fix some crash in btSoftBody, related to running out-of-memory. You can configure the default maximum memory allocation for the signed distance field using worldInfo->m_sparsesdf.Initialize(hash, maxAllocation);
fix 'exploding' btSoftBody, related to very small masses. You can configure maximum displacement per frame using worldInfo->m_maxDisplacement
avoid some crash in the world importer
In some degenerate cases the contact normal is pointing the wrong direction
so fix it now (until we can deal with all degenerate cases in GJK and EPA)
contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
We like to use a dot product of the normal against the difference of the centroids,
once the centroid is available in the API
until then we use the center of the aabb to approximate the centroid
The idea is to create tetrahedra from each surface triangle, by moving its centroid inwards along the collision normal using depth.
If the centroid hits an internal triangle, it will stop there.
The commit also includes part of the gimpact raycast performance improvement, except for the actual btCollisionWorld part
(that file was out-of-date and needs manual patching)
Recompute the quantization values in case the maximum/minimum extends roundtrip using quantize/unQuantize are out-of-range
(alternatively, pass in a larger quantizationMargin)
Add speculative contact restitution, but disabled by default, not well tested (btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution)
Add --with-double-precision option to premake build system
add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in findSeparatingAxis (similar to the default GJK case)
See http://www.youtube.com/watch?v=RV7sBAsKu4M and Bullet/Demos/RollingFrictionDemo
Fixes in FractureDemo (mouse picking constraint needs to be removed, otherwise constraint solver crashes/asserts)
Note that it can easily introduce instability at regular (60Hertz) simulation steps so it is generally best to not use the option.
If needed, use a very small internal step, such as 1000 Hertz (world->stepSimulation(dt,100,1./1000.f); or stepSimulation(1./1000.,0);
(make sure to merge islands based on those predictive contacts too, added some check in the solver)
This fixes Issue 356.
Use same solver settings for AllBulletDemos
Make sure to embed the setCcdSweptSphereRadius inside the actual collision shape (for shoot box)
This should improve 'ccd' handling when using world->getDispatchInfo().m_useContinuous = true;body->setCcdSquareMotionThreshold(...); body->setCcdSquareMotionThreshold(...)
shoot smaller boxes (test)
use yellow instead of orange for contact point normals
tweak default erp and erp2 values, now split impulse is on by default (need to check it)
