(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
See also request here: http://code.google.com/p/bullet/issues/detail?id=325
Also added a warning. This warning also applies to all methods that change the collision shape:
"changing a collision shape while the body is in the world is not recommended,
it is best to remove the body from the world, then make the change, and re-add it
alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'"
Minor fixes (#ifndef SPU_COLLISION_OBJECT_WRAPPER_H block etc)
Only update 'setNumTasks' when necessary
Revert vectormath.h include (can't resolve conflicts with PS3 SDK, need additional #include path)
Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier.
Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp
+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
If user wants more accurate inertia tensor for multi-sphere shape, use btCompoundShape instead
(amd btCompoundShape::calculatePrincipalAxisTransform)
Thanks rcharlton for bringing this up.
Erwin
1) add AabbCaching versions of btPolyhedralConvexShape and btMultiSphereShape (this speeds up btMultiSphereShape 'getAabb', and reduces size of btBoxShape)
2) btCylinderShape doesn't derive from btBoxShape anymore
+ Minor fixes in drawing for btMultiSphereShape, btBoxShape.
+ Don't re-generate btDebugFont every frame
+ Disabled velocity prediction for btDbvtBroadphase. Previous default can be restored using btDbvtBroadphase->setVelocityPrediction(1./2.);
+ applied patch to mix double/single precision meshes independent from double/single precision Bullet build
Thanks to Ole for the patch, http://code.google.com/p/bullet/issues/detail?id=213
+ re-enable warming starting in constraint solver, it was disabled by accident
+ fix btConvexHullShape constructor, so accept vertices with non-16-byte striding
Thanks Shawn Baird for report and fix: http://code.google.com/p/bullet/issues/detail?id=204
Added optional flag btSoftBody::appendAnchor( int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types.
Use btAssert and not assert.
Don't access btAlignedObjectArray elements, for zero sets
1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.
2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.
3) Some minor refactoring to reduce huge constructor overhead in math classes.
