Made the move from sourceforge to googlecode (no svn sync any longer)

Fixed BulletColladaConverter load/save Removed btTypedUserInfo Added btHashMap Fixed btCapsuleShape
2008-03-13 05:16:42 +00:00
parent 2f80e7f814
commit fe5386a5c8
20 changed files with 771 additions and 269 deletions
--- a/Demos/BasicDemo/main.cpp
+++ b/Demos/BasicDemo/main.cpp
@@ -17,12 +17,62 @@ subject to the following restrictions:
 #include "GlutStuff.h"
 #include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
+#include "LinearMath/btHashMap.h"

+class OurValue
+	{
+		int m_uid;

+	public:
+		OurValue(const btVector3& initialPos)
+			:m_position(initialPos)
+		{
+			static int gUid=0;
+			m_uid=gUid;
+			gUid++;
+		}
+
+		btVector3	m_position;
+		int	getUid() const
+		{
+			return m_uid;
+		}
+	};
+
+	
 int main(int argc,char** argv)
 {
 	GLDebugDrawer	gDebugDrawer;

+	///testing the btHashMap	
+	btHashMap<btHashKey<OurValue>,OurValue> map;
+	
+	OurValue value1(btVector3(2,3,4));
+	btHashKey<OurValue> key1(value1.getUid());
+	map.insert(key1,value1);
+
+
+	OurValue value2(btVector3(5,6,7));
+	btHashKey<OurValue> key2(value2.getUid());
+	map.insert(key2,value2);
+	
+
+	{
+		OurValue value3(btVector3(7,8,9));
+		btHashKey<OurValue> key3(value3.getUid());
+		map.insert(key3,value3);
+	}
+
+
+	map.remove(key2);
+
+	const OurValue* ourPtr = map.find(key1);
+	for (int i=0;i<map.size();i++)
+	{
+		OurValue* tmp = map.getAtIndex(i);
+		//printf("tmp value=%f,%f,%f\n",tmp->m_position.getX(),tmp->m_position.getY(),tmp->m_position.getZ());
+	}
+	
 	BasicDemo ccdDemo;
 	ccdDemo.initPhysics();
 	ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
--- a/Demos/ColladaDemo/ColladaDemo.cpp
+++ b/Demos/ColladaDemo/ColladaDemo.cpp
@@ -180,7 +180,25 @@ void ColladaDemo::keyboardCallback(unsigned char key, int x, int y)
 	{
 		//save a COLLADA .dae physics snapshot
 		if (gColladaConverter)
-			gColladaConverter->save();
+		{
+			if (gColladaConverter->getLastFileName())
+			{
+				//deal with the name pre/post fixing etc.
+				char	saveName[550];
+				static int saveCount=1;
+				sprintf(saveName,"%s%i",gColladaConverter->getLastFileName(),saveCount++);
+				char* name = &saveName[0];
+				if (name[0] == '/')
+				{
+					name = &saveName[1];
+				} 
+				gColladaConverter->save(name);
+
+			} else
+			{
+				gColladaConverter->save("brandNew.dae");
+			}
+		}
 	} else
 	{
 	DemoApplication::keyboardCallback(key,x,y);
--- a/Extras/BulletColladaConverter/ColladaConverter.cpp
+++ b/Extras/BulletColladaConverter/ColladaConverter.cpp
@@ -14,16 +14,12 @@ subject to the following restrictions:
 */

 /* Some TODO items:
- * Figure out why velocity loading is not working
- * Output convex hull geometry for every single shape
 * fix naming conflicts with BulletUnnamed-* across executions -> need to generate a real unique name.
 * double check geometry sharing
- * handle the case that the user is already using btTypedUserInfo
- * cleanup all of the btTypedUserInfos that we create
 */

+
 #include <string>
-#include "LinearMath/btTypedUserInfo.h"
 #include "ColladaConverter.h"
 #include "btBulletDynamicsCommon.h"
 #include "dae.h"
@@ -50,51 +46,8 @@ subject to the following restrictions:
 #define snprintf _snprintf
 #endif

-#define BT_RIGIDBODY_COLLADA_INFO_TYPE 0xdeed
-class btRigidBodyColladaInfo : public btTypedUserInfo 
-{
-public:
-	domNode* m_node;
-	domRigid_body* m_rigidBody;
-	domInstance_rigid_body* m_instanceRigidBody;

-	btRigidBodyColladaInfo (domNode* node, domRigid_body* rigidBody, domInstance_rigid_body* instanceRigidBody) : btTypedUserInfo()
-	{
-		m_node = node;
-		m_rigidBody = rigidBody;
-		m_instanceRigidBody = instanceRigidBody;
-		setType (BT_RIGIDBODY_COLLADA_INFO_TYPE);
-	}
-};

-#define BT_RIGID_CONSTRAINT_COLLADA_INFO_TYPE 0xcead
-class btRigidConstraintColladaInfo : public btTypedUserInfo
-{
-public:
-	domRigid_constraint* m_rigidConstraint;
-
-	btRigidConstraintColladaInfo (domRigid_constraint* rigidConstraint) : btTypedUserInfo ()
-	{
-		m_rigidConstraint = rigidConstraint;
-		setType (BT_RIGID_CONSTRAINT_COLLADA_INFO_TYPE);
-	}
-};
-
-#define BT_SHAPE_COLLADA_INFO_TYPE 0xbead
-class btShapeColladaInfo : public btTypedUserInfo
-{
-public:
-	domGeometry* m_geometry;
-	btShapeColladaInfo (domGeometry* geometry) : btTypedUserInfo ()
-	{
-		m_geometry = geometry;
-		setType (BT_SHAPE_COLLADA_INFO_TYPE);
-	}
-};
-
-char* getLastFileName();
-char* fixFileName(const char* lpCmdLine);
-//todo: sort out this domInstance_rigid_bodyRef forward definition, put it in the headerfile and make it virtual (make code more re-usable)

 struct	btRigidBodyInput
 {
@@ -121,6 +74,25 @@ struct	btRigidBodyOutput
 };


+int	btRigidBodyColladaInfo::getUid()
+{
+	return m_body->getBroadphaseProxy()->getUid();
+}
+
+
+
+int btRigidConstraintColladaInfo::getUid()
+{
+	if (m_typedConstraint->getUid()==-1)
+	{
+		static int gConstraintUidGenerator=5;
+		m_typedConstraint->setUserConstraintId(gConstraintUidGenerator);
+		gConstraintUidGenerator++;
+	}
+	return m_typedConstraint->getUid();
+}
+
+

 domMatrix_Array emptyMatrixArray;

@@ -643,13 +615,27 @@ domNode* ColladaConverter::findNode (const char* nodeName)
 	return NULL;
 }

+btRigidBodyColladaInfo* ColladaConverter::findRigidBodyColladaInfo(const btRigidBody* body)
+{
+///we assume that the btRigidBody getUid matches btRigidBodyColladaInfo getUid
+
+	int uid = body->getBroadphaseProxy()->getUid();
+	btHashKeyPtr<btRigidBodyColladaInfo*> tmpKey(uid);
+	btRigidBodyColladaInfo** rbciPtr = this->m_rbUserInfoHashMap.find(tmpKey);
+	btRigidBodyColladaInfo* rbci = NULL;
+	if (rbciPtr)
+	{
+		rbci = *rbciPtr;
+	}
+	return rbci;
+}
+
 domNode* ColladaConverter::findNode (btRigidBody* rb)
 {
-	if (rb->getTypedUserInfo())
+
+	btRigidBodyColladaInfo* rbci = findRigidBodyColladaInfo(rb);
+	if (rbci)
 	{
-		btTypedUserInfo* tui = rb->getTypedUserInfo ();
-		btAssert (tui->getType() == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
 		return rbci->m_node;
 	}
 	return NULL;
@@ -679,14 +665,12 @@ domRigid_body* ColladaConverter::findRigid_body (const char* rigidbodyName)
 	return NULL;
 }

-domRigid_body* ColladaConverter::findRigid_body (btRigidBody* rb)
+domRigid_body* ColladaConverter::findRigid_body (const btRigidBody* rb)
 {
-	if (rb->getTypedUserInfo ())
+	btRigidBodyColladaInfo* rbci = findRigidBodyColladaInfo(rb);
+	if (rbci)
 	{
-		btTypedUserInfo* tui = rb->getTypedUserInfo ();
-		btAssert (tui->getType() == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
-		return rbci->m_rigidBody;
+		return rbci->m_domRigidBody;
 	}
 	return NULL;
 }
@@ -713,11 +697,9 @@ domInstance_rigid_body* ColladaConverter::findRigid_body_instance (const char* n

 domInstance_rigid_body* ColladaConverter::findRigid_body_instance (btRigidBody* rb)
 {
-	if (rb->getTypedUserInfo ())
+	btRigidBodyColladaInfo* rbci = findRigidBodyColladaInfo(rb);
+	if (rbci)
 	{
-		btTypedUserInfo* tui = rb->getTypedUserInfo ();
-		btAssert (tui->getType() == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
 		return rbci->m_instanceRigidBody;
 	}
 	return NULL;
@@ -748,14 +730,32 @@ domRigid_constraint* ColladaConverter::findRigid_constraint (const char* constra
 	return NULL;
 }

+btRigidConstraintColladaInfo*	ColladaConverter::findRigidConstraintColladaInfo(btTypedConstraint* constraint)
+{
+	///we assume that the btTypedConstraint getUid matches btRigidConstraintColladaInfo getUid
+	int uid = constraint->getUid();
+	if (uid==-1)
+		return NULL;//not in the map
+
+	btHashKeyPtr<btRigidConstraintColladaInfo*> tmpKey(uid);
+	btRigidConstraintColladaInfo** rbciPtr = this->m_constraintUserInfoHashMap.find(tmpKey);
+	btRigidConstraintColladaInfo* rbci = NULL;
+	if (rbciPtr)
+	{
+		rbci = *rbciPtr;
+	}
+	return rbci;
+
+}
+
 domRigid_constraint* ColladaConverter::findRigid_constraint (btTypedConstraint* constraint)
 {
-	if (constraint->getTypedUserInfo ())
+
+	btRigidConstraintColladaInfo* rcci = findRigidConstraintColladaInfo(constraint);
+
+	if (rcci)
 	{
-		btTypedUserInfo* tui = constraint->getTypedUserInfo ();
-		btAssert (tui->getType () == BT_RIGID_CONSTRAINT_COLLADA_INFO_TYPE);
-		btRigidConstraintColladaInfo* rcci = (btRigidConstraintColladaInfo*)tui;
-		return rcci->m_rigidConstraint;
+		return rcci->m_domRigidConstraint;
 	}
 	return NULL;
 }
@@ -777,18 +777,17 @@ domGeometry* ColladaConverter::findGeometry (const char* shapeName)
 	}
 	return NULL;
 }
-
+/*
 domGeometry* ColladaConverter::findGeometry (btCollisionShape* shape)
 {
 	if (shape->getTypedUserInfo ())
 	{
-		btTypedUserInfo* tui = shape->getTypedUserInfo ();
-		btAssert (tui->getType () == BT_SHAPE_COLLADA_INFO_TYPE);
 		btShapeColladaInfo* sci = (btShapeColladaInfo*)tui;
 		return sci->m_geometry;
 	}
 	return 0;
 }
+*/


 void	ColladaConverter::prepareConstraints(ConstraintInput& input)
@@ -824,10 +823,9 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 					for (int i=0;i<getNumRigidBodies();i++)
 					{
 						btRigidBody* body = getRigidBody (i);
-						btTypedUserInfo* tui = body->getTypedUserInfo();
-						btAssert (tui->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-						btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
-						domRigid_body* domRigidBody = rbci->m_rigidBody;
+						domRigid_body* domRigidBody = findRigid_body(body);
+						btAssert(domRigidBody);
+
 						const char* name = domRigidBody->getSid();
 						if (name)
 						{
@@ -971,8 +969,9 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 							}

 							// XXX: User must free this name before destroy the constraint
-							btTypedUserInfo* tui = new btRigidConstraintColladaInfo (rigidConstraintRef);
-							constraint->setTypedUserInfo (tui);
+							btRigidConstraintColladaInfo* tui = new btRigidConstraintColladaInfo (constraint,rigidConstraintRef, constraintRef);
+							m_constraintUserInfoHashMap.insert(btHashKeyPtr<btRigidConstraintColladaInfo*>(tui->getUid()),tui);
+
 							printf("Added constraint %s to the world\n", rigidConstraintRef->getSid());
 						} else
 						{
@@ -1035,8 +1034,9 @@ void	ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
 	btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
 	if (body)
 	{
-		btTypedUserInfo* tui = new btRigidBodyColladaInfo (input.m_nodeRef, input.m_rigidBodyRef2, input.m_instanceRigidBodyRef);
-		body->setTypedUserInfo (tui);
+		btRigidBodyColladaInfo* tui = new btRigidBodyColladaInfo (body,input.m_nodeRef, input.m_rigidBodyRef2, input.m_instanceRigidBodyRef);
+		m_rbUserInfoHashMap.insert(btHashKeyPtr<btRigidBodyColladaInfo*>(tui->getUid()),tui);
+
 		/* if the body is dynamic restore it's velocity */
 		if (body->getInvMass() != 0.0)
 		{
@@ -1622,8 +1622,8 @@ void ColladaConverter::buildShape (btCollisionShape* shape, void* collada_shape,
 	}
 }

-void
-ColladaConverter::addRigidBody (btRigidBody* rb, const char* nodeName, const char* shapeName)
+
+domRigid_body* ColladaConverter::addRigidBody (btRigidBody* rb, const char* nodeName, const char* shapeName)
 {
 	btCollisionShape* shape = rb->getCollisionShape ();
 	char bodyName[512];
@@ -1664,15 +1664,19 @@ ColladaConverter::addRigidBody (btRigidBody* rb, const char* nodeName, const cha
 	mi->setUrl (material_name);
 	// collision shape

-	domRigid_body::domTechnique_common::domShape* colladaShape = (domRigid_body::domTechnique_common::domShape*)common->createAndPlace (COLLADA_ELEMENT_SHAPE);	
+	domRigid_body::domTechnique_common::domShape* colladaShape = (domRigid_body::domTechnique_common::domShape*)common->createAndPlace (COLLADA_ELEMENT_SHAPE);
 	buildShape (shape, colladaShape, shapeName);
+
+	return colladaRigidBody;
 }

-void ColladaConverter::addNode (btRigidBody* rb, const char* nodeName, const char* shapeName)
+
+domNode* ColladaConverter::addNode (btRigidBody* rb, const char* nodeName, const char* shapeName)
 {
 	domVisual_scene* vscene = getDefaultVisualScene ();

 	domNode* node = (domNode*)vscene->createAndPlace (COLLADA_ELEMENT_NODE);
+	
 	node->setId (nodeName);
 	node->setName (nodeName);

@@ -1714,18 +1718,20 @@ void ColladaConverter::addNode (btRigidBody* rb, const char* nodeName, const cha
 	</instance_geometry>
 	*/

-
+	return node;
 }

-void ColladaConverter::addConstraint (btTypedConstraint* constraint, const char* constraintName)
+
+domRigid_constraint* ColladaConverter::addConstraint (btTypedConstraint* constraint, const char* constraintName)
 {
 	if (!constraint->getConstraintType() != D6_CONSTRAINT_TYPE)
-		return;
+		return NULL;

 	btGeneric6DofConstraint* g6c = (btGeneric6DofConstraint*)constraint;
 	const btRigidBody& rb1 = g6c->getRigidBodyA ();
 	const btRigidBody& rb2 = g6c->getRigidBodyB ();
-	bool single = rb2.getTypedUserInfo() == NULL || rb2.getTypedUserInfo()->getPrivatePointer () == NULL;
+	
+	bool single = (findRigid_body(&rb2)==NULL);

 	domPhysics_model* physicsModel = getDefaultPhysicsModel ();
 	domRigid_constraint* domRigidConstraint = (domRigid_constraint*)physicsModel->createAndPlace (COLLADA_ELEMENT_RIGID_CONSTRAINT);
@@ -1733,10 +1739,9 @@ void ColladaConverter::addConstraint (btTypedConstraint* constraint, const char*
 	domRigidConstraint->setSid (constraintName);
 	if (single)
 	{
-		btTypedUserInfo* tui = rb1.getTypedUserInfo();
-		btAssert (tui->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
-		domRigid_body* domRigidBody = rbci->m_rigidBody;
+		domRigid_body* domRigidBody = findRigid_body(&rb1);
+		btAssert(domRigidBody);
+
 		const char* name = domRigidBody->getName();
 		btTransform rb1Frame = g6c->getFrameOffsetA ();
 		printf("Joint with single body: %s\n", name);
@@ -1769,16 +1774,8 @@ void ColladaConverter::addConstraint (btTypedConstraint* constraint, const char*

 		}
 	} else {
-		btTypedUserInfo* tui1 = rb1.getTypedUserInfo();
-		btTypedUserInfo* tui2 = rb2.getTypedUserInfo();
-		btAssert (tui1->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btAssert (tui2->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-
-		btRigidBodyColladaInfo* rbci1 = (btRigidBodyColladaInfo*)tui1;
-		domRigid_body* domRigidBody1 = rbci1->m_rigidBody;
-
-		btRigidBodyColladaInfo* rbci2 = (btRigidBodyColladaInfo*)tui2;
-		domRigid_body* domRigidBody2 = rbci2->m_rigidBody;
+		domRigid_body* domRigidBody1 = findRigid_body(&rb1);
+		domRigid_body* domRigidBody2 = findRigid_body(&rb2);

 		const char* name1 = domRigidBody1->getName();
 		const char* name2 = domRigidBody2->getName();
@@ -1876,17 +1873,18 @@ void ColladaConverter::addConstraint (btTypedConstraint* constraint, const char*
 		max->getValue().set (1, limit->m_upperLimit[1]);
 		max->getValue().set (2, limit->m_upperLimit[2]);
 	}
+	return domRigidConstraint;
 }

-void ColladaConverter::addConstraintInstance (btTypedConstraint* constraint, const char* constraintName)
+domInstance_rigid_constraint*  ColladaConverter::addConstraintInstance (btTypedConstraint* constraint, const char* constraintName)
 {
 	domInstance_physics_model* mi = getDefaultInstancePhysicsModel ();
 	domInstance_rigid_constraint* rci = (domInstance_rigid_constraint*)mi->createAndPlace (COLLADA_ELEMENT_INSTANCE_RIGID_CONSTRAINT);
 	rci->setConstraint (constraintName);
+	return rci;
 }

-
-void ColladaConverter::addRigidBodyInstance (btRigidBody* rb, const char* nodeName)
+domInstance_rigid_body* ColladaConverter::addRigidBodyInstance (btRigidBody* rb, const char* nodeName)
 {
 	char targetName[512];
 	char bodyName[512];
@@ -1910,6 +1908,7 @@ void ColladaConverter::addRigidBodyInstance (btRigidBody* rb, const char* nodeNa
 		btVector3 btLv = rb->getLinearVelocity ();
 		lv->getValue().set3 (btLv[0], btLv[1], btLv[2]);
 	}
+	return rbi;
 }

 void ColladaConverter::addMaterial (btRigidBody* rb, const char* nodeName)
@@ -2037,15 +2036,12 @@ ColladaConverter::updateConstraint (btTypedConstraint* constraint, domRigid_cons
 	btGeneric6DofConstraint* g6c = (btGeneric6DofConstraint*)constraint;
 	const btRigidBody& rb1 = g6c->getRigidBodyA ();
 	const btRigidBody& rb2 = g6c->getRigidBodyB ();
-	bool single = rb2.getTypedUserInfo() == NULL || rb2.getTypedUserInfo()->getPrivatePointer () == NULL;
+	bool single = (findRigid_body(&rb2)==NULL);

 	if (single)
 	{
 		printf("Joint with single body\n");
-		btTypedUserInfo* tui = rb1.getTypedUserInfo();
-		btAssert (tui->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btRigidBodyColladaInfo* rbci = (btRigidBodyColladaInfo*)tui;
-		domRigid_body* domRigidBody = rbci->m_rigidBody;
+		domRigid_body* domRigidBody = findRigid_body(&rb1);
 		const char* name = domRigidBody->getSid();
 		btTransform rb1Frame = g6c->getFrameOffsetA ();
 		domRigid_constraint::domAttachmentRef attachment = daeSafeCast<domRigid_constraint::domAttachment>(rigidConstraint->createAndPlace (COLLADA_ELEMENT_ATTACHMENT));
@@ -2078,17 +2074,8 @@ ColladaConverter::updateConstraint (btTypedConstraint* constraint, domRigid_cons
 		}
 	} else {
 		printf("Joint attached to two bodies\n");
-
-		btTypedUserInfo* tui1 = rb1.getTypedUserInfo();
-		btTypedUserInfo* tui2 = rb2.getTypedUserInfo();
-		btAssert (tui1->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-		btAssert (tui2->getType () == BT_RIGIDBODY_COLLADA_INFO_TYPE);
-
-		btRigidBodyColladaInfo* rbci1 = (btRigidBodyColladaInfo*)tui1;
-		domRigid_body* domRigidBody1 = rbci1->m_rigidBody;
-
-		btRigidBodyColladaInfo* rbci2 = (btRigidBodyColladaInfo*)tui2;
-		domRigid_body* domRigidBody2 = rbci2->m_rigidBody;
+		domRigid_body* domRigidBody1 = findRigid_body(&rb1);
+		domRigid_body* domRigidBody2 = findRigid_body(&rb2);

 		const char* name1 = domRigidBody1->getSid();
 		const char* name2 = domRigidBody2->getSid();
@@ -2208,14 +2195,13 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
 		char nodeNameGen[512];
 		char shapeNameGen[512];

+		domNode* dNode=NULL;
+		domRigid_body* dRigidBody=NULL;
+		domInstance_rigid_body* dInstanceRigidBody=NULL;
+
 		printf("New body\n");
 		btCollisionShape* shape = body->getCollisionShape ();

-		if (body->getTypedUserInfo() != NULL && body->getTypedUserInfo()->getName() != NULL)
-			nodeName = body->getTypedUserInfo()->getName ();
-
-		if (shape->getTypedUserInfo() && shape->getTypedUserInfo()->getName())
-			shapeName = body->getTypedUserInfo ()->getName();

 		if (!nodeName)
 		{
@@ -2248,48 +2234,57 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
 			{
 				char concaveShapeName[256];
 				sprintf(concaveShapeName,"RenderMesh%s",shapeName);
-				addNode (body, nodeName, concaveShapeName);
+				dNode = addNode (body, nodeName, concaveShapeName);
 				break;
 			}
 		default:
 			{
-				addNode (body, nodeName, shapeName);
+				dNode = addNode (body, nodeName, shapeName);
 			}
 		};

 		addMaterial (body, nodeName);
-		addRigidBody (body, nodeName, shapeName);
-		addRigidBodyInstance (body, nodeName);
+		
+		dRigidBody = addRigidBody (body, nodeName, shapeName);
+		dInstanceRigidBody = addRigidBodyInstance (body, nodeName);
+
+
+		btRigidBodyColladaInfo* value = new btRigidBodyColladaInfo(body,dNode,dRigidBody,dInstanceRigidBody);
+		m_rbUserInfoHashMap.insert(btHashKeyPtr<btRigidBodyColladaInfo*>(value->getUid()),value);
+		
 	}
 }

 void ColladaConverter::syncOrAddConstraint (btTypedConstraint* constraint)
 {
 	domRigid_constraintRef rigidConstraint = findRigid_constraint (constraint);
-	return;
-
+	
 	static int random_node_name_key = 0;
 	if (rigidConstraint)
 	{
 		updateConstraint (constraint, rigidConstraint);
 	} else {
-		btTypedUserInfo* tui = constraint->getTypedUserInfo ();
+		
+		
 		char namebuf[512];
 		const char* constraintName = NULL;
-		if (tui)
-		{
-			btAssert (tui->getType () == BT_RIGID_CONSTRAINT_COLLADA_INFO_TYPE);
-			if (tui->getName())
-				constraintName = tui->getName();
-		}
 		if (!constraintName)
 		{
 			// generate one
 			sprintf(&namebuf[0], "BulletUnnamedConstraint-%d", random_node_name_key);
 			constraintName = &namebuf[0];
 		}
-		addConstraint (constraint, constraintName);
-		addConstraintInstance (constraint, constraintName);
+
+		domRigid_constraint* dRigidConstraint = addConstraint (constraint, constraintName);
+		if (!dRigidConstraint)
+			return;
+
+		domInstance_rigid_constraint* dInstanceRigidConstraint = addConstraintInstance (constraint, constraintName);
+
+		btRigidConstraintColladaInfo* value = new btRigidConstraintColladaInfo(constraint,dRigidConstraint,dInstanceRigidConstraint);
+		this->m_constraintUserInfoHashMap.insert(btHashKeyPtr<btRigidConstraintColladaInfo*>(value->getUid()),value);
+
+		
 	}
 }

@@ -2378,18 +2373,6 @@ bool ColladaConverter::save(const char* filename)
 	}

 	{
-		//let the user deal with the name pre/post fixing etc.
-		/*
-		char	saveName[550];
-		static int saveCount=1;
-		sprintf(saveName,"%s%i",getLastFileName(),saveCount++);
-		char* name = &saveName[0];
-		if (name[0] == '/')
-		{
-			name = &saveName[1];
-		} 
-		*/
-
 		m_collada->saveAs (filename);
 	}
 #if 0
@@ -2513,23 +2496,28 @@ bool ColladaConverter::save(const char* filename)
 }

 //some code that de-mangles the windows filename passed in as argument
-char cleaned_filename[513];
-char* getLastFileName()
+
+
+char* ColladaConverter::getLastFileName()
 {
-	return cleaned_filename;
+	return m_cleaned_filename;
 }


-char* fixFileName(const char* lpCmdLine)
+char* ColladaConverter::fixFileName(const char* lpCmdLine)
 {

+	for (int i=0;i<513;i++)
+	{
+		m_cleaned_filename[i]=0;
+	}

 	// We might get a windows-style path on the command line, this can mess up the DOM which expects
 	// all paths to be URI's.  This block of code does some conversion to try and make the input
 	// compliant without breaking the ability to accept a properly formatted URI.  Right now this only
 	// displays the first filename
 	const char *in = lpCmdLine;
-	char* out = cleaned_filename;
+	char* out = m_cleaned_filename;
 	*out = '\0';
 	// If the first character is a ", skip it (filenames with spaces in them are quoted)
 	if(*in == '\"')
@@ -2560,8 +2548,8 @@ char* fixFileName(const char* lpCmdLine)
 		out++;
 	}
 	
-	cleaned_filename[i+1] = '\0'; 
-	return cleaned_filename;
+	
+	return m_cleaned_filename;
 }


@@ -2792,7 +2780,7 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 								
 								//btTriangleMeshShape
 							}
-							rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
+							//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));

 						} 
 					} else
@@ -2835,7 +2823,7 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 							if (numAddedVerts > 0)
 							{
 								rbOutput.m_colShape = convexHull;
-								rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
+								//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
 							} else
 							{
 								delete convexHull;
@@ -2983,7 +2971,7 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 					if (convexHullShape->getNumVertices())
 					{
 						rbOutput.m_colShape = convexHullShape;
-						rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
+						//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
 						printf("created convexHullShape with %i points\n",convexHullShape->getNumVertices());
 					} else
 					{
@@ -3144,3 +3132,74 @@ btVector3 ColladaConverter::getGravity ()
 {
 	return m_dynamicsWorld->getGravity ();
 }
+
+
+void ColladaConverter::registerRigidBody(btRigidBody* body, const char* name)
+{
+	
+	btRigidBodyColladaInfo* rbci = findRigidBodyColladaInfo(body);
+
+	if (!rbci)
+	{
+		syncOrAddRigidBody (body);
+		rbci = findRigidBodyColladaInfo(body);
+	}
+
+	// update dom
+	char bodyName[512];
+	snprintf(&bodyName[0], 512, "%s-RigidBody", name);
+	rbci->m_domRigidBody->setSid (bodyName);
+	rbci->m_domRigidBody->setName (bodyName);
+	rbci->m_node->setId (name);
+	rbci->m_node->setName (name);
+	rbci->m_instanceRigidBody->setBody (bodyName);
+	daeURI uri;
+	uri.setElement( rbci->m_node );
+	uri.resolveURI();
+	rbci->m_instanceRigidBody->setTarget (uri);
+
+
+	int i;
+	for (i = 0; i < body->getNumConstraintRefs(); i++)
+	{
+		btTypedConstraint* constraint = body->getConstraintRef (i);
+		
+		// not support by the dom
+		if (!constraint->getConstraintType() != D6_CONSTRAINT_TYPE)
+			continue;
+
+		btRigidConstraintColladaInfo* rcci = findRigidConstraintColladaInfo(constraint);
+
+		// not added to the dom yet
+		if (!rcci)
+			continue;
+
+		domRigid_constraint* rigidConstraint = rcci->m_domRigidConstraint;
+
+		if (&constraint->getRigidBodyA() == body)
+		{
+			domRigid_constraint::domRef_attachment* refAttachment = (domRigid_constraint::domRef_attachment*)rigidConstraint->getRef_attachment();
+			refAttachment->setRigid_body (bodyName);
+		} else if (&constraint->getRigidBodyB() == body) {
+			domRigid_constraint::domAttachment* attachment = (domRigid_constraint::domAttachment*)rigidConstraint->getAttachment ();
+			attachment->setRigid_body (bodyName);
+		}
+	}
+
+	
+}
+
+void ColladaConverter::registerConstraint(btTypedConstraint* constraint, const char* name)
+{
+
+	btRigidConstraintColladaInfo* rcci = findRigidConstraintColladaInfo(constraint);
+	if (!rcci)
+	{
+		syncOrAddConstraint (constraint);
+		rcci = findRigidConstraintColladaInfo(constraint);
+	}
+
+	rcci->m_domRigidConstraint->setName(name);
+	rcci->m_domRigidConstraint->setSid(name);
+	rcci->m_domInstanceRigidConstraint->setConstraint (name);
+}
--- a/Extras/BulletColladaConverter/ColladaConverter.h
+++ b/Extras/BulletColladaConverter/ColladaConverter.h
@@ -20,20 +20,86 @@ subject to the following restrictions:

 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"

 class btCollisionShape;
 class btRigidBody;
 class btTypedConstraint;
 class btDynamicsWorld;
 class ConstraintInput;
+class btRigidBodyColladaInfo;
+
+class btRigidBodyColladaInfo
+{
+public:
+	class domNode* m_node;
+	class domRigid_body* m_domRigidBody;
+	class domInstance_rigid_body* m_instanceRigidBody;
+	btRigidBody*	m_body;
+
+	int	getUid();
+
+	btRigidBodyColladaInfo (btRigidBody* body, domNode* node, domRigid_body* rigidBody, domInstance_rigid_body* instanceRigidBody)
+	{
+		m_body = body;
+		m_node = node;
+		m_domRigidBody = rigidBody;
+		m_instanceRigidBody = instanceRigidBody;
+	}
+};
+
+
+class btRigidConstraintColladaInfo
+{
+public:
+	btTypedConstraint* m_typedConstraint;
+	class domRigid_constraint* m_domRigidConstraint;
+	class domInstance_rigid_constraint* m_domInstanceRigidConstraint;
+
+	int getUid();
+
+	btRigidConstraintColladaInfo (btTypedConstraint* constraint, domRigid_constraint* rigidConstraint, domInstance_rigid_constraint* domInstanceRigidConstraint) 
+	{
+		m_typedConstraint = constraint;
+		m_domRigidConstraint = rigidConstraint;
+		m_domInstanceRigidConstraint = domInstanceRigidConstraint;
+	}
+
+
+};
+
+
+/*
+
+class btShapeColladaInfo 
+{
+public:
+	domGeometry* m_geometry;
+
+	int getUid();
+
+	btShapeColladaInfo (domGeometry* geometry) : btTypedUserInfo ()
+	{
+		m_geometry = geometry;
+	}
+};
+*/
+

 ///ColladaConverter helps converting the physics assets from COLLADA DOM into physics objects
 class ColladaConverter
 {
+	char m_cleaned_filename[513];
+
 protected:

 	btDynamicsWorld* m_dynamicsWorld;

+	btHashMap<btHashKeyPtr<btRigidBodyColladaInfo*>,btRigidBodyColladaInfo*>	m_rbUserInfoHashMap;
+	btHashMap<btHashKeyPtr<btRigidConstraintColladaInfo*>,btRigidConstraintColladaInfo*> m_constraintUserInfoHashMap;
+	
+	
 	class DAE* m_collada;
 	class domCOLLADA* m_dom;
 	char* m_filename;
@@ -50,6 +116,9 @@ protected:

 	bool convert ();

+	btRigidBodyColladaInfo*			findRigidBodyColladaInfo(const btRigidBody* body);
+	btRigidConstraintColladaInfo*	findRigidConstraintColladaInfo(btTypedConstraint* constraint);
+
 	/* Searches based on matching name/id */
 	class domNode* findNode (const char* nodeName);
 	class domRigid_body* findRigid_body (const char* rigidBodyName);
@@ -57,12 +126,11 @@ protected:
 	class domRigid_constraint* findRigid_constraint (const char* constraintName);
 	class domGeometry* findGeometry (const char* shapeName);

-	/* Use btTypedUserInfo->getPrivatePointer() */
 	class domNode* findNode (btRigidBody* rb);
-	class domRigid_body* findRigid_body (btRigidBody* rb);
+	class domRigid_body* findRigid_body (const btRigidBody* rb);
 	class domInstance_rigid_body* findRigid_body_instance (btRigidBody* rb);
 	class domRigid_constraint* findRigid_constraint (btTypedConstraint* constraint);
-	class domGeometry* findGeometry (btCollisionShape* shape);
+	//class domGeometry* findGeometry (btCollisionShape* shape);

 	/* These are the locations that NEW elements will be added to */
 	class domLibrary_geometries* getDefaultGeomLib ();
@@ -79,12 +147,12 @@ protected:
 	void addConvexHull (btCollisionShape* shape, const char* nodeName);
 	void addConvexMesh (btCollisionShape* shape, const char* nodeName);
 	void addConcaveMesh(btCollisionShape* shape, const char* nodeName);
-	void addNode       (btRigidBody* body, const char* nodeName, const char* shapeName);
-	void addConstraint (btTypedConstraint* constraint, const char* constraintName);
-	void addConstraintInstance (btTypedConstraint* constraint, const char* constraintName);
+	class domNode* addNode       (btRigidBody* body, const char* nodeName, const char* shapeName);
+	class domRigid_constraint*	addConstraint (btTypedConstraint* constraint, const char* constraintName);
+	class domInstance_rigid_constraint* addConstraintInstance (btTypedConstraint* constraint, const char* constraintName);
 	void addMaterial   (btRigidBody* body, const char* nodeName);
-	void addRigidBody  (btRigidBody* body, const char* nodeName, const char* shapeName);
-	void addRigidBodyInstance (btRigidBody* body, const char* nodeName);
+	class domRigid_body* addRigidBody  (btRigidBody* body, const char* nodeName, const char* shapeName);
+	class domInstance_rigid_body*  addRigidBodyInstance (btRigidBody* body, const char* nodeName);

 	void updateRigidBodyPosition (btRigidBody* body, class domNode* node);
 	void updateRigidBodyVelocity (btRigidBody* body);
@@ -121,6 +189,11 @@ public:
 		return m_use4componentVertices;
 	}
 	
+	void registerRigidBody(btRigidBody* body, const char* name);
+	void deRegisterRigidBody(btRigidBody* body);
+
+	void registerConstraint(btTypedConstraint* constraint, const char* name);
+	void deRegisterConstraint(btTypedConstraint* constraint);


 	///those virtuals are called by load and save.
@@ -148,6 +221,10 @@ public:
 	{
 	};

+	char* getLastFileName();
+
+	char* fixFileName(const char* lpCmdLine);
+
 };

 #endif //COLLADA_CONVERTER_H
--- a/Extras/BulletMultiThreaded/SpuCollisionTaskProcess.cpp
+++ b/Extras/BulletMultiThreaded/SpuCollisionTaskProcess.cpp
@@ -134,8 +134,23 @@ void SpuCollisionTaskProcess::issueTask2()
 		unsigned int taskId;
 		unsigned int outputSize;

+		
+		for (int i=0;i<m_maxNumOutstandingTasks;i++)
+		  {
+			  if (m_taskBusy[i])
+			  {
+				  taskId = i;
+				  break;
+			  }
+		  }
+
+	  btAssert(taskId>=0);
+
+	  
 		m_threadInterface->waitForResponse(&taskId, &outputSize);

+//		printf("issueTask taskId %d completed, numBusy=%d\n",taskId,m_numBusyTasks);
+
 		//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);

 		//postProcess(taskId, outputSize);
@@ -251,15 +266,27 @@ SpuCollisionTaskProcess::flush2()
 	while(m_numBusyTasks > 0)
 	{
 	  // Consolidating SPU code
-	  unsigned int taskId;
+	  unsigned int taskId=-1;
 	  unsigned int outputSize;
 	  
+	  for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
+
+	  btAssert(taskId>=0);
+
+	
 	  {
 			
 		// SPURS support.
 		  m_threadInterface->waitForResponse(&taskId, &outputSize);
 	  }
-
+//		 printf("flush2 taskId %d completed, numBusy =%d \n",taskId,m_numBusyTasks);
 		//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);

 		//postProcess(taskId, outputSize);
--- a/Extras/BulletMultiThreaded/SpuParallelSolver.cpp
+++ b/Extras/BulletMultiThreaded/SpuParallelSolver.cpp
@@ -540,6 +540,15 @@ SpuSolverTaskDesc* SolverTaskScheduler::getTask()
 			unsigned int taskId;
 			unsigned int outputSize;

+			for (int i=0;i<m_maxNumOutstandingTasks;i++)
+			  {
+				  if (m_taskBusy[i])
+				  {
+					  taskId = i;
+					  break;
+				  }
+			  }
+
 			m_threadInterface->waitForResponse(&taskId, &outputSize);

 			m_taskBusy[taskId] = false;
@@ -575,6 +584,14 @@ void SolverTaskScheduler::flushTasks()
 	{
 		unsigned int taskId;
 		unsigned int outputSize;
+		for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }

 		m_threadInterface->waitForResponse(&taskId, &outputSize);

--- a/Extras/BulletMultiThreaded/SpuRaycastTaskProcess.cpp
+++ b/Extras/BulletMultiThreaded/SpuRaycastTaskProcess.cpp
@@ -87,6 +87,14 @@ void SpuRaycastTaskProcess::issueTask2()
 		unsigned int taskId;
 		unsigned int outputSize;

+		for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
 		m_threadInterface->waitForResponse(&taskId, &outputSize);

 		//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
@@ -154,6 +162,15 @@ SpuRaycastTaskProcess::flush2()
 	  unsigned int taskId;
 	  unsigned int outputSize;
 	  
+	  for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
+
 	  //printf("Busy tasks... %d\n", m_numBusyTasks);

 	  {
--- a/Extras/BulletMultiThreaded/SpuSampleTaskProcess.cpp
+++ b/Extras/BulletMultiThreaded/SpuSampleTaskProcess.cpp
@@ -138,6 +138,14 @@ void SpuSampleTaskProcess::issueTask(void* sampleMainMemPtr,int sampleValue)
 		unsigned int taskId;
 		unsigned int outputSize;

+		for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
 		m_threadInterface->waitForResponse(&taskId, &outputSize);

 		//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
@@ -182,6 +190,14 @@ void SpuSampleTaskProcess::flush()
 	  unsigned int taskId;
 	  unsigned int outputSize;
 	  
+	  for (int i=0;i<m_maxNumOutstandingTasks;i++)
+	  {
+		  if (m_taskBusy[i])
+		  {
+			  taskId = i;
+			  break;
+		  }
+	  }
 	  {
 			
 		  m_threadInterface->waitForResponse(&taskId, &outputSize);
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -99,9 +99,9 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 	int m_unusedPadding; //making the structure 16 bytes, better for alignment etc.

-	SIMD_FORCE_INLINE int getUid()
+	SIMD_FORCE_INLINE int getUid() const
 	{
-		return m_uniqueId;//(int)this;
+		return m_uniqueId;
 	}

 	//used for memory pools
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -138,6 +138,11 @@ btBroadphasePair* btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, bt

 	int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);

+	if (hash >= m_hashTable.size())
+	{
+		return NULL;
+	}
+
 	int index = m_hashTable[hash];
 	while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
 	{
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -26,7 +26,6 @@ btCollisionObject::btCollisionObject()
 		m_deactivationTime(btScalar(0.)),
 		m_friction(btScalar(0.5)),
 		m_restitution(btScalar(0.)),
-		m_typedUserInfo (NULL),
 		m_userObjectPointer(0),
 		m_internalOwner(0),
 		m_hitFraction(btScalar(1.)),
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -27,7 +27,6 @@ subject to the following restrictions:

 struct	btBroadphaseProxy;
 class	btCollisionShape;
-class   btTypedUserInfo;
 #include "LinearMath/btMotionState.h"
 #include "LinearMath/btAlignedAllocator.h"

@@ -70,8 +69,6 @@ protected:
 	///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
 	void*			m_internalOwner;

-	btTypedUserInfo*        m_typedUserInfo;
-
 	///time of impact calculation
 	btScalar		m_hitFraction; 
 	
@@ -337,15 +334,6 @@ public:
 		m_userObjectPointer = userPointer;
 	}

-	btTypedUserInfo* getTypedUserInfo () const
-	{
-		return m_typedUserInfo;
-	}
-
-	void setTypedUserInfo (btTypedUserInfo* typedUserInfo)
-	{
-		m_typedUserInfo = typedUserInfo;
-	}

 	inline bool checkCollideWith(btCollisionObject* co)
 	{
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -112,7 +112,6 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 		btCollisionShape* tmpShape = ob->getCollisionShape();

 		//copy over user pointers to temporary shape
-		tm.setTypedUserInfo(tmpShape->getTypedUserInfo());
 		tm.setUserPointer(tmpShape->getUserPointer());
 		
 		ob->setCollisionShape( &tm );
--- a/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -48,7 +48,7 @@ public:
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
-			halfExtents[m_upAxis] = getRadius()*btScalar(2.0) + btScalar(0.5)*getHalfHeight();
+			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
 			btPoint3 center = t.getOrigin();
 			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
--- a/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -16,7 +16,6 @@ subject to the following restrictions:
 #ifndef COLLISION_SHAPE_H
 #define COLLISION_SHAPE_H

-class btTypedUserInfo;
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
@@ -28,11 +27,10 @@ class btCollisionShape
 {

 	void* m_userPointer;
-	btTypedUserInfo* m_typedUserInfo;

 public:

-	btCollisionShape() : m_userPointer(0), m_typedUserInfo (0)
+	btCollisionShape() : m_userPointer(0)
 	{
 	}
 	virtual ~btCollisionShape()
@@ -105,15 +103,6 @@ public:
 		return m_userPointer;
 	}

-	btTypedUserInfo* getTypedUserInfo () const
-	{
-		return m_typedUserInfo;
-	}
-
-	void setTypedUserInfo (btTypedUserInfo* typedUserInfo)
-	{
-		m_typedUserInfo = typedUserInfo;
-	}
 };	

 #endif //COLLISION_SHAPE_H
--- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -83,6 +83,7 @@ class  btStridingMeshInterface
 			m_scaling = scaling;
 		}

+	

 };

--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -23,7 +23,6 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
 :m_userConstraintType(-1),
 m_userConstraintId(-1),
 m_constraintType (type),
-m_typedUserInfo(0),
 m_rbA(s_fixed),
 m_rbB(s_fixed),
 m_appliedImpulse(btScalar(0.))
@@ -33,7 +32,6 @@ m_appliedImpulse(btScalar(0.))
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
 :m_userConstraintType(-1),
 m_userConstraintId(-1),
-m_typedUserInfo(0),
 m_constraintType (type),
 m_rbA(rbA),
 m_rbB(s_fixed),
@@ -47,7 +45,6 @@ m_appliedImpulse(btScalar(0.))
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
 :m_userConstraintType(-1),
 m_userConstraintId(-1),
-m_typedUserInfo(0),
 m_constraintType (type),
 m_rbA(rbA),
 m_rbB(rbB),
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -17,7 +17,6 @@ subject to the following restrictions:
 #define TYPED_CONSTRAINT_H

 class btRigidBody;
-class btTypedUserInfo;
 #include "LinearMath/btScalar.h"

 enum btTypedConstraintType
@@ -34,7 +33,6 @@ class btTypedConstraint
 {
 	int	m_userConstraintType;
 	int	m_userConstraintId;
-	btTypedUserInfo*   m_typedUserInfo;

 	btTypedConstraintType m_constraintType;

@@ -100,6 +98,13 @@ public:
 	{
 		return m_userConstraintId;
 	}
+	
+	///unique id is needed by the btHashMap during serialization
+	int	getUid() const
+	{
+		return m_userConstraintId;
+	}
+
 	btScalar	getAppliedImpulse() const
 	{
 		return m_appliedImpulse;
@@ -110,15 +115,6 @@ public:
 		return m_constraintType;
 	}

-	btTypedUserInfo* getTypedUserInfo () const
-	{
-		return m_typedUserInfo;
-	}
-
-	void setTypedUserInfo (btTypedUserInfo* typedUserInfo)
-	{
-		m_typedUserInfo = typedUserInfo;
-	}
 };

 #endif //TYPED_CONSTRAINT_H
--- a/src/LinearMath/btHashMap.h
+++ b/src/LinearMath/btHashMap.h
@@ -0,0 +1,301 @@
+#ifndef BT_HASH_MAP_H
+#define BT_HASH_MAP_H
+
+#include "btAlignedObjectArray.h"
+
+const int BT_HASH_NULL=0xffffffff;
+
+template <class Value>
+class btHashKey
+{
+	int	m_uid;
+public:
+
+	btHashKey(int uid)
+		:m_uid(uid)
+	{
+	}
+
+	int	getUid() const
+	{
+		return m_uid;
+	}
+
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		int key = m_uid;
+		// Thomas Wang's hash
+		key += ~(key << 15);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
+		key += ~(key << 11);
+		key ^=  (key >> 16);
+		return key;
+	}
+
+	btHashKey	getKey(const Value& value) const
+	{
+		return btHashKey(value.getUid());
+	}
+};
+
+
+template <class Value>
+class btHashKeyPtr
+{
+	int	m_uid;
+public:
+
+	btHashKeyPtr(int uid)
+		:m_uid(uid)
+	{
+	}
+
+	int	getUid() const
+	{
+		return m_uid;
+	}
+
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		int key = m_uid;
+		// Thomas Wang's hash
+		key += ~(key << 15);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
+		key += ~(key << 11);
+		key ^=  (key >> 16);
+		return key;
+	}
+
+	btHashKeyPtr	getKey(const Value& value) const
+	{
+		return btHashKeyPtr(value->getUid());
+	}
+};
+
+template <class Key, class Value>
+class btHashMap
+{
+
+	btAlignedObjectArray<int>		m_hashTable;
+	btAlignedObjectArray<int>		m_next;
+	btAlignedObjectArray<Value>		m_valueArray;
+
+
+
+	void	growTables(const Key& key)
+	{
+		int newCapacity = m_valueArray.capacity();
+
+		if (m_hashTable.size() < newCapacity)
+		{
+			//grow hashtable and next table
+			int curHashtableSize = m_hashTable.size();
+
+			m_hashTable.resize(newCapacity);
+			m_next.resize(newCapacity);
+
+			int i;
+
+			for (i= 0; i < newCapacity; ++i)
+			{
+				m_hashTable[i] = BT_HASH_NULL;
+			}
+			for (i = 0; i < newCapacity; ++i)
+			{
+				m_next[i] = BT_HASH_NULL;
+			}
+
+			for(i=0;i<curHashtableSize;i++)
+			{
+				const Value& value = m_valueArray[i];
+
+				int	hashValue = key.getKey(value).getHash() & (m_valueArray.capacity()-1);	// New hash value with new mask
+				m_next[i] = m_hashTable[hashValue];
+				m_hashTable[hashValue] = i;
+			}
+
+
+		}
+	}
+
+	public:
+
+	void insert(const Key& key, const Value& value) {
+		int hash = key.getHash() & (m_valueArray.capacity()-1);
+		//don't add it if it is already there
+		if (find(key))
+		{
+			return;
+		}
+		int count = m_valueArray.size();
+		int oldCapacity = m_valueArray.capacity();
+		m_valueArray.push_back(value);
+		int newCapacity = m_valueArray.capacity();
+		if (oldCapacity < newCapacity)
+		{
+			growTables(key);
+			//hash with new capacity
+			hash = key.getHash() & (m_valueArray.capacity()-1);
+		}
+		m_next[count] = m_hashTable[hash];
+		m_hashTable[hash] = count;
+	}
+
+	void remove(const Key& key) {
+
+		int hash = key.getHash() & (m_valueArray.capacity()-1);
+
+		int pairIndex = findIndex(key);
+		
+		if (pairIndex ==BT_HASH_NULL)
+		{
+			return;
+		}
+
+		// Remove the pair from the hash table.
+		int index = m_hashTable[hash];
+		btAssert(index != BT_HASH_NULL);
+
+		int previous = BT_HASH_NULL;
+		while (index != pairIndex)
+		{
+			previous = index;
+			index = m_next[index];
+		}
+
+		if (previous != BT_HASH_NULL)
+		{
+			btAssert(m_next[previous] == pairIndex);
+			m_next[previous] = m_next[pairIndex];
+		}
+		else
+		{
+			m_hashTable[hash] = m_next[pairIndex];
+		}
+
+		// We now move the last pair into spot of the
+		// pair being removed. We need to fix the hash
+		// table indices to support the move.
+
+		int lastPairIndex = m_valueArray.size() - 1;
+
+		// If the removed pair is the last pair, we are done.
+		if (lastPairIndex == pairIndex)
+		{
+			m_valueArray.pop_back();
+			return;
+		}
+
+		// Remove the last pair from the hash table.
+		const Value* lastValue = &m_valueArray[lastPairIndex];
+		int lastHash = key.getKey(*lastValue).getHash() & (m_valueArray.capacity()-1);
+
+		index = m_hashTable[lastHash];
+		btAssert(index != BT_HASH_NULL);
+
+		previous = BT_HASH_NULL;
+		while (index != lastPairIndex)
+		{
+			previous = index;
+			index = m_next[index];
+		}
+
+		if (previous != BT_HASH_NULL)
+		{
+			btAssert(m_next[previous] == lastPairIndex);
+			m_next[previous] = m_next[lastPairIndex];
+		}
+		else
+		{
+			m_hashTable[lastHash] = m_next[lastPairIndex];
+		}
+
+		// Copy the last pair into the remove pair's spot.
+		m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
+
+		// Insert the last pair into the hash table
+		m_next[pairIndex] = m_hashTable[lastHash];
+		m_hashTable[lastHash] = pairIndex;
+
+		m_valueArray.pop_back();
+
+	}
+
+
+	int size() const
+	{
+		return m_valueArray.size();
+	}
+
+	const Value* getAtIndex(int index) const
+	{
+		btAssert(index < m_valueArray.size());
+
+		return &m_valueArray[index];
+	}
+
+	Value* getAtIndex(int index)
+	{
+		btAssert(index < m_valueArray.size());
+
+		return &m_valueArray[index];
+	}
+
+	Value* operator[](const Key& key) {
+		return find(key);
+	}
+
+	const Value*	find(const Key& key) const
+	{
+		int index = findIndex(key);
+		if (index == BT_HASH_NULL)
+		{
+			return NULL;
+		}
+		return &m_valueArray[index];
+	}
+
+	Value*	find(const Key& key)
+	{
+		int index = findIndex(key);
+		if (index == BT_HASH_NULL)
+		{
+			return NULL;
+		}
+		return &m_valueArray[index];
+	}
+
+
+	int	findIndex(const Key& key) const
+	{
+		int hash = key.getHash() & (m_valueArray.capacity()-1);
+
+		if (hash >= m_hashTable.size())
+		{
+			return BT_HASH_NULL;
+		}
+
+		int index = m_hashTable[hash];
+		while ((index != BT_HASH_NULL) && (key.getUid() == key.getKey(m_valueArray[index]).getUid()) == false)
+		{
+			index = m_next[index];
+		}
+		return index;
+	}
+
+	void	clear()
+	{
+		m_hashTable.clear();
+		m_next.clear();
+		m_valueArray.clear();
+	}
+
+};
+
+#endif //BT_HASH_MAP_H
--- a/src/LinearMath/btTypedUserInfo.h
+++ b/src/LinearMath/btTypedUserInfo.h
@@ -1,54 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 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_TYPE_USER_INFO_H
-#define BT_TYPE_USER_INFO_H
-
-class btTypedUserInfo
-{
-protected:
-	int m_type;
-	char* m_name;
-	void* m_userPointer;
-
-	/* Only systems internal to Bullet are allowed
-	 * to use this pointer
-	 */
-	void* m_privatePointer;
-public:
-	btTypedUserInfo ()
-	{
-		m_type = 0;
-		m_name = 0;
-		m_userPointer = 0;
-		m_privatePointer = 0;
-	}
-
-	virtual ~btTypedUserInfo () {};
-
-	int getType () { return m_type; }
-	void setType (int type) { m_type = type; }
-
-	char* getName () { return m_name; }
-	void setName (char* name) { m_name = name; }
-
-	void* getUserPointer () { return m_userPointer; }
-	void setUserPointer (void* userPointer) { m_userPointer = userPointer; }
-
-	void* getPrivatePointer () { return m_privatePointer; }
-	void setPrivatePointer (void* privatePointer) { m_privatePointer = privatePointer; }
-};
-
-#endif //BT_TYPE_USER_INFO_H