Fix issues with btDbvt: use ATTRIBUTE_ALIGNED16
Removed several places where variable was declared within for statement: for (int i=0; should be int i; for (i=0
Don't create a todo list for doxygen by default (the chaotic todo's would confuse most developers)
Improve support for small objects, by having dynamic contact breaking thresholds. Still needs small internal timestep and some GJK improvements.
Fixed recently introduced issue: can't re-use stack as member variable (to reduce memory allocs) in btDbvt, due to recursion.
remove btGjkEpa.* from Makefile.am, Makefile and CMakeLists.txt
avoid division-by-zero in ODE boxbox contact reduction
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
Fix btConvexTriangleMeshShape::calculatePrincipalAxisTransform
Both thanks to Ole.
Use our own union to extract a scalar value from an SSE intrinsic (instead of relying on MSVC-only m128_u32
Thanks to BlindSide
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)
It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest.
Updated KinematicCharacterController to use btPairCachingGhostObject.
and rayTestInternal re-uses precomputed invRayDirection/signs.
also did some performance comparison with different ray-AABB test, from
http://jgt.akpeters.com/papers/EisemannEtAl07/
In short: it is faster, but it is not clear how to cull ray segments using ray slopes: when rays starts inside the AABB, we get a negative t value, but negatives also get false t-values...
Renamed collideRay -> rayTest to reflect change to (rayFrom,rayTo) interface.
Re-use btRayAabb2 function from src/LinearMath/btAabbUtil2.h in btDbvt instead of duplicated implementation.
Add rayTest to btBroadphaseInterface, and implement efficient version for btDbvtBroadphase to accelerate raycasting.
btAxisSweep3, btSimpleBroadphase and btMultiSapBroadphase implement brute-force method (as before). For now, it is recommended to use btDbvtBroadphase for fastest world raycast.
