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

@@ -119,6 +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;
+			updateSingleAabb(colObj);
-			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");
-				}
-			}
 		}
 	}
-
 }
 
 

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)
 	{
 	}
 
@@ -821,20 +823,26 @@ public:
 		if (!ClosestConvexResultCallback::needsCollision(proxy0))
 			return false;
 
-		///don't do CCD when there are already contact points (touching contact/penetration)
+		btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
-		btAlignedObjectArray<btPersistentManifold*> manifoldArray;
+
-		btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0);
+		//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
-		if (collisionPair)
+		if (m_dispatcher->needsResponse(m_me,otherObj))
 		{
-			if (collisionPair->m_algorithm)
+			///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);
+			if (collisionPair)
 			{
-				manifoldArray.resize(0);
+				if (collisionPair->m_algorithm)
-				collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-				for (int j=0;j<manifoldArray.size();j++)
 				{
-					btPersistentManifold* manifold = manifoldArray[j];
+					manifoldArray.resize(0);
-					if (manifold->getNumContacts()>0)
+					collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-						return false;
+					for (int j=0;j<manifoldArray.size();j++)
+					{
+						btPersistentManifold* manifold = manifoldArray[j];
+						if (manifold->getNumContacts()>0)
+							return false;
+					}
 				}
 			}
 		}
@@ -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());