made 'calculateLocalInertia' const, thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514

- applied a large patch to remove warnings
Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
- disabled 16-byte alignement on btQuadWord class, it causes problems under PS3 Linux. Need to check out why.

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp

@@ -206,7 +206,6 @@ void	btConeTwistConstraint::solveConstraint(btScalar	timeStep)
 	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
 
 	btScalar tau = btScalar(0.3);
-	btScalar damping = btScalar(1.);
 
 	//linear part
 	if (!m_angularOnly)

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -263,9 +263,8 @@ void	btHingeConstraint::solveConstraint(btScalar	timeStep)
 	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
 
 	btScalar tau = btScalar(0.3);
-	btScalar damping = btScalar(1.);
 
-//linear part
+	//linear part
 	if (!m_angularOnly)
 	{
 		btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 

src/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -72,4 +72,5 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 
 };
 
-#endif //BT_SOLVER_BODY_H
+#endif //BT_SOLVER_BODY_H
+

src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -20,9 +20,9 @@ subject to the following restrictions:
 static btRigidBody s_fixed(0, 0,0);
 
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
-: m_constraintType (type),
-m_userConstraintType(-1),
+:m_userConstraintType(-1),
 m_userConstraintId(-1),
+m_constraintType (type),
 m_rbA(s_fixed),
 m_rbB(s_fixed),
 m_appliedImpulse(btScalar(0.))
@@ -30,9 +30,9 @@ m_appliedImpulse(btScalar(0.))
 	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
 }
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-: m_constraintType (type),
-m_userConstraintType(-1),
+:m_userConstraintType(-1),
 m_userConstraintId(-1),
+m_constraintType (type),
 m_rbA(rbA),
 m_rbB(s_fixed),
 m_appliedImpulse(btScalar(0.))
@@ -43,9 +43,9 @@ m_appliedImpulse(btScalar(0.))
 
 
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-: m_constraintType (type),
-m_userConstraintType(-1),
+:m_userConstraintType(-1),
 m_userConstraintId(-1),
+m_constraintType (type),
 m_rbA(rbA),
 m_rbB(rbB),
 m_appliedImpulse(btScalar(0.))