warmstarting for contact points was broken, fix in btPersistentManifold
enable split impulse by default (at the cost of some performance)
add the option for zero-length friction (instead of recomputing friction directions using btPlaneSpace), use the solver mode flag SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
precompute lateral friction directions (in btManifoldResult)
remove the mConstraintRow[3] from btManifoldPoint, it just took a lot of memory with no benefits: fixed it in btParallelConstraintSolver
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.
fix in infinite recursion in quickSort, exclude the pivot in each sub partition
disabled constraints don't merge simulation islands, and they don't disable collision between linked rigid bodies either.
If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo.
You can use an embedded sphere that prevents tunneling, using the following settings:
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543
use btConvexPolyhedron for debug rendering, if available
fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero
don't shift vertices in btPolyhedralConvexShape
Avoid crash in BulletWorldImporter, ignoring 'invalid' constraints between two static bodies
Use a bitfield for btCollisionObject::CollisionObjectTypes (to allow custom types that are derived from build-in types such as btRigidBody)
Revert/improve softbody debug rendering
improve serialization based on feedback: make it easier to serialize a single object, or single shape, or single bvh.
Modified Bullet/Demos/ConcaveDemo to use btSerializer to serialize the btOptimizedBvh (or optionally the trimesh+bvh)
You can also serialize trimesh without BVH, use:
serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
Tweak the BenchmarkDemo a bit:
1) disable deactivation in graphical mode
2) add some settings that increase performance in the BenchmarkDemo2 (1000 stack) from 35ms to 15ms on this quad core (at the cost of a bit of quality)
(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
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
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)
