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/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();
 
 	
 };