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.

msvc/autoexp_dat.txt

@@ -0,0 +1,66 @@
+
+;------------------------------------------------------------------------------
+; Microsoft Visual Studio Debug Visualization for Bullet btVector3 and btAlignedObjectArray
+;
+; Copy and paste the contents of this file to the end of autoexp.dat, usually located at
+; C:\Program Files\Microsoft Visual Studio 8\Common7\Packages\Debugger\autoexp.dat
+;------------------------------------------------------------------------------
+
+
+[Visualizer]
+;------------------------------------------------------------------------------
+;  btVector3
+;------------------------------------------------------------------------------
+btVector3{
+	children
+	(
+	    #array
+	    (
+			expr :	($c.m_floats)[$i],  
+			size :	4
+		)
+	)
+	
+    preview
+    ( 
+        #( 
+			"[", 
+            #array
+            (
+				expr :	($c.m_floats)[$i],  
+				size :	4
+			), 
+			"]"
+		)
+	)
+}
+	
+;------------------------------------------------------------------------------
+;  btAlignedObjectArray
+;------------------------------------------------------------------------------
+btAlignedObjectArray<*>{
+	children
+	(
+	    #array
+	    (
+			expr :	($c.m_data)[$i],  
+			size :	$c.m_size
+		)
+	)
+	
+    preview
+    ( 
+        #( 
+			"[", 
+            $c.m_size ,
+            "](", 
+            
+            #array
+            (
+				expr : 	($c.m_data)[$i],  
+				size : 	$c.m_size
+			), 
+			")"
+		)
+	)
+}

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

@@ -119,18 +119,8 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 
 
-void	btCollisionWorld::updateAabbs()
+void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
 {
-	BT_PROFILE("updateAabbs");
-
-	btTransform predictedTrans;
-	for ( int i=0;i<m_collisionObjects.size();i++)
-	{
-		btCollisionObject* colObj = m_collisionObjects[i];
-
-		//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
@@ -160,9 +150,23 @@ void	btCollisionWorld::updateAabbs()
 			m_debugDrawer->reportErrorWarning("Thanks.\n");
 		}
 	}
-		}
+}
-	}
 
+void	btCollisionWorld::updateAabbs()
+{
+	BT_PROFILE("updateAabbs");
+
+	btTransform predictedTrans;
+	for ( int i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+
+		//only update aabb of active objects
+		if (colObj->isActive())
+		{
+			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() * gContactThresholdFactor;
-	return getAngularMotionDisc() * btScalar(0.1);
 }
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -779,14 +779,16 @@ class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConve
 	btCollisionObject* m_me;
 	btScalar m_allowedPenetration;
 	btOverlappingPairCache* m_pairCache;
+	btDispatcher* m_dispatcher;
 
 
 public:
-	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) : 
+	btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : 
 	  btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
 		m_allowedPenetration(0.0f),
 		m_me(me),
-		m_pairCache(pairCache)
+		m_pairCache(pairCache),
+		m_dispatcher(dispatcher)
 	{
 	}
 
@@ -821,6 +823,11 @@ public:
 		if (!ClosestConvexResultCallback::needsCollision(proxy0))
 			return false;
 
+		btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+
+		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
+		if (m_dispatcher->needsResponse(m_me,otherObj))
+		{
 			///don't do CCD when there are already contact points (touching contact/penetration)
 			btAlignedObjectArray<btPersistentManifold*> manifoldArray;
 			btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
@@ -838,6 +845,7 @@ public:
 					}
 				}
 			}
+		}
 		return true;
 	}
 
@@ -872,7 +880,7 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 					{
 						gNumClampedCcdMotions++;
 						
-						btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache());
+						btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
 						btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
 						btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());