added some comments, to clarify unit-test/brute force implementations.

Demos/BasicDemo/BasicDemo.cpp

@@ -199,7 +199,7 @@ void	BasicDemo::initPhysics()
 	localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
 
 	//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
-	//btCollisionShape* sphereShape = new btBoxShape(btVector3(1,1,1));
+	//btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
 	btCollisionShape* colShape = new btSphereShape(btScalar(1.));
 	m_collisionShapes.push_back(colShape);
 

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -275,7 +275,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 
 	};
 
-	if (0)//tcount)
+	if (tcount)
 	{
 		btTriangleMesh* trimesh = new btTriangleMesh();
 

Demos/RagdollDemo/RagdollDemo.cpp

@@ -333,14 +333,17 @@ void RagdollDemo::initPhysics()
 	}
 
 	// Spawn one ragdoll
-	spawnRagdoll();
+	btVector3 startOffset(1,0.5,0);
+	spawnRagdoll(startOffset);
+	startOffset.setValue(-1,0.5,0);
+	spawnRagdoll(startOffset);
 
 	clientResetScene();		
 }
 
-void RagdollDemo::spawnRagdoll(bool random)
+void RagdollDemo::spawnRagdoll(const btVector3& startOffset)
 {
-	RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,1,0));
+	RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, startOffset);
 	m_ragdolls.push_back(ragDoll);
 }	
 
@@ -383,8 +386,11 @@ void RagdollDemo::keyboardCallback(unsigned char key, int x, int y)
 	switch (key)
 	{
 	case 'e':
-		spawnRagdoll(true);
+		{
+		btVector3 startOffset(0,2,0);
+		spawnRagdoll(startOffset);
 		break;
+		}
 	default:
 		DemoApplication::keyboardCallback(key, x, y);
 	}

Demos/RagdollDemo/RagdollDemo.h

@@ -1,39 +1,39 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-RagdollDemo
-Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marten Svanfeldt
-*/
-
-#ifndef RAGDOLLDEMO_H
-#define RAGDOLLDEMO_H
-
-#include "DemoApplication.h"
-#include "LinearMath/btAlignedObjectArray.h"
+/*
+Bullet Continuous Collision Detection and Physics Library
+RagdollDemo
+Copyright (c) 2007 Starbreeze Studios
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+Written by: Marten Svanfeldt
+*/
+
+#ifndef RAGDOLLDEMO_H
+#define RAGDOLLDEMO_H
+
+#include "DemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
 class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
 class btCollisionDispatcher;
 class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
-class btDefaultCollisionConfiguration;
-
-class RagdollDemo : public DemoApplication
-{
-
-	btAlignedObjectArray<class RagDoll*> m_ragdolls;
-
+class btDefaultCollisionConfiguration;
+
+class RagdollDemo : public DemoApplication
+{
+
+	btAlignedObjectArray<class RagDoll*> m_ragdolls;
+
 	//keep the collision shapes, for deletion/cleanup
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
 
@@ -43,35 +43,35 @@ class RagdollDemo : public DemoApplication
 
 	btConstraintSolver*	m_solver;
 
-	btDefaultCollisionConfiguration* m_collisionConfiguration;
-
-public:
-	void initPhysics();
-
-	void exitPhysics();
-
-	virtual ~RagdollDemo()
-	{
-		exitPhysics();
-	}
-
-	void spawnRagdoll(bool random = false);
-
-	virtual void clientMoveAndDisplay();
-
-	virtual void displayCallback();
-
-	virtual void keyboardCallback(unsigned char key, int x, int y);
-
-	static DemoApplication* Create()
-	{
-		RagdollDemo* demo = new RagdollDemo();
-		demo->myinit();
-		demo->initPhysics();
-		return demo;
-	}
-	
-};
-
-
-#endif
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+public:
+	void initPhysics();
+
+	void exitPhysics();
+
+	virtual ~RagdollDemo()
+	{
+		exitPhysics();
+	}
+
+	void spawnRagdoll(const btVector3& startOffset);
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+
+	static DemoApplication* Create()
+	{
+		RagdollDemo* demo = new RagdollDemo();
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+	
+};
+
+
+#endif

src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -49,6 +49,8 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 };
 
 ///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
+///btSimpleBroadphase is just a unit-test implementation to verify and test other broadphases.
+///So please don't use this class, but use bt32BitAxisSweep3 or btAxisSweep3 instead!
 class btSimpleBroadphase : public btBroadphaseInterface
 {
 

src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -597,7 +597,6 @@ void	btOptimizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
 {
 	//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
 
-
 	if (m_useQuantization)
 	{
 		///quantize query AABB

src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

@@ -137,7 +137,7 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const
 //#define DEBUG_TRIANGLE_MESH
 
 
-/*
+
 void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
 		struct FilteredCallback : public btInternalTriangleIndexCallback
@@ -171,8 +171,6 @@ void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const
 }
 
 
-*/
-
 
 
 

src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -27,10 +27,12 @@ protected:
 	btVector3	m_localAabbMin;
 	btVector3	m_localAabbMax;
 	btStridingMeshInterface* m_meshInterface;
-	
+
+	///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class.
+	///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
+	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
 
 public:
-	btTriangleMeshShape(btStridingMeshInterface* meshInterface);
 
 	virtual ~btTriangleMeshShape();
 
@@ -51,12 +53,7 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
-//this is a brute force processAllTriangles implementation to compare/unit test the btBvhTriangleMeshShape.
-//it has been disabled, so that users will not mistakenly use this class.
-//Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
-/*
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
-*/
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h

@@ -20,7 +20,7 @@ subject to the following restrictions:
 
 ///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld.
 ///This copes with fast moving objects that otherwise would tunnel/miss collisions.
-///Under construction, don't use yet!
+///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead.
 class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
 {
 

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -22,11 +22,8 @@ class btDispatcher;
 class btOverlappingPairCache;
 class btConstraintSolver;
 
-///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
-///It can be used for basic simulations, and as a starting point for porting Bullet
-///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
-///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
-///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
+///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
+///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
 class btSimpleDynamicsWorld : public btDynamicsWorld
 {
 protected: