set linear/angular velocity to zero when objects are asleep

Thanks to  http://code.google.com/p/bullet/issues/detail?id=73
improve performance of btConvexTriangleMeshShape::recalcLocalAabb
Thanks to fullmetalcoder, http://code.google.com/p/bullet/issues/detail?id=67#makechanges

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp

@@ -19,9 +19,10 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
 
 
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
+btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
 :m_stridingMesh(meshInterface)
 {
+	if ( calcAabb )
 		recalcLocalAabb();
 }
 

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h

@@ -14,7 +14,7 @@ class btConvexTriangleMeshShape : public btPolyhedralConvexShape
 	class btStridingMeshInterface*	m_stridingMesh;
 
 public:
-	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface);
+	btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
 
 	class btStridingMeshInterface*	getMeshInterface()
 	{
@@ -53,3 +53,4 @@ public:
 #endif //CONVEX_TRIANGLEMESH_SHAPE_H
 
 
+

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -133,6 +133,37 @@ void	btPolyhedralConvexShape::recalcLocalAabb()
 {
 	m_isLocalAabbValid = true;
 	
+	#if 1
+	static const btVector3 _directions[] =
+	{
+		btVector3( 1.,  0.,  0.),
+		btVector3( 0.,  1.,  0.),
+		btVector3( 0.,  0.,  1.),
+		btVector3( -1., 0.,  0.),
+		btVector3( 0., -1.,  0.),
+		btVector3( 0.,  0., -1.)
+	};
+	
+	btVector3 _supporting[] =
+	{
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.),
+		btVector3( 0., 0., 0.)
+	};
+	
+	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+	
+	for ( int i = 0; i < 3; ++i )
+	{
+		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+	}
+	
+	#else
+
 	for (int i=0;i<3;i++)
 	{
 		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
@@ -143,6 +174,8 @@ void	btPolyhedralConvexShape::recalcLocalAabb()
 		tmp = localGetSupportingVertex(vec);
 		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
 	}
+	#endif
 }
 
 
+

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -489,6 +489,12 @@ void	btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
 				{
 					if (body->getActivationState() == ACTIVE_TAG)
 						body->setActivationState( WANTS_DEACTIVATION );
+					if (body->getActivationState() == ISLAND_SLEEPING) 
+					{
+						body->setAngularVelocity(btVector3(0,0,0));
+						body->setLinearVelocity(btVector3(0,0,0));
+					}
+
 				}
 			} else
 			{