class btTransformFloatData
+    {
+    public:
+        btMatrix3x3FloatData m_basis;
+        btVector3FloatData m_origin;
+    };
+
+
+// -------------------------------------------------- //
+    class btTransformDoubleData
+    {
+    public:
+        btMatrix3x3DoubleData m_basis;
+        btVector3DoubleData m_origin;
+    };
+
+
+// -------------------------------------------------- //
+    class btBvhSubtreeInfoData
+    {
+    public:
+        int m_rootNodeIndex;
+        int m_subtreeSize;
+        short m_quantizedAabbMin[3];
+        short m_quantizedAabbMax[3];
+    };
+
+
+// -------------------------------------------------- //
+    class btOptimizedBvhNodeFloatData
+    {
+    public:
+        btVector3FloatData m_aabbMinOrg;
+        btVector3FloatData m_aabbMaxOrg;
+        int m_escapeIndex;
+        int m_subPart;
+        int m_triangleIndex;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btOptimizedBvhNodeDoubleData
+    {
+    public:
+        btVector3DoubleData m_aabbMinOrg;
+        btVector3DoubleData m_aabbMaxOrg;
+        int m_escapeIndex;
+        int m_subPart;
+        int m_triangleIndex;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btQuantizedBvhNodeData
+    {
+    public:
+        short m_quantizedAabbMin[3];
+        short m_quantizedAabbMax[3];
+        int m_escapeIndexOrTriangleIndex;
+    };
+
+
+// -------------------------------------------------- //
+    class btQuantizedBvhFloatData
+    {
+    public:
+        btVector3FloatData m_bvhAabbMin;
+        btVector3FloatData m_bvhAabbMax;
+        btVector3FloatData m_bvhQuantization;
+        int m_curNodeIndex;
+        int m_useQuantization;
+        int m_numContiguousLeafNodes;
+        int m_numQuantizedContiguousNodes;
+        btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
+        btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+        btBvhSubtreeInfoData *m_subTreeInfoPtr;
+        int m_traversalMode;
+        int m_numSubtreeHeaders;
+    };
+
+
+// -------------------------------------------------- //
+    class btQuantizedBvhDoubleData
+    {
+    public:
+        btVector3DoubleData m_bvhAabbMin;
+        btVector3DoubleData m_bvhAabbMax;
+        btVector3DoubleData m_bvhQuantization;
+        int m_curNodeIndex;
+        int m_useQuantization;
+        int m_numContiguousLeafNodes;
+        int m_numQuantizedContiguousNodes;
+        btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
+        btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+        int m_traversalMode;
+        int m_numSubtreeHeaders;
+        btBvhSubtreeInfoData *m_subTreeInfoPtr;
+    };
+
+
+// -------------------------------------------------- //
+    class btCollisionShapeData
+    {
+    public:
+        char *m_name;
+        int m_shapeType;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btStaticPlaneShapeData
+    {
+    public:
+        btCollisionShapeData m_collisionShapeData;
+        btVector3FloatData m_localScaling;
+        btVector3FloatData m_planeNormal;
+        float m_planeConstant;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btConvexInternalShapeData
+    {
+    public:
+        btCollisionShapeData m_collisionShapeData;
+        btVector3FloatData m_localScaling;
+        btVector3FloatData m_implicitShapeDimensions;
+        float m_collisionMargin;
+        int m_padding;
+    };
+
+
+// -------------------------------------------------- //
+    class btPositionAndRadius
+    {
+    public:
+        btVector3FloatData m_pos;
+        float m_radius;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiSphereShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        btPositionAndRadius *m_localPositionArrayPtr;
+        int m_localPositionArraySize;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btIntIndexData
+    {
+    public:
+        int m_value;
+    };
+
+
+// -------------------------------------------------- //
+    class btShortIntIndexData
+    {
+    public:
+        short m_value;
+        char m_pad[2];
+    };
+
+
+// -------------------------------------------------- //
+    class btShortIntIndexTripletData
+    {
+    public:
+        short m_values[3];
+        char m_pad[2];
+    };
+
+
+// -------------------------------------------------- //
+    class btCharIndexTripletData
+    {
+    public:
+        char m_values[3];
+        char m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class btMeshPartData
+    {
+    public:
+        btVector3FloatData *m_vertices3f;
+        btVector3DoubleData *m_vertices3d;
+        btIntIndexData *m_indices32;
+        btShortIntIndexTripletData *m_3indices16;
+        btCharIndexTripletData *m_3indices8;
+        btShortIntIndexData *m_indices16;
+        int m_numTriangles;
+        int m_numVertices;
+    };
+
+
+// -------------------------------------------------- //
+    class btStridingMeshInterfaceData
+    {
+    public:
+        btMeshPartData *m_meshPartsPtr;
+        btVector3FloatData m_scaling;
+        int m_numMeshParts;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btTriangleMeshShapeData
+    {
+    public:
+        btCollisionShapeData m_collisionShapeData;
+        btStridingMeshInterfaceData m_meshInterface;
+        btQuantizedBvhFloatData *m_quantizedFloatBvh;
+        btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
+        btTriangleInfoMapData *m_triangleInfoMap;
+        float m_collisionMargin;
+        char m_pad3[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btScaledTriangleMeshShapeData
+    {
+    public:
+        btTriangleMeshShapeData m_trimeshShapeData;
+        btVector3FloatData m_localScaling;
+    };
+
+
+// -------------------------------------------------- //
+    class btCompoundShapeChildData
+    {
+    public:
+        btTransformFloatData m_transform;
+        btCollisionShapeData *m_childShape;
+        int m_childShapeType;
+        float m_childMargin;
+    };
+
+
+// -------------------------------------------------- //
+    class btCompoundShapeData
+    {
+    public:
+        btCollisionShapeData m_collisionShapeData;
+        btCompoundShapeChildData *m_childShapePtr;
+        int m_numChildShapes;
+        float m_collisionMargin;
+    };
+
+
+// -------------------------------------------------- //
+    class btCylinderShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        int m_upAxis;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btConeShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        int m_upIndex;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btCapsuleShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        int m_upAxis;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btTriangleInfoData
+    {
+    public:
+        int m_flags;
+        float m_edgeV0V1Angle;
+        float m_edgeV1V2Angle;
+        float m_edgeV2V0Angle;
+    };
+
+
+// -------------------------------------------------- //
+    class btTriangleInfoMapData
+    {
+    public:
+        int *m_hashTablePtr;
+        int *m_nextPtr;
+        btTriangleInfoData *m_valueArrayPtr;
+        int *m_keyArrayPtr;
+        float m_convexEpsilon;
+        float m_planarEpsilon;
+        float m_equalVertexThreshold;
+        float m_edgeDistanceThreshold;
+        float m_zeroAreaThreshold;
+        int m_nextSize;
+        int m_hashTableSize;
+        int m_numValues;
+        int m_numKeys;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btPersistentManifoldDoubleData
+    {
+    public:
+        btVector3DoubleData m_pointCacheLocalPointA[4];
+        btVector3DoubleData m_pointCacheLocalPointB[4];
+        btVector3DoubleData m_pointCachePositionWorldOnA[4];
+        btVector3DoubleData m_pointCachePositionWorldOnB[4];
+        btVector3DoubleData m_pointCacheNormalWorldOnB[4];
+        btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
+        btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
+        double m_pointCacheDistance[4];
+        double m_pointCacheAppliedImpulse[4];
+        double m_pointCachePrevRHS[4];
+        double m_pointCacheCombinedFriction[4];
+        double m_pointCacheCombinedRollingFriction[4];
+        double m_pointCacheCombinedSpinningFriction[4];
+        double m_pointCacheCombinedRestitution[4];
+        int m_pointCachePartId0[4];
+        int m_pointCachePartId1[4];
+        int m_pointCacheIndex0[4];
+        int m_pointCacheIndex1[4];
+        int m_pointCacheContactPointFlags[4];
+        double m_pointCacheAppliedImpulseLateral1[4];
+        double m_pointCacheAppliedImpulseLateral2[4];
+        double m_pointCacheContactMotion1[4];
+        double m_pointCacheContactMotion2[4];
+        double m_pointCacheContactCFM[4];
+        double m_pointCacheCombinedContactStiffness1[4];
+        double m_pointCacheContactERP[4];
+        double m_pointCacheCombinedContactDamping1[4];
+        double m_pointCacheFrictionCFM[4];
+        int m_pointCacheLifeTime[4];
+        int m_numCachedPoints;
+        int m_companionIdA;
+        int m_companionIdB;
+        int m_index1a;
+        int m_objectType;
+        double m_contactBreakingThreshold;
+        double m_contactProcessingThreshold;
+        int m_padding;
+        btCollisionObjectDoubleData *m_body0;
+        btCollisionObjectDoubleData *m_body1;
+    };
+
+
+// -------------------------------------------------- //
+    class btPersistentManifoldFloatData
+    {
+    public:
+        btVector3FloatData m_pointCacheLocalPointA[4];
+        btVector3FloatData m_pointCacheLocalPointB[4];
+        btVector3FloatData m_pointCachePositionWorldOnA[4];
+        btVector3FloatData m_pointCachePositionWorldOnB[4];
+        btVector3FloatData m_pointCacheNormalWorldOnB[4];
+        btVector3FloatData m_pointCacheLateralFrictionDir1[4];
+        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];
+        float m_pointCacheCombinedRestitution[4];
+        int m_pointCachePartId0[4];
+        int m_pointCachePartId1[4];
+        int m_pointCacheIndex0[4];
+        int m_pointCacheIndex1[4];
+        int m_pointCacheContactPointFlags[4];
+        float m_pointCacheAppliedImpulseLateral1[4];
+        float m_pointCacheAppliedImpulseLateral2[4];
+        float m_pointCacheContactMotion1[4];
+        float m_pointCacheContactMotion2[4];
+        float m_pointCacheContactCFM[4];
+        float m_pointCacheCombinedContactStiffness1[4];
+        float m_pointCacheContactERP[4];
+        float m_pointCacheCombinedContactDamping1[4];
+        float m_pointCacheFrictionCFM[4];
+        int m_pointCacheLifeTime[4];
+        int m_numCachedPoints;
+        int m_companionIdA;
+        int m_companionIdB;
+        int m_index1a;
+        int m_objectType;
+        float m_contactBreakingThreshold;
+        float m_contactProcessingThreshold;
+        int m_padding;
+        btCollisionObjectFloatData *m_body0;
+        btCollisionObjectFloatData *m_body1;
+    };
+
+
+// -------------------------------------------------- //
+    class btGImpactMeshShapeData
+    {
+    public:
+        btCollisionShapeData m_collisionShapeData;
+        btStridingMeshInterfaceData m_meshInterface;
+        btVector3FloatData m_localScaling;
+        float m_collisionMargin;
+        int m_gimpactSubType;
+    };
+
+
+// -------------------------------------------------- //
+    class btConvexHullShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        btVector3FloatData *m_unscaledPointsFloatPtr;
+        btVector3DoubleData *m_unscaledPointsDoublePtr;
+        int m_numUnscaledPoints;
+        char m_padding3[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btCollisionObjectDoubleData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        btCollisionShapeData *m_rootCollisionShape;
+        char *m_name;
+        btTransformDoubleData m_worldTransform;
+        btTransformDoubleData m_interpolationWorldTransform;
+        btVector3DoubleData m_interpolationLinearVelocity;
+        btVector3DoubleData m_interpolationAngularVelocity;
+        btVector3DoubleData m_anisotropicFriction;
+        double m_contactProcessingThreshold;
+        double m_deactivationTime;
+        double m_friction;
+        double m_rollingFriction;
+        double m_contactDamping;
+        double m_contactStiffness;
+        double m_restitution;
+        double m_hitFraction;
+        double m_ccdSweptSphereRadius;
+        double m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+        int m_collisionFilterGroup;
+        int m_collisionFilterMask;
+        int m_uniqueId;
+    };
+
+
+// -------------------------------------------------- //
+    class btCollisionObjectFloatData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        btCollisionShapeData *m_rootCollisionShape;
+        char *m_name;
+        btTransformFloatData m_worldTransform;
+        btTransformFloatData m_interpolationWorldTransform;
+        btVector3FloatData m_interpolationLinearVelocity;
+        btVector3FloatData m_interpolationAngularVelocity;
+        btVector3FloatData m_anisotropicFriction;
+        float m_contactProcessingThreshold;
+        float m_deactivationTime;
+        float m_friction;
+        float m_rollingFriction;
+        float m_contactDamping;
+        float m_contactStiffness;
+        float m_restitution;
+        float m_hitFraction;
+        float m_ccdSweptSphereRadius;
+        float m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+        int m_collisionFilterGroup;
+        int m_collisionFilterMask;
+        int m_uniqueId;
+    };
+
+
+// -------------------------------------------------- //
+    class btContactSolverInfoDoubleData
+    {
+    public:
+        double m_tau;
+        double m_damping;
+        double m_friction;
+        double m_timeStep;
+        double m_restitution;
+        double m_maxErrorReduction;
+        double m_sor;
+        double m_erp;
+        double m_erp2;
+        double m_globalCfm;
+        double m_splitImpulsePenetrationThreshold;
+        double m_splitImpulseTurnErp;
+        double m_linearSlop;
+        double m_warmstartingFactor;
+        double m_articulatedWarmstartingFactor;
+        double m_maxGyroscopicForce;
+        double m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btContactSolverInfoFloatData
+    {
+    public:
+        float m_tau;
+        float m_damping;
+        float m_friction;
+        float m_timeStep;
+        float m_restitution;
+        float m_maxErrorReduction;
+        float m_sor;
+        float m_erp;
+        float m_erp2;
+        float m_globalCfm;
+        float m_splitImpulsePenetrationThreshold;
+        float m_splitImpulseTurnErp;
+        float m_linearSlop;
+        float m_warmstartingFactor;
+        float m_articulatedWarmstartingFactor;
+        float m_maxGyroscopicForce;
+        float m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btDynamicsWorldDoubleData
+    {
+    public:
+        btContactSolverInfoDoubleData m_solverInfo;
+        btVector3DoubleData m_gravity;
+    };
+
+
+// -------------------------------------------------- //
+    class btDynamicsWorldFloatData
+    {
+    public:
+        btContactSolverInfoFloatData m_solverInfo;
+        btVector3FloatData m_gravity;
+    };
+
+
+// -------------------------------------------------- //
+    class btRigidBodyFloatData
+    {
+    public:
+        btCollisionObjectFloatData m_collisionObjectData;
+        btMatrix3x3FloatData m_invInertiaTensorWorld;
+        btVector3FloatData m_linearVelocity;
+        btVector3FloatData m_angularVelocity;
+        btVector3FloatData m_angularFactor;
+        btVector3FloatData m_linearFactor;
+        btVector3FloatData m_gravity;
+        btVector3FloatData m_gravity_acceleration;
+        btVector3FloatData m_invInertiaLocal;
+        btVector3FloatData m_totalForce;
+        btVector3FloatData m_totalTorque;
+        float m_inverseMass;
+        float m_linearDamping;
+        float m_angularDamping;
+        float m_additionalDampingFactor;
+        float m_additionalLinearDampingThresholdSqr;
+        float m_additionalAngularDampingThresholdSqr;
+        float m_additionalAngularDampingFactor;
+        float m_linearSleepingThreshold;
+        float m_angularSleepingThreshold;
+        int m_additionalDamping;
+    };
+
+
+// -------------------------------------------------- //
+    class btRigidBodyDoubleData
+    {
+    public:
+        btCollisionObjectDoubleData m_collisionObjectData;
+        btMatrix3x3DoubleData m_invInertiaTensorWorld;
+        btVector3DoubleData m_linearVelocity;
+        btVector3DoubleData m_angularVelocity;
+        btVector3DoubleData m_angularFactor;
+        btVector3DoubleData m_linearFactor;
+        btVector3DoubleData m_gravity;
+        btVector3DoubleData m_gravity_acceleration;
+        btVector3DoubleData m_invInertiaLocal;
+        btVector3DoubleData m_totalForce;
+        btVector3DoubleData m_totalTorque;
+        double m_inverseMass;
+        double m_linearDamping;
+        double m_angularDamping;
+        double m_additionalDampingFactor;
+        double m_additionalLinearDampingThresholdSqr;
+        double m_additionalAngularDampingThresholdSqr;
+        double m_additionalAngularDampingFactor;
+        double m_linearSleepingThreshold;
+        double m_angularSleepingThreshold;
+        int m_additionalDamping;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btConstraintInfo1
+    {
+    public:
+        int m_numConstraintRows;
+        int nub;
+    };
+
+
+// -------------------------------------------------- //
+    class btTypedConstraintFloatData
+    {
+    public:
+        btRigidBodyFloatData *m_rbA;
+        btRigidBodyFloatData *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        float m_appliedImpulse;
+        float m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        float m_breakingImpulseThreshold;
+        int m_isEnabled;
+    };
+
+
+// -------------------------------------------------- //
+    class btTypedConstraintData
+    {
+    public:
+        bInvalidHandle *m_rbA;
+        bInvalidHandle *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        float m_appliedImpulse;
+        float m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        float m_breakingImpulseThreshold;
+        int m_isEnabled;
+    };
+
+
+// -------------------------------------------------- //
+    class btTypedConstraintDoubleData
+    {
+    public:
+        btRigidBodyDoubleData *m_rbA;
+        btRigidBodyDoubleData *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        double m_appliedImpulse;
+        double m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        double m_breakingImpulseThreshold;
+        int m_isEnabled;
+        char padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btPoint2PointConstraintFloatData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btVector3FloatData m_pivotInA;
+        btVector3FloatData m_pivotInB;
+    };
+
+
+// -------------------------------------------------- //
+    class btPoint2PointConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btVector3DoubleData m_pivotInA;
+        btVector3DoubleData m_pivotInB;
+    };
+
+
+// -------------------------------------------------- //
+    class btPoint2PointConstraintDoubleData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btVector3DoubleData m_pivotInA;
+        btVector3DoubleData m_pivotInB;
+    };
+
+
+// -------------------------------------------------- //
+    class btHingeConstraintDoubleData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        float m_motorTargetVelocity;
+        float m_maxMotorImpulse;
+        float m_lowerLimit;
+        float m_upperLimit;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+    };
+
+
+// -------------------------------------------------- //
+    class btHingeConstraintFloatData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        float m_motorTargetVelocity;
+        float m_maxMotorImpulse;
+        float m_lowerLimit;
+        float m_upperLimit;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+    };
+
+
+// -------------------------------------------------- //
+    class btHingeConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        double m_motorTargetVelocity;
+        double m_maxMotorImpulse;
+        double m_lowerLimit;
+        double m_upperLimit;
+        double m_limitSoftness;
+        double m_biasFactor;
+        double m_relaxationFactor;
+        char m_padding1[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btConeTwistConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        double m_swingSpan1;
+        double m_swingSpan2;
+        double m_twistSpan;
+        double m_limitSoftness;
+        double m_biasFactor;
+        double m_relaxationFactor;
+        double m_damping;
+    };
+
+
+// -------------------------------------------------- //
+    class btConeTwistConstraintData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        float m_swingSpan1;
+        float m_swingSpan2;
+        float m_twistSpan;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+        float m_damping;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofConstraintData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        btVector3FloatData m_linearUpperLimit;
+        btVector3FloatData m_linearLowerLimit;
+        btVector3FloatData m_angularUpperLimit;
+        btVector3FloatData m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        btVector3DoubleData m_linearUpperLimit;
+        btVector3DoubleData m_linearLowerLimit;
+        btVector3DoubleData m_angularUpperLimit;
+        btVector3DoubleData m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpringConstraintData
+    {
+    public:
+        btGeneric6DofConstraintData m_6dofData;
+        int m_springEnabled[6];
+        float m_equilibriumPoint[6];
+        float m_springStiffness[6];
+        float m_springDamping[6];
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpringConstraintDoubleData2
+    {
+    public:
+        btGeneric6DofConstraintDoubleData2 m_6dofData;
+        int m_springEnabled[6];
+        double m_equilibriumPoint[6];
+        double m_springStiffness[6];
+        double m_springDamping[6];
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpring2ConstraintData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        btVector3FloatData m_linearUpperLimit;
+        btVector3FloatData m_linearLowerLimit;
+        btVector3FloatData m_linearBounce;
+        btVector3FloatData m_linearStopERP;
+        btVector3FloatData m_linearStopCFM;
+        btVector3FloatData m_linearMotorERP;
+        btVector3FloatData m_linearMotorCFM;
+        btVector3FloatData m_linearTargetVelocity;
+        btVector3FloatData m_linearMaxMotorForce;
+        btVector3FloatData m_linearServoTarget;
+        btVector3FloatData m_linearSpringStiffness;
+        btVector3FloatData m_linearSpringDamping;
+        btVector3FloatData m_linearEquilibriumPoint;
+        char m_linearEnableMotor[4];
+        char m_linearServoMotor[4];
+        char m_linearEnableSpring[4];
+        char m_linearSpringStiffnessLimited[4];
+        char m_linearSpringDampingLimited[4];
+        char m_padding1[4];
+        btVector3FloatData m_angularUpperLimit;
+        btVector3FloatData m_angularLowerLimit;
+        btVector3FloatData m_angularBounce;
+        btVector3FloatData m_angularStopERP;
+        btVector3FloatData m_angularStopCFM;
+        btVector3FloatData m_angularMotorERP;
+        btVector3FloatData m_angularMotorCFM;
+        btVector3FloatData m_angularTargetVelocity;
+        btVector3FloatData m_angularMaxMotorForce;
+        btVector3FloatData m_angularServoTarget;
+        btVector3FloatData m_angularSpringStiffness;
+        btVector3FloatData m_angularSpringDamping;
+        btVector3FloatData m_angularEquilibriumPoint;
+        char m_angularEnableMotor[4];
+        char m_angularServoMotor[4];
+        char m_angularEnableSpring[4];
+        char m_angularSpringStiffnessLimited[4];
+        char m_angularSpringDampingLimited[4];
+        int m_rotateOrder;
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpring2ConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        btVector3DoubleData m_linearUpperLimit;
+        btVector3DoubleData m_linearLowerLimit;
+        btVector3DoubleData m_linearBounce;
+        btVector3DoubleData m_linearStopERP;
+        btVector3DoubleData m_linearStopCFM;
+        btVector3DoubleData m_linearMotorERP;
+        btVector3DoubleData m_linearMotorCFM;
+        btVector3DoubleData m_linearTargetVelocity;
+        btVector3DoubleData m_linearMaxMotorForce;
+        btVector3DoubleData m_linearServoTarget;
+        btVector3DoubleData m_linearSpringStiffness;
+        btVector3DoubleData m_linearSpringDamping;
+        btVector3DoubleData m_linearEquilibriumPoint;
+        char m_linearEnableMotor[4];
+        char m_linearServoMotor[4];
+        char m_linearEnableSpring[4];
+        char m_linearSpringStiffnessLimited[4];
+        char m_linearSpringDampingLimited[4];
+        char m_padding1[4];
+        btVector3DoubleData m_angularUpperLimit;
+        btVector3DoubleData m_angularLowerLimit;
+        btVector3DoubleData m_angularBounce;
+        btVector3DoubleData m_angularStopERP;
+        btVector3DoubleData m_angularStopCFM;
+        btVector3DoubleData m_angularMotorERP;
+        btVector3DoubleData m_angularMotorCFM;
+        btVector3DoubleData m_angularTargetVelocity;
+        btVector3DoubleData m_angularMaxMotorForce;
+        btVector3DoubleData m_angularServoTarget;
+        btVector3DoubleData m_angularSpringStiffness;
+        btVector3DoubleData m_angularSpringDamping;
+        btVector3DoubleData m_angularEquilibriumPoint;
+        char m_angularEnableMotor[4];
+        char m_angularServoMotor[4];
+        char m_angularEnableSpring[4];
+        char m_angularSpringStiffnessLimited[4];
+        char m_angularSpringDampingLimited[4];
+        int m_rotateOrder;
+    };
+
+
+// -------------------------------------------------- //
+    class btSliderConstraintData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        float m_linearUpperLimit;
+        float m_linearLowerLimit;
+        float m_angularUpperLimit;
+        float m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class btSliderConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        double m_linearUpperLimit;
+        double m_linearLowerLimit;
+        double m_angularUpperLimit;
+        double m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class btGearConstraintFloatData
+    {
+    public:
+        btTypedConstraintFloatData m_typeConstraintData;
+        btVector3FloatData m_axisInA;
+        btVector3FloatData m_axisInB;
+        float m_ratio;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btGearConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btVector3DoubleData m_axisInA;
+        btVector3DoubleData m_axisInB;
+        double m_ratio;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyMaterialData
+    {
+    public:
+        float m_linearStiffness;
+        float m_angularStiffness;
+        float m_volumeStiffness;
+        int m_flags;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyNodeData
+    {
+    public:
+        SoftBodyMaterialData *m_material;
+        btVector3FloatData m_position;
+        btVector3FloatData m_previousPosition;
+        btVector3FloatData m_velocity;
+        btVector3FloatData m_accumulatedForce;
+        btVector3FloatData m_normal;
+        float m_inverseMass;
+        float m_area;
+        int m_attach;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyLinkData
+    {
+    public:
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[2];
+        float m_restLength;
+        int m_bbending;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyFaceData
+    {
+    public:
+        btVector3FloatData m_normal;
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[3];
+        float m_restArea;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyTetraData
+    {
+    public:
+        btVector3FloatData m_c0[4];
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[4];
+        float m_restVolume;
+        float m_c1;
+        float m_c2;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftRigidAnchorData
+    {
+    public:
+        btMatrix3x3FloatData m_c0;
+        btVector3FloatData m_c1;
+        btVector3FloatData m_localFrame;
+        bInvalidHandle *m_rigidBody;
+        int m_nodeIndex;
+        float m_c2;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyConfigData
+    {
+    public:
+        int m_aeroModel;
+        float m_baumgarte;
+        float m_damping;
+        float m_drag;
+        float m_lift;
+        float m_pressure;
+        float m_volume;
+        float m_dynamicFriction;
+        float m_poseMatch;
+        float m_rigidContactHardness;
+        float m_kineticContactHardness;
+        float m_softContactHardness;
+        float m_anchorHardness;
+        float m_softRigidClusterHardness;
+        float m_softKineticClusterHardness;
+        float m_softSoftClusterHardness;
+        float m_softRigidClusterImpulseSplit;
+        float m_softKineticClusterImpulseSplit;
+        float m_softSoftClusterImpulseSplit;
+        float m_maxVolume;
+        float m_timeScale;
+        int m_velocityIterations;
+        int m_positionIterations;
+        int m_driftIterations;
+        int m_clusterIterations;
+        int m_collisionFlags;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyPoseData
+    {
+    public:
+        btMatrix3x3FloatData m_rot;
+        btMatrix3x3FloatData m_scale;
+        btMatrix3x3FloatData m_aqq;
+        btVector3FloatData m_com;
+        btVector3FloatData *m_positions;
+        float *m_weights;
+        int m_numPositions;
+        int m_numWeigts;
+        int m_bvolume;
+        int m_bframe;
+        float m_restVolume;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyClusterData
+    {
+    public:
+        btTransformFloatData m_framexform;
+        btMatrix3x3FloatData m_locii;
+        btMatrix3x3FloatData m_invwi;
+        btVector3FloatData m_com;
+        btVector3FloatData m_vimpulses[2];
+        btVector3FloatData m_dimpulses[2];
+        btVector3FloatData m_lv;
+        btVector3FloatData m_av;
+        btVector3FloatData *m_framerefs;
+        int *m_nodeIndices;
+        float *m_masses;
+        int m_numFrameRefs;
+        int m_numNodes;
+        int m_numMasses;
+        float m_idmass;
+        float m_imass;
+        int m_nvimpulses;
+        int m_ndimpulses;
+        float m_ndamping;
+        float m_ldamping;
+        float m_adamping;
+        float m_matching;
+        float m_maxSelfCollisionImpulse;
+        float m_selfCollisionImpulseFactor;
+        int m_containsAnchor;
+        int m_collide;
+        int m_clusterIndex;
+    };
+
+
+// -------------------------------------------------- //
+    class btSoftBodyJointData
+    {
+    public:
+        void *m_bodyA;
+        void *m_bodyB;
+        btVector3FloatData m_refs[2];
+        float m_cfm;
+        float m_erp;
+        float m_split;
+        int m_delete;
+        btVector3FloatData m_relPosition[2];
+        int m_bodyAtype;
+        int m_bodyBtype;
+        int m_jointType;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class btSoftBodyFloatData
+    {
+    public:
+        btCollisionObjectFloatData m_collisionObjectData;
+        SoftBodyPoseData *m_pose;
+        SoftBodyMaterialData **m_materials;
+        SoftBodyNodeData *m_nodes;
+        SoftBodyLinkData *m_links;
+        SoftBodyFaceData *m_faces;
+        SoftBodyTetraData *m_tetrahedra;
+        SoftRigidAnchorData *m_anchors;
+        SoftBodyClusterData *m_clusters;
+        btSoftBodyJointData *m_joints;
+        int m_numMaterials;
+        int m_numNodes;
+        int m_numLinks;
+        int m_numFaces;
+        int m_numTetrahedra;
+        int m_numAnchors;
+        int m_numClusters;
+        int m_numJoints;
+        SoftBodyConfigData m_config;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkDoubleData
+    {
+    public:
+        btQuaternionDoubleData m_zeroRotParentToThis;
+        btVector3DoubleData m_parentComToThisPivotOffset;
+        btVector3DoubleData m_thisPivotToThisComOffset;
+        btVector3DoubleData m_jointAxisTop[6];
+        btVector3DoubleData m_jointAxisBottom[6];
+        btVector3DoubleData m_linkInertia;
+        btVector3DoubleData m_absFrameTotVelocityTop;
+        btVector3DoubleData m_absFrameTotVelocityBottom;
+        btVector3DoubleData m_absFrameLocVelocityTop;
+        btVector3DoubleData m_absFrameLocVelocityBottom;
+        double m_linkMass;
+        int m_parentIndex;
+        int m_jointType;
+        int m_dofCount;
+        int m_posVarCount;
+        double m_jointPos[7];
+        double m_jointVel[6];
+        double m_jointTorque[6];
+        double m_jointDamping;
+        double m_jointFriction;
+        double m_jointLowerLimit;
+        double m_jointUpperLimit;
+        double m_jointMaxForce;
+        double m_jointMaxVelocity;
+        char *m_linkName;
+        char *m_jointName;
+        btCollisionObjectDoubleData *m_linkCollider;
+        char *m_paddingPtr;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkFloatData
+    {
+    public:
+        btQuaternionFloatData m_zeroRotParentToThis;
+        btVector3FloatData m_parentComToThisPivotOffset;
+        btVector3FloatData m_thisPivotToThisComOffset;
+        btVector3FloatData m_jointAxisTop[6];
+        btVector3FloatData m_jointAxisBottom[6];
+        btVector3FloatData m_linkInertia;
+        btVector3FloatData m_absFrameTotVelocityTop;
+        btVector3FloatData m_absFrameTotVelocityBottom;
+        btVector3FloatData m_absFrameLocVelocityTop;
+        btVector3FloatData m_absFrameLocVelocityBottom;
+        int m_dofCount;
+        float m_linkMass;
+        int m_parentIndex;
+        int m_jointType;
+        float m_jointPos[7];
+        float m_jointVel[6];
+        float m_jointTorque[6];
+        int m_posVarCount;
+        float m_jointDamping;
+        float m_jointFriction;
+        float m_jointLowerLimit;
+        float m_jointUpperLimit;
+        float m_jointMaxForce;
+        float m_jointMaxVelocity;
+        char *m_linkName;
+        char *m_jointName;
+        btCollisionObjectFloatData *m_linkCollider;
+        char *m_paddingPtr;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyDoubleData
+    {
+    public:
+        btVector3DoubleData m_baseWorldPosition;
+        btQuaternionDoubleData m_baseWorldOrientation;
+        btVector3DoubleData m_baseLinearVelocity;
+        btVector3DoubleData m_baseAngularVelocity;
+        btVector3DoubleData m_baseInertia;
+        double m_baseMass;
+        int m_numLinks;
+        char m_padding[4];
+        char *m_baseName;
+        btMultiBodyLinkDoubleData *m_links;
+        btCollisionObjectDoubleData *m_baseCollider;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyFloatData
+    {
+    public:
+        btVector3FloatData m_baseWorldPosition;
+        btQuaternionFloatData m_baseWorldOrientation;
+        btVector3FloatData m_baseLinearVelocity;
+        btVector3FloatData m_baseAngularVelocity;
+        btVector3FloatData m_baseInertia;
+        float m_baseMass;
+        int m_numLinks;
+        char *m_baseName;
+        btMultiBodyLinkFloatData *m_links;
+        btCollisionObjectFloatData *m_baseCollider;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkColliderFloatData
+    {
+    public:
+        btCollisionObjectFloatData m_colObjData;
+        btMultiBodyFloatData *m_multiBody;
+        int m_link;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkColliderDoubleData
+    {
+    public:
+        btCollisionObjectDoubleData m_colObjData;
+        btMultiBodyDoubleData *m_multiBody;
+        int m_link;
+        char m_padding[4];
+    };
+
+
+}
+#endif//__BULLET_H__
\ No newline at end of file
diff --git a/VERSION b/VERSION
index 663ae72bc..55a1cdef1 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-2.88
+2.89
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 085a0384b..9677197ca 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR;
+	return 0;
+}
 B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 752789428..4e0e0eb63 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -339,6 +339,7 @@ extern "C"
 	B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 	B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
 	B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
+	B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
 	B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
 	B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
 	B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9e5799c36..437584951 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 	{
 		m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
 	}
+
+	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR)
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING;
+		m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor;
+	}
 	SharedMemoryStatus& serverCmd = serverStatusOut;
 	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 	return hasStatus;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index d23ac1594..610bfe275 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -483,6 +483,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
 	SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
 	SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
+	SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
         
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 78c0c0fcb..3db75d397 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -947,6 +947,7 @@ struct b3PhysicsSimulationParameters
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
 	double m_warmStartingFactor;
+	double m_articulatedWarmStartingFactor;
 	int m_useRealTimeSimulation;
 	int m_useSplitImpulse;
 	double m_splitImpulsePenetrationThreshold;
diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 6d21f6620..573fc86bf 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/src/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/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index f1422cad4..dca3e0926 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/src/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/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index 8a9134c95..0e26da0eb 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/src/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];
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 63d7c98e1..edb80036d 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -30,7 +30,8 @@ enum btSolverMode
 	SOLVER_SIMD = 256,
 	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
 	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
-	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
+	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
+	SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
 };
 
 struct btContactSolverInfoData
@@ -54,7 +55,7 @@ struct btContactSolverInfoData
 	btScalar m_splitImpulseTurnErp;
 	btScalar m_linearSlop;
 	btScalar m_warmstartingFactor;
-
+	btScalar m_articulatedWarmstartingFactor;
 	int m_solverMode;
 	int m_restingContactRestitutionThreshold;
 	int m_minimumSolverBatchSize;
@@ -89,6 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = btScalar(0.0);
 		m_warmstartingFactor = btScalar(0.85);
+		m_articulatedWarmstartingFactor = btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
 		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
 		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
@@ -120,6 +122,7 @@ struct btContactSolverInfoDoubleData
 	double m_splitImpulseTurnErp;
 	double m_linearSlop;
 	double m_warmstartingFactor;
+	double m_articulatedWarmstartingFactor;
 	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
 	double m_singleAxisRollingFrictionThreshold;
 
@@ -150,16 +153,17 @@ struct btContactSolverInfoFloatData
 
 	float m_linearSlop;
 	float m_warmstartingFactor;
+	float m_articulatedWarmstartingFactor;
 	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
 
+	float m_singleAxisRollingFrictionThreshold;
 	int m_numIterations;
 	int m_solverMode;
 	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
 
+	int m_minimumSolverBatchSize;
 	int m_splitImpulse;
-	char m_padding[4];
+	
 };
 
 #endif  //BT_CONTACT_SOLVER_INFO
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index dfbbdb154..a3c9f42eb 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
 
 	worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
 
-	// Fill padding with zeros to appease msan.
-	memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
-
+	
 #ifdef BT_USE_DOUBLE_PRECISION
 	const char* structType = "btDynamicsWorldDoubleData";
 #else   //BT_USE_DOUBLE_PRECISION
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index e17ab94d9..d7ed05ce5 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
 		solverConstraint.m_friction = 0.f;  //cp.m_combinedFriction;
 	}
 
-	///warm starting (or zero if disabled)
-	/*
-     if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-     {
-     solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-     
-     if (solverConstraint.m_appliedImpulse)
-     {
-     if (multiBodyA)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-     multiBodyA->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
-     } else
-     {
-     if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-     }
-     if (multiBodyB)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-     multiBodyB->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
-     } else
-     {
-     if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
-     }
-     }
-     } else
-     */
-
 	solverConstraint.m_appliedImpulse = 0.f;
 	solverConstraint.m_appliedPushImpulse = 0.f;
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index 45c893b27..ffae5300f 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -22,6 +22,8 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 #include "LinearMath/btQuickprof.h"
+#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h"
+#include "LinearMath/btScalar.h"
 
 btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
@@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
 	return deltaVel;
 }
 
-void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
-																  const btVector3& contactNormal,
-																  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
-																  btScalar& relaxation,
-																  bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
 {
 	BT_PROFILE("setupMultiBodyContactConstraint");
 	btVector3 rel_pos1;
@@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 		}
 	}
 
-	///warm starting (or zero if disabled)
-	//disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
-	if (/* DISABLES CODE */ (0)) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-	{
-		solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-
-		if (solverConstraint.m_appliedImpulse)
-		{
-			if (multiBodyA)
-			{
-				btScalar impulse = solverConstraint.m_appliedImpulse;
-				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-				multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse);
-
-				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
-			}
-			else
-			{
-				if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
-			}
-			if (multiBodyB)
-			{
-				btScalar impulse = solverConstraint.m_appliedImpulse;
-				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-				multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse);
-				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
-			}
-			else
-			{
-				if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
-			}
-		}
-	}
-	else
-	{
-		solverConstraint.m_appliedImpulse = 0.f;
-	}
-
-	solverConstraint.m_appliedPushImpulse = 0.f;
-
 	{
 		btScalar positionalError = 0.f;
 		btScalar velocityError = restitution - rel_vel;  // * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
@@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 
 		solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
 	}
+        
+	if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
+	{
+		if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS)
+		{
+			solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor;
+			if (solverConstraint.m_appliedImpulse < 0)
+				solverConstraint.m_appliedImpulse = 0;
+		}
+		else
+		{
+			solverConstraint.m_appliedImpulse = 0.f;
+		}
+
+		if (solverConstraint.m_appliedImpulse)
+		{
+			if (multiBodyA)
+			{
+				btScalar impulse = solverConstraint.m_appliedImpulse;
+				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+				multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
+
+				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
+			}
+			else
+			{
+				if (rb0)
+					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
+			}
+			if (multiBodyB)
+			{
+				btScalar impulse = solverConstraint.m_appliedImpulse;
+				btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
+				multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
+				applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
+			}
+			else
+			{
+				if (rb1)
+					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
+			}
+		}
+	}
+	else
+	{
+		solverConstraint.m_appliedImpulse = 0.f;
+   	solverConstraint.m_appliedPushImpulse = 0.f;
+	}
 }
 
 void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
@@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
 	}
 }
 
-btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
+btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
 {
 	BT_PROFILE("addMultiBodyFrictionConstraint");
 	btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
@@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo
 
 	solverConstraint.m_originalContactPoint = &cp;
 
-	setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
+	setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
 	return solverConstraint;
 }
 
@@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 			solverConstraint.m_originalContactPoint = &cp;
 
 			bool isFriction = false;
-			setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction);
+			setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction);
 
 			//			const btVector3& pos1 = cp.getPositionWorldOnA();
 			//			const btVector3& pos2 = cp.getPositionWorldOnB();
@@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 				{
 					applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
 					applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
+					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{
 						applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
 						applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
-						addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
+					  addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
 					}
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
@@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 			}
 			else
 			{
-				addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
+				addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
 
 				if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
-					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
-
-				//setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
-				//todo:
+					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
 				solverConstraint.m_appliedImpulse = 0.f;
 				solverConstraint.m_appliedPushImpulse = 0.f;
-			}
+      }
 
 #endif  //ENABLE_FRICTION
 		}
+		else
+		{
+			// Reset quantities related to warmstart as 0.
+			cp.m_appliedImpulse = 0;
+			cp.m_prevRHS = 0;
+		}
 	}
 }
 
 void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
 {
-	//btPersistentManifold* manifold = 0;
-
 	for (int i = 0; i < numManifolds; i++)
 	{
 		btPersistentManifold* manifold = manifoldPtr[i];
@@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
 
 		c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal);
 	}
+
+	// Warmstart for noncontact constraints
+	if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
+	{
+		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
+		{
+			btMultiBodySolverConstraint& solverConstraint =
+				m_multiBodyNonContactConstraints[i];
+			solverConstraint.m_appliedImpulse =
+				solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) *
+				infoGlobal.m_articulatedWarmstartingFactor;
+
+			btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
+			btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
+			if (solverConstraint.m_appliedImpulse)
+			{
+				if (multiBodyA)
+				{
+					int ndofA = multiBodyA->getNumDofs() + 6;
+					btScalar* deltaV =
+						&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
+					btScalar impulse = solverConstraint.m_appliedImpulse;
+					multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
+					applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
+				}
+				if (multiBodyB)
+				{
+					int ndofB = multiBodyB->getNumDofs() + 6;
+					btScalar* deltaV =
+						&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
+					btScalar impulse = solverConstraint.m_appliedImpulse;
+					multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
+					applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
+				}
+			}
+		}
+	}
+	else
+	{
+		for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
+		{
+			btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
+			solverConstraint.m_appliedImpulse = 0;
+		}
+	}
 }
 
 btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
@@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
 		writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
 	}
 
-	if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+
 	{
 		BT_PROFILE("warm starting write back");
 		for (int j = 0; j < numPoolConstraints; j++)
@@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
 			btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint;
 			btAssert(pt);
 			pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
+ 		  pt->m_prevRHS = solverConstraint.m_rhs;
 			pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
 
 			//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
@@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
 				pt->m_appliedImpulseLateral2 = 0;
 			}
 		}
-		
-			//do a callback here?
 	}
+
 #if 0
 	//multibody joint feedback
 	{
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
index abf571883..f584360e2 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
@@ -49,7 +49,7 @@ protected:
 
 	void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
 
-	btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
+	btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
 
 	btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
 																		 btScalar combinedTorsionalFriction,
@@ -66,7 +66,9 @@ protected:
 
 	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
 										 const btVector3& contactNormal,
-										 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
+                     const btScalar& appliedImpulse,
+										 btManifoldPoint& cp,
+                     const btContactSolverInfo& infoGlobal,
 										 btScalar& relaxation,
 										 bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
 
@@ -82,7 +84,6 @@ protected:
 	void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
 	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 	//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
-
 	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 	void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
 	void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index c09085ebd..0fa46df09 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -25,13 +25,23 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 288
+#define BT_BULLET_VERSION 289
 
 inline int btGetVersion()
 {
 	return BT_BULLET_VERSION;
 }
 
+inline int btIsDoublePrecision()
+{
+  #ifdef BT_USE_DOUBLE_PRECISION
+  return true;
+  #else
+  return false;
+  #endif
+}
+
+
 // The following macro "BT_NOT_EMPTY_FILE" can be put into a file
 // in order suppress the MS Visual C++ Linker warning 4221
 //
diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp
index 18683c8fa..068836f2c 100644
--- a/src/LinearMath/btSerializer.cpp
+++ b/src/LinearMath/btSerializer.cpp
@@ -1,6 +1,5 @@
-// clang-format off
 char sBulletDNAstr[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
 char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
 char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
 char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -87,606 +86,607 @@ char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),cha
 char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(68),char(105),char(115),char(116),
 char(97),char(110),char(99),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),
 char(65),char(112),char(112),char(108),char(105),char(101),char(100),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(91),char(52),char(93),char(0),char(109),char(95),
-char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(70),char(114),
-char(105),char(99),char(116),char(105),char(111),char(110),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),
-char(104),char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),
-char(99),char(116),char(105),char(111),char(110),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),
-char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(83),char(112),char(105),char(110),char(110),char(105),char(110),char(103),char(70),char(114),char(105),
-char(99),char(116),char(105),char(111),char(110),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),
-char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(82),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),
-char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(80),char(97),char(114),char(116),
-char(73),char(100),char(48),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(80),
-char(97),char(114),char(116),char(73),char(100),char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),
-char(104),char(101),char(73),char(110),char(100),char(101),char(120),char(48),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),
-char(97),char(99),char(104),char(101),char(73),char(110),char(100),char(101),char(120),char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),
-char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(111),char(105),char(110),char(116),char(70),char(108),
-char(97),char(103),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(65),
-char(112),char(112),char(108),char(105),char(101),char(100),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),
-char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(65),char(112),char(112),
-char(108),char(105),char(101),char(100),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),char(50),char(91),
-char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(110),char(116),char(97),
-char(99),char(116),char(77),char(111),char(116),char(105),char(111),char(110),char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),
-char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(77),char(111),char(116),char(105),char(111),char(110),char(50),char(91),
-char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(110),char(116),char(97),
-char(99),char(116),char(67),char(70),char(77),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),
-char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(83),char(116),char(105),char(102),
-char(102),char(110),char(101),char(115),char(115),char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),
-char(104),char(101),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(69),char(82),char(80),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),
-char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(67),char(111),char(110),char(116),
-char(97),char(99),char(116),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),
-char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(67),char(70),char(77),char(91),char(52),
-char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(76),char(105),char(102),char(101),char(84),char(105),
-char(109),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(110),char(117),char(109),char(67),char(97),char(99),char(104),char(101),char(100),char(80),char(111),char(105),
-char(110),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(65),char(0),char(109),
-char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(66),char(0),char(109),char(95),char(105),char(110),char(100),char(101),
-char(120),char(49),char(97),char(0),char(109),char(95),char(111),char(98),char(106),char(101),char(99),char(116),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),
-char(111),char(110),char(116),char(97),char(99),char(116),char(66),char(114),char(101),char(97),char(107),char(105),char(110),char(103),char(84),char(104),char(114),char(101),char(115),char(104),
-char(111),char(108),char(100),char(0),char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),
-char(105),char(110),char(103),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(42),char(109),char(95),char(98),char(111),char(100),char(121),
-char(48),char(0),char(42),char(109),char(95),char(98),char(111),char(100),char(121),char(49),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),
-char(83),char(117),char(98),char(84),char(121),char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),
-char(111),char(105),char(110),char(116),char(115),char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),
-char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),
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-char(0),char(109),char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),
-char(111),char(97),char(100),char(112),char(104),char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),
-char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),
-char(67),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),
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-char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116),char(105),char(111),char(110),char(84),
-char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(114),char(111),char(108),
-char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(110),char(116),char(97),
-char(99),char(116),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(83),
-char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),
-char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),
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+char(8),char(0),char(-21),char(0),char(8),char(0),char(-20),char(0),char(0),char(0),char(-19),char(0),char(70),char(0),char(10),char(0),char(63),char(0),char(-34),char(0),
+char(20),char(0),char(-31),char(0),char(20),char(0),char(-30),char(0),char(8),char(0),char(-18),char(0),char(8),char(0),char(-17),char(0),char(8),char(0),char(-16),char(0),
+char(8),char(0),char(-22),char(0),char(8),char(0),char(-21),char(0),char(8),char(0),char(-20),char(0),char(8),char(0),char(-89),char(0),char(71),char(0),char(11),char(0),
+char(61),char(0),char(-34),char(0),char(19),char(0),char(-31),char(0),char(19),char(0),char(-30),char(0),char(7),char(0),char(-18),char(0),char(7),char(0),char(-17),char(0),
+char(7),char(0),char(-16),char(0),char(7),char(0),char(-22),char(0),char(7),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0),char(7),char(0),char(-89),char(0),
+char(0),char(0),char(21),char(0),char(72),char(0),char(9),char(0),char(61),char(0),char(-34),char(0),char(19),char(0),char(-31),char(0),char(19),char(0),char(-30),char(0),
+char(13),char(0),char(-15),char(0),char(13),char(0),char(-14),char(0),char(13),char(0),char(-13),char(0),char(13),char(0),char(-12),char(0),char(4),char(0),char(-11),char(0),
+char(4),char(0),char(-10),char(0),char(73),char(0),char(9),char(0),char(63),char(0),char(-34),char(0),char(20),char(0),char(-31),char(0),char(20),char(0),char(-30),char(0),
+char(14),char(0),char(-15),char(0),char(14),char(0),char(-14),char(0),char(14),char(0),char(-13),char(0),char(14),char(0),char(-12),char(0),char(4),char(0),char(-11),char(0),
+char(4),char(0),char(-10),char(0),char(74),char(0),char(5),char(0),char(72),char(0),char(-9),char(0),char(4),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),
+char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0),char(75),char(0),char(5),char(0),char(73),char(0),char(-9),char(0),char(4),char(0),char(-8),char(0),
+char(8),char(0),char(-7),char(0),char(8),char(0),char(-6),char(0),char(8),char(0),char(-5),char(0),char(76),char(0),char(41),char(0),char(61),char(0),char(-34),char(0),
+char(19),char(0),char(-31),char(0),char(19),char(0),char(-30),char(0),char(13),char(0),char(-15),char(0),char(13),char(0),char(-14),char(0),char(13),char(0),char(-4),char(0),
+char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),char(13),char(0),char(0),char(1),char(13),char(0),char(1),char(1),
+char(13),char(0),char(2),char(1),char(13),char(0),char(3),char(1),char(13),char(0),char(4),char(1),char(13),char(0),char(5),char(1),char(13),char(0),char(6),char(1),
+char(0),char(0),char(7),char(1),char(0),char(0),char(8),char(1),char(0),char(0),char(9),char(1),char(0),char(0),char(10),char(1),char(0),char(0),char(11),char(1),
+char(0),char(0),char(-19),char(0),char(13),char(0),char(-13),char(0),char(13),char(0),char(-12),char(0),char(13),char(0),char(12),char(1),char(13),char(0),char(13),char(1),
+char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),char(13),char(0),char(17),char(1),char(13),char(0),char(18),char(1),
+char(13),char(0),char(19),char(1),char(13),char(0),char(20),char(1),char(13),char(0),char(21),char(1),char(13),char(0),char(22),char(1),char(0),char(0),char(23),char(1),
+char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),char(0),char(0),char(26),char(1),char(0),char(0),char(27),char(1),char(4),char(0),char(28),char(1),
+char(77),char(0),char(41),char(0),char(63),char(0),char(-34),char(0),char(20),char(0),char(-31),char(0),char(20),char(0),char(-30),char(0),char(14),char(0),char(-15),char(0),
+char(14),char(0),char(-14),char(0),char(14),char(0),char(-4),char(0),char(14),char(0),char(-3),char(0),char(14),char(0),char(-2),char(0),char(14),char(0),char(-1),char(0),
+char(14),char(0),char(0),char(1),char(14),char(0),char(1),char(1),char(14),char(0),char(2),char(1),char(14),char(0),char(3),char(1),char(14),char(0),char(4),char(1),
+char(14),char(0),char(5),char(1),char(14),char(0),char(6),char(1),char(0),char(0),char(7),char(1),char(0),char(0),char(8),char(1),char(0),char(0),char(9),char(1),
+char(0),char(0),char(10),char(1),char(0),char(0),char(11),char(1),char(0),char(0),char(-19),char(0),char(14),char(0),char(-13),char(0),char(14),char(0),char(-12),char(0),
+char(14),char(0),char(12),char(1),char(14),char(0),char(13),char(1),char(14),char(0),char(14),char(1),char(14),char(0),char(15),char(1),char(14),char(0),char(16),char(1),
+char(14),char(0),char(17),char(1),char(14),char(0),char(18),char(1),char(14),char(0),char(19),char(1),char(14),char(0),char(20),char(1),char(14),char(0),char(21),char(1),
+char(14),char(0),char(22),char(1),char(0),char(0),char(23),char(1),char(0),char(0),char(24),char(1),char(0),char(0),char(25),char(1),char(0),char(0),char(26),char(1),
+char(0),char(0),char(27),char(1),char(4),char(0),char(28),char(1),char(78),char(0),char(9),char(0),char(61),char(0),char(-34),char(0),char(19),char(0),char(-31),char(0),
+char(19),char(0),char(-30),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),char(7),char(0),char(-12),char(0),
+char(4),char(0),char(-11),char(0),char(4),char(0),char(-10),char(0),char(79),char(0),char(9),char(0),char(63),char(0),char(-34),char(0),char(20),char(0),char(-31),char(0),
+char(20),char(0),char(-30),char(0),char(8),char(0),char(-15),char(0),char(8),char(0),char(-14),char(0),char(8),char(0),char(-13),char(0),char(8),char(0),char(-12),char(0),
+char(4),char(0),char(-11),char(0),char(4),char(0),char(-10),char(0),char(80),char(0),char(5),char(0),char(60),char(0),char(-34),char(0),char(13),char(0),char(29),char(1),
+char(13),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(0),char(0),char(37),char(0),char(81),char(0),char(4),char(0),char(63),char(0),char(-34),char(0),
+char(14),char(0),char(29),char(1),char(14),char(0),char(30),char(1),char(8),char(0),char(31),char(1),char(82),char(0),char(4),char(0),char(7),char(0),char(32),char(1),
+char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),char(4),char(0),char(79),char(0),char(83),char(0),char(10),char(0),char(82),char(0),char(35),char(1),
+char(13),char(0),char(36),char(1),char(13),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(13),char(0),char(39),char(1),char(13),char(0),char(40),char(1),
+char(7),char(0),char(-58),char(0),char(7),char(0),char(41),char(1),char(4),char(0),char(42),char(1),char(4),char(0),char(53),char(0),char(84),char(0),char(4),char(0),
+char(82),char(0),char(35),char(1),char(4),char(0),char(43),char(1),char(7),char(0),char(44),char(1),char(4),char(0),char(45),char(1),char(85),char(0),char(4),char(0),
+char(13),char(0),char(40),char(1),char(82),char(0),char(35),char(1),char(4),char(0),char(46),char(1),char(7),char(0),char(47),char(1),char(86),char(0),char(7),char(0),
+char(13),char(0),char(48),char(1),char(82),char(0),char(35),char(1),char(4),char(0),char(49),char(1),char(7),char(0),char(50),char(1),char(7),char(0),char(51),char(1),
+char(7),char(0),char(52),char(1),char(4),char(0),char(53),char(0),char(87),char(0),char(6),char(0),char(17),char(0),char(53),char(1),char(13),char(0),char(51),char(1),
+char(13),char(0),char(54),char(1),char(62),char(0),char(55),char(1),char(4),char(0),char(56),char(1),char(7),char(0),char(52),char(1),char(88),char(0),char(26),char(0),
+char(4),char(0),char(57),char(1),char(7),char(0),char(58),char(1),char(7),char(0),char(-89),char(0),char(7),char(0),char(59),char(1),char(7),char(0),char(60),char(1),
+char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),
+char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),
+char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),char(7),char(0),char(75),char(1),
+char(7),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(79),char(1),char(4),char(0),char(80),char(1),
+char(4),char(0),char(-99),char(0),char(89),char(0),char(12),char(0),char(17),char(0),char(81),char(1),char(17),char(0),char(82),char(1),char(17),char(0),char(83),char(1),
+char(13),char(0),char(84),char(1),char(13),char(0),char(85),char(1),char(7),char(0),char(86),char(1),char(4),char(0),char(87),char(1),char(4),char(0),char(88),char(1),
+char(4),char(0),char(89),char(1),char(4),char(0),char(90),char(1),char(7),char(0),char(50),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0),
+char(19),char(0),char(91),char(1),char(17),char(0),char(92),char(1),char(17),char(0),char(93),char(1),char(13),char(0),char(84),char(1),char(13),char(0),char(94),char(1),
+char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(13),char(0),char(97),char(1),char(13),char(0),char(98),char(1),char(4),char(0),char(99),char(1),
+char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1),
+char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1),
+char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1),
+char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1),
+char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1),
+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0),
+char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1),
+char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1),
+char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1),
+char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1),
+char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1),
+char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1),
+char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1),
+char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1),
+char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1),
+char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0),
+char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1),
+char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1),
+char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1),
+char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1),
+char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1),
+char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1),
+char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1),
+char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1),
+char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1),
+char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
+char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
+char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
+char(0),char(0),char(37),char(0),};
 int sBulletDNAlen= sizeof(sBulletDNAstr);
-
-// clang-format on
diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h
index ba3444161..2ee712047 100644
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -481,7 +481,7 @@ public:
 
 		buffer[9] = '2';
 		buffer[10] = '8';
-		buffer[11] = '8';
+		buffer[11] = '9';
 	}
 
 	virtual void startSerialization()
diff --git a/src/LinearMath/btSerializer64.cpp b/src/LinearMath/btSerializer64.cpp
index cf281cdb3..6c4bc7031 100644
--- a/src/LinearMath/btSerializer64.cpp
+++ b/src/LinearMath/btSerializer64.cpp
@@ -1,6 +1,5 @@
-// clang-format off
 char sBulletDNAstr64[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
 char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
 char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
 char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -87,605 +86,607 @@ char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),cha
 char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(68),char(105),char(115),char(116),
 char(97),char(110),char(99),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),
 char(65),char(112),char(112),char(108),char(105),char(101),char(100),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(91),char(52),char(93),char(0),char(109),char(95),
-char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(70),char(114),
-char(105),char(99),char(116),char(105),char(111),char(110),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),
-char(104),char(101),char(67),char(111),char(109),char(98),char(105),char(110),char(101),char(100),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),
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+char(13),char(0),char(48),char(1),char(82),char(0),char(35),char(1),char(4),char(0),char(49),char(1),char(7),char(0),char(50),char(1),char(7),char(0),char(51),char(1),
+char(7),char(0),char(52),char(1),char(4),char(0),char(53),char(0),char(87),char(0),char(6),char(0),char(17),char(0),char(53),char(1),char(13),char(0),char(51),char(1),
+char(13),char(0),char(54),char(1),char(62),char(0),char(55),char(1),char(4),char(0),char(56),char(1),char(7),char(0),char(52),char(1),char(88),char(0),char(26),char(0),
+char(4),char(0),char(57),char(1),char(7),char(0),char(58),char(1),char(7),char(0),char(-89),char(0),char(7),char(0),char(59),char(1),char(7),char(0),char(60),char(1),
+char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),
+char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),
+char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),char(7),char(0),char(75),char(1),
+char(7),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(79),char(1),char(4),char(0),char(80),char(1),
+char(4),char(0),char(-99),char(0),char(89),char(0),char(12),char(0),char(17),char(0),char(81),char(1),char(17),char(0),char(82),char(1),char(17),char(0),char(83),char(1),
+char(13),char(0),char(84),char(1),char(13),char(0),char(85),char(1),char(7),char(0),char(86),char(1),char(4),char(0),char(87),char(1),char(4),char(0),char(88),char(1),
+char(4),char(0),char(89),char(1),char(4),char(0),char(90),char(1),char(7),char(0),char(50),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0),
+char(19),char(0),char(91),char(1),char(17),char(0),char(92),char(1),char(17),char(0),char(93),char(1),char(13),char(0),char(84),char(1),char(13),char(0),char(94),char(1),
+char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(13),char(0),char(97),char(1),char(13),char(0),char(98),char(1),char(4),char(0),char(99),char(1),
+char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1),
+char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1),
+char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1),
+char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1),
+char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1),
+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0),
+char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1),
+char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1),
+char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1),
+char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1),
+char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1),
+char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1),
+char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1),
+char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1),
+char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1),
+char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0),
+char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1),
+char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1),
+char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1),
+char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1),
+char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1),
+char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1),
+char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1),
+char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1),
+char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1),
+char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1),
+char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
+char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1),
+char(0),char(0),char(37),char(0),};
 int sBulletDNAlen64= sizeof(sBulletDNAstr64);
-// clang-format on