Updated INSTALL description. This info should go also in Bullet User Manual and Online.

Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=248

Use GJK for GImpact triangle test
See http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3687

More improvements in GJK degeneracy handling (using second EPA/GJK run)
Issue/discussion here http://code.google.com/p/bullet/issues/detail?id=250

CMake improvements
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=247

Added basic camera/wall detection for character demo

Demos/CharacterDemo/CharacterDemo.cpp

@@ -237,11 +237,20 @@ void CharacterDemo::clientMoveAndDisplay()
 		btScalar walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
 		btScalar walkSpeed = walkVelocity * dt;
 
+		//rotate view
 		if (gLeft)
-			walkDirection += strafeDir;
+		{
+			btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
+			orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),0.01));
+			m_ghostObject->getWorldTransform ().setBasis(orn);
+		}
 
 		if (gRight)
-			walkDirection -= strafeDir;
+		{
+			btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
+			orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),-0.01));
+			m_ghostObject->getWorldTransform ().setBasis(orn);
+		}
 
 		if (gForward)
 			walkDirection += forwardDir;
@@ -424,7 +433,29 @@ void	CharacterDemo::updateCamera()
 	backward.normalize ();
 
 	m_cameraTargetPosition = characterWorldTrans.getOrigin();
-	m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 12.0;
+	m_cameraPosition = m_cameraTargetPosition + up * 10.0 + backward * 12.0;
+	
+	//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
+	btSphereShape cameraSphere(0.2f);
+	btTransform cameraFrom,cameraTo;
+	cameraFrom.setIdentity();
+	cameraFrom.setOrigin(characterWorldTrans.getOrigin());
+	cameraTo.setIdentity();
+	cameraTo.setOrigin(m_cameraPosition);
+	
+	btCollisionWorld::ClosestConvexResultCallback cb( characterWorldTrans.getOrigin(), cameraTo.getOrigin() );
+	cb.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
+		
+	m_dynamicsWorld->convexSweepTest(&cameraSphere,cameraFrom,cameraTo,cb);
+	if (cb.hasHit())
+	{
+
+		btScalar minFraction  = cb.m_closestHitFraction;//btMax(btScalar(0.3),cb.m_closestHitFraction);
+		m_cameraPosition.setInterpolate3(cameraFrom.getOrigin(),cameraTo.getOrigin(),minFraction);
+	}
+
+
+
 
 	//update OpenGL camera settings
     glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);

Demos/ContinuousConvexCollision/ContinuousConvexCollision.h

@@ -15,10 +15,16 @@ subject to the following restrictions:
 #ifndef CONTINUOUS_CONVEX_COLLISION_DEMO_H
 #define CONTINUOUS_CONVEX_COLLISION_DEMO_H
 
-#include "GlutDemoApplication.h"
+
 
 ///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+class btContinuousConvexCollisionDemo : public Win32DemoApplication
+#else
+#include "GlutDemoApplication.h"
 class btContinuousConvexCollisionDemo : public GlutDemoApplication
+#endif
 {
 	public:
 

Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp

@@ -63,7 +63,7 @@ btTransform	toTrans[maxNumObjects];
 int screenWidth = 640;
 int screenHeight = 480;
 
-
+#ifndef _WINDOWS
 int main(int argc,char** argv)
 {
 	btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
@@ -74,6 +74,17 @@ int main(int argc,char** argv)
 	
 	return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
 }
+#else
+DemoApplication* createDemo()
+{
+	btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
+
+	ccdDemo->setCameraDistance(40.f);
+	return ccdDemo;
+
+}
+#endif //_WINDOWS
+
 
 void	btContinuousConvexCollisionDemo::initPhysics()
 {
@@ -280,8 +291,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 		}
 	}
 
-	glFlush();
-    glutSwapBuffers();
+	swapBuffers();
 }
 
 

Demos/Gpu3dDemo/BasicDemo3d.cpp

@@ -74,7 +74,7 @@ subject to the following restrictions:
 #define START_POS_Y 5
 #define START_POS_Z 0
 
-#include "BasicDemo3D.h"
+#include "BasicDemo3d.h"
 #include "GlutStuff.h"
 ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
 #include "btBulletDynamicsCommon.h"

Demos/Gpu3dDemo/btGpuDemoDynamicsWorld3D.h

@@ -45,7 +45,7 @@ subject to the following restrictions:
 #undef BT_GPU_PREF
 #endif
 
-#include "btGpuDemo3DSharedTypes.h"
+#include "btGpuDemo3dSharedTypes.h"
 
 //#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
 #define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15

Demos/Gpu3dDemo/main.cpp

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "BasicDemo3D.h"
+#include "BasicDemo3d.h"
 #include "GlutStuff.h"
 #include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
@@ -58,4 +58,4 @@ int main(int argc,char** argv)
 	
 	//default glut doesn't return from mainloop
 	return 0;
-}
+}

Demos/OpenGL/DemoApplication.h

@@ -67,7 +67,9 @@ class DemoApplication
 	int	m_mouseOldX;
 	int	m_mouseOldY;
 	int	m_mouseButtons;
+public:
 	int	m_modifierKeys;
+protected:
 
 	float m_scaleBottom;
 	float m_scaleFactor;

Demos/OpenGL/GlutStuff.h

@@ -25,9 +25,9 @@ subject to the following restrictions:
 #include <OpenGL/glu.h>
 #include <GLUT/glut.h>
 #else
-#ifndef _WINDOWS
+
 #include <GL/glut.h>
-#else
+#ifndef _WINDOWS
 #include <windows.h>
 #include <GL/gl.h>
 #include <GL/glu.h>
@@ -49,6 +49,8 @@ subject to the following restrictions:
 #define BT_KEY_PAGEDOWN		VK_NEXT
 #define BT_KEY_END			VK_END
 #define BT_KEY_HOME			VK_HOME
+#define BT_ACTIVE_ALT		VK_LMENU
+
 
 
 #else

Demos/OpenGL/Win32AppMain.cpp

@@ -32,7 +32,6 @@ DemoApplication* gDemoApplication = 0;
 DemoApplication*	createDemo();
 
 
-
 // Function Declarations
 
 LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam);
@@ -86,7 +85,8 @@ int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
 	gDemoApplication->myinit();
 	//gDemoApplication->reshape(1024, 768);
 	gDemoApplication->initPhysics();
-	gDemoApplication->getDynamicsWorld()->setDebugDrawer(&debugDraw);
+	if (gDemoApplication->getDynamicsWorld())
+		gDemoApplication->getDynamicsWorld()->setDebugDrawer(&debugDraw);
 	
 
 	// program main loop
@@ -146,10 +146,35 @@ int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
 LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
 {
 	
+	
+
 	switch (message)
 	{
+
+	case WM_SYSKEYDOWN:
+		{
+			if (lParam & 1<<29)
+			{
+				gDemoApplication->m_modifierKeys = VK_LMENU;
+			}
+			break;
+		}
+	case WM_SYSKEYUP:
+		{
+			if (lParam & 1<<29)
+			{
+				gDemoApplication->m_modifierKeys = VK_LMENU;
+			} else
+			{
+				gDemoApplication->m_modifierKeys = 0;
+			}
+			
+			break;
+		}
+
 		
 		case WM_SIZE:													// Size Action Has Taken Place
+
 			switch (wParam)												// Evaluate Size Action
 			{
 				case SIZE_MINIMIZED:									// Was Window Minimized?

Demos/OpenGL/Win32DemoApplication.cpp

@@ -41,6 +41,12 @@ void	Win32DemoApplication::clientResetScene()
 }
 #endif
 
+void Win32DemoApplication::updateModifierKeys()
+{
+	//not yet
+}
+
+
 
 void Win32DemoApplication::specialKeyboard(int key, int x, int y)	
 {

Demos/OpenGL/Win32DemoApplication.h

@@ -32,6 +32,7 @@ public:
 		
 	void specialKeyboard(int key, int x, int y);
 
+	virtual		void	updateModifierKeys();
 
 	
 };