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)
virtual void btTypedConstraint::setParam(int num, btScalar value, int axis = -1) = 0;
virtual btScalar btTypedConstraint::getParam(int num, int axis = -1) const = 0;
Parameter can be BT_CONSTRAINT_ERP,BT_CONSTRAINT_STOP_ERP,BT_CONSTRAINT_CFM,BT_CONSTRAINT_STOP_CFM
Axis is 0 .. 5, first 3 for linear degrees of freedom, last 3 for angular. If no axis is specified it will take the 'default' degree of freedom. For a btHingeConstraint this would be the hinge axis (5)
(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
Turned on by default, use m_useOffsetForConstraintFrame = false to use old setup
Use "O" (capital 'o') button to toggle it in SliderConstraintDemo and ConstraintDemo
Total applied impulse copied back from btSolverConstraint to btTypedConstraint
Also comment-out some code for __SPU__ to reduce code size
Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints)
Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht)
Fix for btConvexConvexAlgorithm, potential division by zero
Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
improve CollisionDemo.cpp, show multi-contact generation using perturbation
improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support
Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive
Added missing projectfiles
Fixed single-shot contact generation. it is disabled by default to improve performance
Bugfixes for character controller, thanks to John McCutchan for reporting
Constraint solver: better default settings
btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free)
disable memalign by default, use Bullet's aligned allocator
1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.
2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.
3) Some minor refactoring to reduce huge constructor overhead in math classes.
It leads to problems with certain compilers, when Bullet/src is located in a long pathname.
Keep include path starting with "LinearMath/, "BulletCollision/, or "BulletDynamics/
improved hinge constraint: adds limits
added btAtan2Fast
quaternion helper functions
All thanks to Starbreeze Studios / Marcus Hennix, Marten Svanfeldt
