Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver.
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody.
Next on the list will be adding support for joint limit constraint for btMultiBody.
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
with hash pair caching and tandem tree traversal. It should be much faster, when using many child shapes for both compounds.
Fix iOS compilation, added header.
Applied picking cloth patch. Fixes Issue 646. Thanks to Dongsoo.
Applied patch Softbody updateConstraints. Fixes Issue 503. Thanks to Dave Bruce Phillips and Dongsoo.
Fix various warnigns under Mac OSX.
If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo.
You can use an embedded sphere that prevents tunneling, using the following settings:
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543
Fixed recently introduced issue: can't re-use stack as member variable (to reduce memory allocs) in btDbvt, due to recursion.
remove btGjkEpa.* from Makefile.am, Makefile and CMakeLists.txt
avoid division-by-zero in ODE boxbox contact reduction
