Add option to compile without btClock and without profiling: comment out USE_BT_CLOCK, and #define BT_NO_PROFILE
Fixed typo/case in #include "LinearMath/btQuickProf.h", in SpuParallelSolver.cpp
Removed unnecessary files from libxml CMakeLists.txt
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
- improved friction model for parallel solver (align the friction direction with projected velocity, unless the projection is close to zero (only then use 2 arbitrary axis orthogonal to contact normal)
enabled it for triangle mesh aabb DMA transfers. Todo: check if it is worth also modifying other parts of the code to avoid the memcpy into the 256kb Task memory.
added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
- added bt32BitAxisSweep3, which co-exists without recompilation, using template class. This broadphase is recommended for large worlds with many objects (> 16384), until btMultiSwap is finished.
- Fixed some recent issues in Bullet 2.57 related to compound (thanks Proctoid) and memory allocations
Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
This is good when having lots of re-used shapes with different sizes.
Convex shapes will need to derive from btConvexInternalShape (which is a subclass of btConvexShape). We could have renamed btConvexShape to 'btConvexShapeInterface' (can still do that later)
