Some fixes

src/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -51,7 +51,7 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
 /// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
 /// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
 /// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
-ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
+ATTRIBUTE_ALIGNED16(class) BULLET_EXPORTS btCompoundShape : public btCollisionShape
 {
 protected:
 	btAlignedObjectArray<btCompoundShapeChild> m_children;

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -32,9 +32,16 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simp
 	(void)v;
 	(void)simplexSolver;
 
+	btVector3 BA = transformB.getOrigin() - transformA.getOrigin();
+	bool bSkipTwo = false;
+	if(BA.fuzzyZero())
+	{
+		bSkipTwo = true;
+	}
+
 	btVector3 guessVectors[] = {
-		btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(),
-		btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(),
+		bSkipTwo ? BA : BA.normalized(),
+		bSkipTwo ? BA : btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(),
 		btVector3(0, 0, 1),
 		btVector3(0, 1, 0),
 		btVector3(1, 0, 0),
@@ -46,7 +53,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simp
 
 	int numVectors = sizeof(guessVectors) / sizeof(btVector3);
 
-	for (int i = 0; i < numVectors; i++)
+	for(int i = bSkipTwo ? 2 : 0; i < numVectors; i++)
 	{
 		simplexSolver.reset();
 		btVector3	guessVector = guessVectors[i];

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -209,15 +209,7 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
 		m_manifoldArray.resize(0);
 
 		btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
-
-		//for trigger filtering
-		if(!static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject)->hasContactResponse()
-		 || !static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject)->hasContactResponse()
-		)
-		{
-			continue;
-		}
-
+		
 		btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
         btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
 
@@ -282,6 +274,11 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 	/* FIXME: Handle penetration properly */
 	start.setOrigin(m_currentPosition);
 
+	if(stepHeight <= 0.0f && m_verticalOffset <= 0.0f)
+	{
+		return;
+	}
+
 	m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f));
 	m_currentPosition = m_targetPosition;
 
@@ -475,6 +472,35 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
 	}
 }
 
+bool btKinematicCharacterController::canStandUp(float fDelta)
+{
+	btTransform start, end;
+
+	start.setIdentity();
+	end.setIdentity();
+
+	start.setOrigin(m_currentPosition);
+	end.setOrigin(m_currentPosition + m_up * fDelta);
+
+	start.setRotation(m_currentOrientation);
+	end.setRotation(m_targetOrientation);
+
+	btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine);
+	callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
+	callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
+
+	m_ghostObject->convexSweepTest(m_convexShape, start, end, callback);
+
+	if(callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
+	{
+		if(callback.m_hitNormalWorld.dot(m_up) < 0.0)
+		{
+			return(false);
+		}
+	}
+	return(true);
+}
+
 void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
 {
 	btTransform start, end, end_double;

src/BulletDynamics/Character/btKinematicCharacterController.h

@@ -199,6 +199,8 @@ public:
 
 	bool onGround () const;
 	void setUpInterpolate (bool value);
+
+	bool canStandUp(float fDelta);
 };
 
 #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -68,7 +68,7 @@ enum btSliderFlags
 };
 
 
-ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) BULLET_EXPORTS btSliderConstraint : public btTypedConstraint
 {
 protected:
 	///for backwards compatibility during the transition to 'getInfo/getInfo2'