add btCollisionWorld::updateSingleAabb see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3262

Fix memory leak, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3266
Change contact breaking threshold
Add 'needsResponse' test for CcdMotionClamping, see http://code.google.com/p/bullet/issues/detail?id=179
Updated user manual (needs lots more work)
Added autoexp.dat, enabled Microsoft Visual Studio debug visualization for btAlignedObjectArray and btVector3.

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -79,7 +79,9 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 	btCollisionObject* body0 = (btCollisionObject*)b0;
 	btCollisionObject* body1 = (btCollisionObject*)b1;
 
-	btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+	//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
+	//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
+	btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
 	
 	void* mem = 0;
 	
@@ -146,7 +148,6 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 
 
 
-
 bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
 {
 	//here you can do filtering

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -119,6 +119,39 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 
 
+void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
+{
+	btVector3 minAabb,maxAabb;
+	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+	//need to increase the aabb for contact thresholds
+	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+	minAabb -= contactThreshold;
+	maxAabb += contactThreshold;
+
+	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
+
+	//moving objects should be moderately sized, probably something wrong if not
+	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
+	{
+		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+	} else
+	{
+		//something went wrong, investigate
+		//this assert is unwanted in 3D modelers (danger of loosing work)
+		colObj->setActivationState(DISABLE_SIMULATION);
+
+		static bool reportMe = true;
+		if (reportMe && m_debugDrawer)
+		{
+			reportMe = false;
+			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
+			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
+			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
+			m_debugDrawer->reportErrorWarning("Thanks.\n");
+		}
+	}
+}
+
 void	btCollisionWorld::updateAabbs()
 {
 	BT_PROFILE("updateAabbs");
@@ -131,38 +164,9 @@ void	btCollisionWorld::updateAabbs()
 		//only update aabb of active objects
 		if (colObj->isActive())
 		{
-			btVector3 minAabb,maxAabb;
-			colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-			//need to increase the aabb for contact thresholds
-			btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
-			minAabb -= contactThreshold;
-			maxAabb += contactThreshold;
-
-			btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
-
-			//moving objects should be moderately sized, probably something wrong if not
-			if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
-			{
-				bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-			} else
-			{
-				//something went wrong, investigate
-				//this assert is unwanted in 3D modelers (danger of loosing work)
-				colObj->setActivationState(DISABLE_SIMULATION);
-
-				static bool reportMe = true;
-				if (reportMe && m_debugDrawer)
-				{
-					reportMe = false;
-					m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
-					m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
-					m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
-					m_debugDrawer->reportErrorWarning("Thanks.\n");
-				}
-			}
+			updateSingleAabb(colObj);
 		}
 	}
-
 }
 
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -133,8 +133,9 @@ public:
 		return m_dispatcher1;
 	}
 
-	virtual void	updateAabbs();
+	void	updateSingleAabb(btCollisionObject* colObj);
 
+	virtual void	updateAabbs();
 	
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{

src/BulletCollision/CollisionDispatch/btGhostObject.cpp

@@ -63,6 +63,7 @@ btPairCachingGhostObject::btPairCachingGhostObject()
 
 btPairCachingGhostObject::~btPairCachingGhostObject()
 {
+	m_hashPairCache->~btHashedOverlappingPairCache();
 	btAlignedFree( m_hashPairCache );
 }
 

src/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -16,6 +16,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 
 
+btScalar gContactThresholdFactor=btScalar(0.02);
+
+
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
@@ -44,8 +47,7 @@ void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
 
 btScalar	btCollisionShape::getContactBreakingThreshold() const
 {
-	///@todo make this 0.1 configurable
-	return getAngularMotionDisc() * btScalar(0.1);
+	return getAngularMotionDisc() * gContactThresholdFactor;
 }
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {