added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
eg:
bulletmath_suffix="-lbulletmath"
bulletcollision_suffix="-lbulletcollision"
bulletdynamics_suffix="-lbulletdynamics"
dnl Check bulletmath library
AC_CHECK_LIB(bulletmath, btBulletMathProbe, true,
AC_MSG_ERROR([there seems to be a problem with the bulletmath library]))
LIBS="$bulletmath_suffix $LIBS"
dnl Check bulletcollision library
AC_CHECK_LIB(bulletcollision, btBulletCollisionProbe, true,
AC_MSG_ERROR([there seems to be a problem with the bulletcollision library]))
LIBS="$bulletcollision_suffix $LIBS"
dnl Check bulletdynamics library
AC_CHECK_LIB(bulletdynamics, btBulletDynamicsProbe, true,
AC_MSG_ERROR([there seems to be a problem with the bulletdynamics library]))
LIBS="$bulletdynamics_suffix $LIBS"
Same interface but less features (push_back, pop_back, clear, size, [] etc).
To prepare for SIMD/SSE code: Added #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
