+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -69,7 +69,7 @@ m_ownManifold (false),
 m_manifoldPtr(mf),
 m_lowLevelOfDetail(false),
 #ifdef USE_SEPDISTANCE_UTIL2
-,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
 			  (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
 #endif
 m_numPerturbationIterations(numPerturbationIterations),

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -31,7 +31,8 @@ class btConvexPenetrationDepthSolver;
 ///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
 ///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
 ///for certain pairs that have a small size ratio
-///#define USE_SEPDISTANCE_UTIL2 1
+
+#define USE_SEPDISTANCE_UTIL2 1
 
 ///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
 ///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -102,7 +102,8 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
 	int sl = sizeof(btConvexSeparatingDistanceUtil);
 	sl = sizeof(btGjkPairDetector);
-	int	collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
+	int	collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
 
 	if (constructionInfo.m_stackAlloc)

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -27,6 +27,7 @@ struct	btDefaultCollisionConstructionInfo
 	btPoolAllocator*	m_collisionAlgorithmPool;
 	int					m_defaultMaxPersistentManifoldPoolSize;
 	int					m_defaultMaxCollisionAlgorithmPoolSize;
+	int					m_customCollisionAlgorithmMaxElementSize;
 	int					m_defaultStackAllocatorSize;
 	int					m_useEpaPenetrationAlgorithm;
 
@@ -36,6 +37,7 @@ struct	btDefaultCollisionConstructionInfo
 		m_collisionAlgorithmPool(0),
 		m_defaultMaxPersistentManifoldPoolSize(4096),
 		m_defaultMaxCollisionAlgorithmPoolSize(4096),
+		m_customCollisionAlgorithmMaxElementSize(0),
 		m_defaultStackAllocatorSize(0),
 		m_useEpaPenetrationAlgorithm(true)
 	{