Introduced btActionInterface. This makes it easier to extend user-defined actions, such as vehicles and characters.

btRaycastVehicle and btKinematicCharacterController are derived from btActionInterface now.
Some cosmetic cleanup: changed sourceforce/sf.net url to bulletphysics.com.

Demos/BasicDemo/BasicDemo.cpp

@@ -87,6 +87,7 @@ void	BasicDemo::initPhysics()
 
 	///collision configuration contains default setup for memory, collision setup
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	//m_collisionConfiguration->setConvexConvexMultipointIterations();
 
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
@@ -173,6 +174,7 @@ void	BasicDemo::initPhysics()
 					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
 					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
 					btRigidBody* body = new btRigidBody(rbInfo);
+					//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
 					body->setActivationState(ISLAND_SLEEPING);
 
 					m_dynamicsWorld->addRigidBody(body);

Demos/BasicDemo/main.cpp

@@ -81,7 +81,7 @@ int main(int argc,char** argv)
 #ifdef CHECK_MEMORY_LEAKS
 	ccdDemo.exitPhysics();
 #else
-	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
 #endif
 	
 	//default glut doesn't return from mainloop

Demos/CcdPhysicsDemo/main.cpp

@@ -41,7 +41,7 @@ int main(int argc,char** argv)
 	ccdDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
 
-	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
+	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",ccdDemo);
 
 	delete ccdDemo;
 	return 0;

Demos/GenericJointDemo/GenericJointDemo.h

@@ -1,44 +1,44 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-GenericJointDemo
+GenericJointDemo
-Copyright (c) 2007 Starbreeze Studios
+Copyright (c) 2007 Starbreeze Studios
-
+
-This software is provided 'as-is', without any express or implied warranty.
+This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
+In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
+Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
+including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
+subject to the following restrictions:
-
+
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
+3. This notice may not be removed or altered from any source distribution.
-
+
-Written by: Marten Svanfeldt
+Written by: Marten Svanfeldt
-*/
+*/
-
+
-#ifndef GENERIGJOINTDEMO_H
+#ifndef GENERIGJOINTDEMO_H
-#define GENERIGJOINTDEMO_H
+#define GENERIGJOINTDEMO_H
-
+
-#include "DemoApplication.h"
+#include "DemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
-#include "Ragdoll.h"
+#include "Ragdoll.h"
-
+
-class GenericJointDemo : public DemoApplication
+class GenericJointDemo : public DemoApplication
-{
+{
-
+
-	btAlignedObjectArray<class RagDoll*> m_ragdolls;
+	btAlignedObjectArray<class RagDoll*> m_ragdolls;
-
+
-public:
+public:
-	void initPhysics();
+	void initPhysics();
-
+
-	void spawnRagdoll(bool random = false);
+	void spawnRagdoll(bool random = false);
-
+
-	virtual void clientMoveAndDisplay();
+	virtual void clientMoveAndDisplay();
-
+
-	virtual void displayCallback();
+	virtual void displayCallback();
-
+
-	virtual void keyboardCallback(unsigned char key, int x, int y);
+	virtual void keyboardCallback(unsigned char key, int x, int y);
-};
+};
-
+
-
+
-#endif
+#endif

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp

@@ -1,3 +1,20 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
+
 #include <stdio.h>
 #include "btHfFluid.h"
 #include "btHfFluidCollisionShape.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h

@@ -1,3 +1,20 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
+
 #ifndef __HFFLUID_H
 #define __HFFLUID_H
 
@@ -14,6 +31,7 @@ class btManifoldResult;
 // add buoyant convex vs. convex / concave
 // add buoyant concave support (try bunny model)
 
+///experimental buyancy fluid demo
 class btHfFluid : public btCollisionObject
 {
 public:

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp

@@ -1,3 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
 #include <stdio.h>
 
 #include "LinearMath/btAabbUtil2.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h

@@ -1,3 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
 #ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
 #define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
 
@@ -7,7 +23,7 @@
 #define MAX_VOXEL_DIMENSION 32
 
 class btConvexShape;
-
+///experimental buyancy fluid demo
 class btHfFluidBuoyantConvexShape : public btCollisionShape
 {
 public:

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp

@@ -1,3 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
 #include <stdio.h>
 
 #include "btHfFluidBuoyantShapeCollisionAlgorithm.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
@@ -31,6 +33,8 @@ class btHfFluid;
 class btConvexConvexAlgorithm;
 class btConvexPenetrationDepthSolver;
 class btSimplexSolverInterface;
+
+///experimental buyancy fluid demo
 /// btHfFluidBuoyantShapeCollisionAlgorithm  provides collision detection between btHfFluidBuoyantConvexShape and btHfFluidBuoyantConvexShape
 class btHfFluidBuoyantShapeCollisionAlgorithm : public btCollisionAlgorithm
 {

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.cpp

@@ -1,2 +1,18 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
 #include "btHfFluidCollisionShape.h"
 

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.h

@@ -1,3 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
 #ifndef BT_HF_FLUID_COLLISION_SHAPE_H
 #define BT_HF_FLUID_COLLISION_SHAPE_H
 

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp

@@ -1,3 +1,20 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
+*/
+
 #include <stdio.h>
 
 #include "btHfFluidRigidCollisionAlgorithm.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HF_FLUID_RIGID_COLLISION_ALGORITHM_H
@@ -27,6 +29,7 @@ subject to the following restrictions:
 #include "LinearMath/btVector3.h"
 class btHfFluid;
 
+///experimental buyancy fluid demo
 /// btHfFluidRigidCollisionAlgorithm  provides collision detection between btHfFluid and btRigidBody
 class btHfFluidRigidCollisionAlgorithm : public btCollisionAlgorithm
 {

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include "btHfFluidRigidCollisionConfiguration.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
@@ -21,7 +23,7 @@ subject to the following restrictions:
 class btVoronoiSimplexSolver;
 class btGjkEpaPenetrationDepthSolver;
 
-
+///experimental buyancy fluid demo
 ///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
 class	btHfFluidRigidCollisionConfiguration : public btDefaultCollisionConfiguration
 {

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include <stdio.h>

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h

@@ -1,16 +1,18 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
 
-This software is provided 'as-is', without any express or implied warranty.
+Experimental Buoyancy fluid demo written by John McCutchan
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
 */
 
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
@@ -31,6 +33,7 @@ typedef	btAlignedObjectArray<btHfFluid*> btHfFluidArray;
 
 class btHfFluidBuoyantConvexShape;
 
+///experimental buyancy fluid demo
 class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
 {
 	

Demos/HeightFieldFluidDemo/HfFluidDemo.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include "btBulletDynamicsCommon.h"

Demos/HeightFieldFluidDemo/HfFluidDemo.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HFFLUID_DEMO_H
@@ -32,7 +34,7 @@ class btHfFluidRigidDynamicsWorld;
 ///collisions between a btSoftBody and a btRigidBody
 class btFluidRididCollisionAlgorithm;
 
-
+///experimental buyancy fluid demo
 ///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
 class HfFluidDemo : public DemoApplication
 {

Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifdef WIN32 //needed for glut.h

Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,12 +11,16 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
+
 #ifndef HFFLUID_GL_SHAPE_DRAWER_H
 #define HFFLUID_GL_SHAPE_DRAWER_H
 
 #include "GL_ShapeDrawer.h"
 
+///experimental buyancy fluid demo
 /// OpenGL shape drawing
 class HfFluidDemo_GL_ShapeDrawer : public GL_ShapeDrawer
 {

Demos/HeightFieldFluidDemo/main.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.com
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -11,6 +11,8 @@ subject to the following restrictions:
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
+
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include "HfFluidDemo.h"
@@ -29,7 +31,7 @@ int main(int argc,char** argv)
 	fluidDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
 
-	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",fluidDemo);
+	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",fluidDemo);
 
 	delete fluidDemo;
 	return 0;

Demos/MultiThreadedDemo/main.cpp

@@ -28,7 +28,7 @@ int main(int argc,char** argv)
 	demo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
 
-	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",demo);
+	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",demo);
 
 	delete demo;
 

Demos/RagdollDemo/main.cpp

@@ -27,5 +27,5 @@ int main(int argc,char* argv[])
         demoApp.initPhysics();
 		demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
-        return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
+        return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&demoApp);
 }

Demos/SoftDemo/main.cpp

@@ -29,7 +29,7 @@ int main(int argc,char** argv)
 	softDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
 
-	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",softDemo);
+	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",softDemo);
 
 	delete softDemo;
 	return 0;

Extras/BulletColladaConverter/ColladaConverter.cpp

@@ -2761,7 +2761,7 @@ bool ColladaConverter::save(const char* filename)
 				}
 
 				m_dom->getAsset()->getContributor_array().get(0)->getAuthor()->setValue
-					("http://bullet.sf.net Erwin Coumans");
+					("http://bulletphysics.com Erwin Coumans");
 
 				if (!m_dom->getAsset()->getContributor_array().get(0)->getAuthoring_tool())
 				{

src/BulletDynamics/Character/btCharacterControllerInterface.h

@@ -17,12 +17,13 @@ subject to the following restrictions:
 #define CHARACTER_CONTROLLER_INTERFACE_H
 
 #include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 
 class btCollisionShape;
 class btRigidBody;
 class btCollisionWorld;
 
-class btCharacterControllerInterface
+class btCharacterControllerInterface : public btActionInterface
 {
 public:
 	btCharacterControllerInterface () {};

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -116,7 +116,7 @@ btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
 	return m_ghostObject;
 }
 
-bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
+bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
 {
 
 	bool penetration = false;
@@ -390,7 +390,7 @@ void btKinematicCharacterController::warp (const btVector3& origin)
 }
 
 
-void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
+void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
 {
 	
 	int numPenetrationLoops = 0;
@@ -413,7 +413,7 @@ void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
 	
 }
 
-void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
+void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
 {
 	btTransform xform;
 	xform = m_ghostObject->getWorldTransform ();
@@ -469,3 +469,8 @@ bool btKinematicCharacterController::onGround () const
 {
 	return true;
 }
+
+
+void	btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}

src/BulletDynamics/Character/btKinematicCharacterController.h

@@ -69,7 +69,7 @@ protected:
 	btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
 	btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
 
-	bool recoverFromPenetration (btCollisionWorld* collisionWorld);
+	bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
 	void stepUp (btCollisionWorld* collisionWorld);
 	void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
 	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
@@ -78,6 +78,17 @@ public:
 	btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
 	~btKinematicCharacterController ();
 	
+
+	///btActionInterface interface
+	virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
+	{
+		preStep ( collisionWorld);
+		playerStep (collisionWorld, deltaTime);
+	}
+	
+	///btActionInterface interface
+	void	debugDraw(btIDebugDraw* debugDrawer);
+
 	void setUpAxis (int axis)
 	{
 		if (axis < 0)
@@ -95,8 +106,8 @@ public:
 	void reset ();
 	void warp (const btVector3& origin);
 
-	void preStep ( btCollisionWorld* collisionWorld);
+	void preStep (  btCollisionWorld* collisionWorld);
-	void playerStep (btCollisionWorld* collisionWorld, btScalar dt);
+	void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
 
 	void setFallSpeed (btScalar fallSpeed);
 	void setJumpSpeed (btScalar jumpSpeed);

src/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -30,7 +30,6 @@ enum btTypedConstraintType
 	HINGE_CONSTRAINT_TYPE,
 	CONETWIST_CONSTRAINT_TYPE,
 	D6_CONSTRAINT_TYPE,
-	VEHICLE_CONSTRAINT_TYPE,
 	SLIDER_CONSTRAINT_TYPE
 };
 

src/BulletDynamics/Dynamics/btActionInterface.h

@@ -0,0 +1,39 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef _BT_ACTION_INTERFACE_H
+#define _BT_ACTION_INTERFACE_H
+
+class btIDebugDraw;
+class btCollisionWorld;
+
+#include "LinearMath/btScalar.h"
+
+///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
+class btActionInterface
+{
+	public:
+
+	virtual ~btActionInterface()
+	{
+	}
+
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
+
+	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
+
+};
+
+#endif //_BT_ACTION_INTERFACE_H

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp

@@ -90,8 +90,7 @@ void	btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
 	integrateTransforms(timeStep * toi);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
+	updateActions(timeStep);
-
 
 	updateActivationState( timeStep );
 	

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -51,15 +51,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 
-
+#include "BulletDynamics/Dynamics/btActionInterface.h"
-//vehicle
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
-#include "BulletDynamics/Vehicle/btWheelInfo.h"
-//character
-#include "BulletDynamics/Character/btCharacterControllerInterface.h"
-
-#include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
 
@@ -212,32 +204,11 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 		}
 	
-		for (  i=0;i<this->m_vehicles.size();i++)
+		if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
 		{
-			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
+			for (i=0;i<m_actions.size();i++)
 			{
-				btVector3 wheelColor(0,255,255);
+				m_actions[i]->debugDraw(m_debugDrawer);
-				if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
-				{
-					wheelColor.setValue(0,0,255);
-				} else
-				{
-					wheelColor.setValue(255,0,255);
-				}
-		
-				btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
-
-				btVector3 axle = btVector3(	
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
-					m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
-
-
-				//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
-				//debug wheels (cylinders)
-				m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
-				m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
-
 			}
 		}
 	}
@@ -309,7 +280,7 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 				synchronizeSingleMotionState(body);
 		}
 	}
-
+/*
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
 	{
 		for ( int i=0;i<this->m_vehicles.size();i++)
@@ -321,6 +292,8 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 			}
 		}
 	}
+	*/
+
 
 }
 
@@ -426,10 +399,8 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	integrateTransforms(timeStep);
 
 	///update vehicle simulation
-	updateVehicles(timeStep);
+	updateActions(timeStep);
 	
-	updateCharacters(timeStep);
-
 	updateActivationState( timeStep );
 
 	if(0 != m_internalTickCallback) {
@@ -493,29 +464,15 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
 }
 
 
-void	btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
+void	btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
 {
-	BT_PROFILE("updateVehicles");
+	BT_PROFILE("updateActions");
 	
-	for ( int i=0;i<m_vehicles.size();i++)
+	for ( int i=0;i<m_actions.size();i++)
 	{
-		btRaycastVehicle* vehicle = m_vehicles[i];
+		m_actions[i]->updateAction( this, timeStep);
-		vehicle->updateVehicle( timeStep);
 	}
 }
-
-void	btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
-{
-	BT_PROFILE("updateCharacters");
-	
-	for ( int i=0;i<m_characters.size();i++)
-	{
-		btCharacterControllerInterface* character = m_characters[i];
-		character->preStep (this);
-		character->playerStep (this,timeStep);
-	}
-}
-
 	
 	
 void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
@@ -572,24 +529,35 @@ void	btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
 	constraint->getRigidBodyB().removeConstraintRef(constraint);
 }
 
-void	btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::addAction(btActionInterface* action)
 {
-	m_vehicles.push_back(vehicle);
+	m_actions.push_back(action);
 }
 
-void	btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
+void	btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
 {
-	m_vehicles.remove(vehicle);
+	m_actions.remove(action);
 }
 
-void	btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
+
+void	btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
 {
-	m_characters.push_back(character);
+	addAction(vehicle);
 }
 
-void	btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
+void	btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
 {
-	m_characters.remove(character);
+	removeAction(vehicle);
+}
+
+void	btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
+{
+	addAction(character);
+}
+
+void	btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
+{
+	removeAction(character);
 }
 
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -23,10 +23,8 @@ class btOverlappingPairCache;
 class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
+class btActionInterface;
 
-
-class btRaycastVehicle;
-class btCharacterControllerInterface;
 class btIDebugDraw;
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -52,12 +50,8 @@ protected:
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
 
+	btAlignedObjectArray<btActionInterface*>	m_actions;
 	
-	btAlignedObjectArray<btRaycastVehicle*>	m_vehicles;
-	
-	btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
-	
-
 	int	m_profileTimings;
 
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
@@ -70,9 +64,7 @@ protected:
 	
 	void	updateActivationState(btScalar timeStep);
 
-	void	updateVehicles(btScalar timeStep);
+	void	updateActions(btScalar timeStep);
-
-	void	updateCharacters(btScalar timeStep);
 
 	void	startProfiling(btScalar timeStep);
 
@@ -105,15 +97,10 @@ public:
 
 	virtual void	removeConstraint(btTypedConstraint* constraint);
 
-	virtual void	addVehicle(btRaycastVehicle* vehicle);
+	virtual void	addAction(btActionInterface*);
 
-	virtual void	removeVehicle(btRaycastVehicle* vehicle);
+	virtual void	removeAction(btActionInterface*);
 	
-	virtual void	addCharacter(btCharacterControllerInterface* character);
-
-	virtual void	removeCharacter(btCharacterControllerInterface* character);
-		
-
 	btSimulationIslandManager*	getSimulationIslandManager()
 	{
 		return m_islandManager;
@@ -130,6 +117,7 @@ public:
 	}
 
 	virtual void	setGravity(const btVector3& gravity);
+
 	virtual btVector3 getGravity () const;
 
 	virtual void	addRigidBody(btRigidBody* body);
@@ -171,6 +159,15 @@ public:
         (void) numTasks;
 	}
 
+	///obsolete, use addAction instead
+	virtual void	addVehicle(btActionInterface* vehicle);
+	///obsolete, use removeAction instead
+	virtual void	removeVehicle(btActionInterface* vehicle);
+	///obsolete, use addAction instead
+	virtual void	addCharacter(btActionInterface* character);
+	///obsolete, use removeAction instead
+	virtual void	removeCharacter(btActionInterface* character);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -20,10 +20,10 @@ subject to the following restrictions:
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 
 class btTypedConstraint;
-class btRaycastVehicle;
+class btActionInterface;
 class btConstraintSolver;
 class btDynamicsWorld;
-class btCharacterControllerInterface;
+
 
 /// Type for the callback for each tick
 typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
@@ -72,14 +72,9 @@ public:
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;}
 
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
+		virtual void	addAction(btActionInterface* action) = 0;
-
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
-
-		virtual void	addCharacter(btCharacterControllerInterface* character) {(void)character;}
-
-		virtual void	removeCharacter(btCharacterControllerInterface* character) {(void)character;}
 
+		virtual void	removeAction(btActionInterface* action) = 0;
 
 		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
 		//existing rigidbodies in the world get gravity assigned too, during this method
@@ -129,6 +124,16 @@ public:
 		}
 
 
+		///obsolete, use addAction instead.
+		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use removeAction instead
+		virtual void	removeVehicle(btActionInterface* vehicle) {(void)vehicle;}
+		///obsolete, use addAction instead.
+		virtual void	addCharacter(btActionInterface* character) {(void)character;}
+		///obsolete, use removeAction instead
+		virtual void	removeCharacter(btActionInterface* character) {(void)character;}
+
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -19,15 +19,13 @@
 #include "btVehicleRaycaster.h"
 #include "btWheelInfo.h"
 #include "LinearMath/btMinMax.h"
-
+#include "LinearMath/btIDebugDraw.h"
-
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
 static btRigidBody s_fixedObject( 0,0,0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
-: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE),
+:m_vehicleRaycaster(raycaster),
-m_vehicleRaycaster(raycaster),
 m_pitchControl(btScalar(0.))
 {
 	m_chassisBody = chassis;
@@ -704,6 +702,36 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 }
 
 
+
+void	btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
+{
+
+	for (int v=0;v<this->getNumWheels();v++)
+	{
+		btVector3 wheelColor(0,255,255);
+		if (getWheelInfo(v).m_raycastInfo.m_isInContact)
+		{
+			wheelColor.setValue(0,0,255);
+		} else
+		{
+			wheelColor.setValue(255,0,255);
+		}
+
+		btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
+
+		btVector3 axle = btVector3(	
+			getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
+			getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
+
+		//debug wheels (cylinders)
+		debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+		debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
+	}
+}
+
+
 void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
 {
 //	RayResultCallback& resultCallback;
@@ -727,3 +755,4 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
 	}
 	return 0;
 }
+

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -17,11 +17,12 @@
 class btDynamicsWorld;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btWheelInfo.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 
 class btVehicleTuning;
 
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btTypedConstraint
+class btRaycastVehicle : public btActionInterface
 {
 
 		btAlignedObjectArray<btVector3>	m_forwardWS;
@@ -73,13 +74,24 @@ public:
 
 	virtual ~btRaycastVehicle() ;
 
-		
+
+	///btActionInterface interface
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	{
+		updateVehicle(step);
+	}
+	
+
+	///btActionInterface interface
+	void	debugDraw(btIDebugDraw* debugDrawer);
+			
 	const btTransform& getChassisWorldTransform() const;
 	
 	btScalar rayCast(btWheelInfo& wheel);
 
 	virtual void updateVehicle(btScalar step);
-
+	
+	
 	void resetSuspension();
 
 	btScalar	getSteeringValue(int wheel) const;
@@ -175,27 +187,6 @@ public:
 		m_indexForwardAxis = forwardIndex;
 	}
 
-	virtual void	buildJacobian()
-	{
-		//not yet
-	}
-
-	virtual void getInfo1 (btConstraintInfo1* info)
-	{
-		info->m_numConstraintRows = 0;
-		info->nub = 0;
-	}
-
-	virtual void getInfo2 (btConstraintInfo2* info)
-	{
-		btAssert(0);
-	}
-
-	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
-	{
-		(void)timeStep;
-		//not yet
-	}
 
 
 };