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'"
See also http://code.google.com/p/bullet/issues/detail?id=27 for issue description and an example how to use this (a modified version of Bullet/Demos/ConcaveDemo)
This demo will be committed to Bullet/Demos/ConcaveDemo later.
move debugDrawWorld to btCollisionWorld.
improved CollisionInterfaceDemo, show how to perform a closest point query for objects that are not in the collision world.
removed a bit of garbage from the debug drawer
Revert btHashKeyPtr and introduce btHashPtr (to avoid breaking API/COLLADA Converter), see http://code.google.com/p/bullet/issues/detail?id=318
Disable separating distance util (it just costs CPU cycles and is disabled by default in the API anyway)
manually add some missing files to msvc projectfiles for now
fix in box-box collision detector, preventing it to fail in some rare cases
remove redundant line in btHingeConstraint, thanks to teravus
fix mouse drag camera rotation issue (modulo 360 instead of 180)
Some developers only initialize the world position, and not the orientation -> uninitialized data.
We should probably add some warning in btTransform, in debug mode. Note we don't initialize btTransform/btQuaternion/btVector3/btMatrix3x3 default constructor, for performance reasons.
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
Also comment-out some code for __SPU__ to reduce code size
Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints)
Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht)
Fix for btConvexConvexAlgorithm, potential division by zero
Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
+ 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
