+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch
To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
+SoftBody improvements by Nathanael Presson:
+Add tetrahedralization
+Add support for tearing/slicing cloth and deformable volumes. Uncomment the line in Bullet/src/BulletSoftBody/btSoftBodyHelpers.h: //#define BT_SOFTBODY_USE_STL 1
moved Extras/ConvexHull/btConvexHull.* to src/LinearMath/btConvexHull.*
removed btCollisionObject::m_internalOwner, replaced it by m_internalType. This should not affect external API (it was clearly marked as internal)
+ use btBroadphaseProxy::AllFilter to collide with static and dynamic rigidbodies in broadphase
+ enlarge aabb for softbody in broadphase, otherwise misses collisions (deformation is not updated in-time?)
+ fix related btMinkowskiSumShape issue in btSubsimplexConvexCast and btGjkConvexCast
+ add hitpoint for btSubsimplexConvexCast
+ reduce maximum number of iterations in conservative advancement/CCD implementations
Added very basic drawTriangle for btIDebugDraw, useful for basic softbody visualization.
Added btGjkEpa2, contribution by Nathanael Presson. Improved version of EPA penetration depth computation, more suitable for multi-core/SPU (less memory usage). Note: btGjkEpa2 is not enabled by default currently.
- replaced all usage of heapSort by quickSort
- finished btMultiSapBroadphase. Still some work to be done to increase performance (faster add/remove from child broadphases.
uses currently AABB tree to locate child broadphase (should use grid), and sorted array takes too much time.
