merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Still need to verify to make sure no unwanted renaming is introduced.

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -94,4 +94,101 @@ public:
 
 };
 
-#endif //BT_DISCRETE_DYNAMICS_WORLD_H
+#endif //BT_DISCRETE_DYNAMICS_WORLD_H=======
+/*
+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_DISCRETE_DYNAMICS_WORLD_H
+#define BT_DISCRETE_DYNAMICS_WORLD_H
+
+#include "btDynamicsWorld.h"
+
+class btDispatcher;
+class btOverlappingPairCache;
+class btConstraintSolver;
+class btSimulationIslandManager;
+class btTypedConstraint;
+struct btContactSolverInfo;
+class btRaycastVehicle;
+
+#include <vector>
+
+///btDiscreteDynamicsWorld provides discrete rigid body simulation
+///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
+class btDiscreteDynamicsWorld : public btDynamicsWorld
+{
+protected:
+
+	btConstraintSolver*	m_constraintSolver;
+
+	btSimulationIslandManager*	m_islandManager;
+
+	std::vector<btTypedConstraint*> m_constraints;
+
+	std::vector<btRaycastVehicle*>	m_vehicles;
+
+	void	predictUnconstraintMotion(float timeStep);
+	
+	void	integrateTransforms(float timeStep);
+		
+	void	updateAabbs();
+
+	void	calculateSimulationIslands();
+
+	void	solveNoncontactConstraints(btContactSolverInfo& solverInfo);
+
+	void	solveContactConstraints(btContactSolverInfo& solverInfo);
+
+	void	updateActivationState(float timeStep);
+
+	void	updateVehicles(float timeStep);
+
+public:
+
+
+	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver);
+
+	btDiscreteDynamicsWorld();
+		
+	virtual ~btDiscreteDynamicsWorld();
+		
+	virtual void	stepSimulation( float timeStep);
+
+	void	addConstraint(btTypedConstraint* constraint);
+
+	void	removeConstraint(btTypedConstraint* constraint);
+
+	void	addVehicle(btRaycastVehicle* vehicle);
+
+	void	removeVehicle(btRaycastVehicle* vehicle);
+
+	btSimulationIslandManager*	GetSimulationIslandManager()
+	{
+		return m_islandManager;
+	}
+
+	const btSimulationIslandManager*	GetSimulationIslandManager() const 
+	{
+		return m_islandManager;
+	}
+
+	btCollisionWorld*	GetCollisionWorld()
+	{
+		return this;
+	}
+
+};
+
+#endif //BT_DISCRETE_DYNAMICS_WORLD_H