add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in findSeparatingAxis (similar to the default GJK case)
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh
Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.
As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
Make the winding consistent in btConvexHullComputer (and related fixes in btPolyhedralConvexShape), thanks to Ole!
Some fixes in the btPolyhedralContactClipping implementation (never report a penetration deeper than GJK/EPA found, to avoid issues due to its approximate contact normal directions)
Properly visualize btPolyhedralConvexHullShape that have a btConvexPolyhedron (by calling initializePolyhedralFeatures() method)
Added initial support for polyhedral contact clipping.
This clipping takes a separating normal, that can be computed using either SAT or GJK/EPA.
To enable clipping, use btPolyhedralConvexShape::initializePolyhedralFeatures(); (needs to be enabled for both convex shapes)
No concave trimesh support for SAT/clipping yet. To enable SAT, see the toggle in btConvexConvexAlgorithm.
Fixes in contact normal in btGjkPairDetector. Hopefully this doesn't cause any regression (we need unit tests!)
