+ 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
minor fix in btTransformUtil::calculateVelocityQuaternion, report zero angular velocity on identical transforms (using above operator to check identical transforms)
btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
BulletMultiThreaded/NarrowPhaseCollision makes use of this boxBoxDistance.
Cache some values in src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp, to avoid DMA transfers
2) Added btConvexSeparatingDistanceUtil: this allows caching of separating distance/vector as early-out to avoid convex-convex collision detection.
btConvexSeparatingDistanceUtil is used in src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp and can be controlled by btDispatcherInfo.m_useConvexConservativeDistanceUtil/m_convexConservativeDistanceThreshold
3) Use BulletMultiThreaded/vectormath/scalar/cpp/vectormath/scalar/cpp/vectormath_aos.h as fallback for non-PlayStation 3 Cell SPU/PPU platforms (used by boxBoxDistance).
Note there are other implementations in Extras/vectormath folder, that are potentially faster for IBM Cell SDK 3.0 SPU (libspe2)
boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver
added cone drawing (for X,Y,Z cones)
Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
