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
Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
+ normalize plane normal input for btStaticPlaneShape
+ fixed issue related to swapped collision detectors (SphereTriangleDetector in particular)
Thanks a lot to Andrey Tuganov for reporting the issue and his reproduction case ( http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2143 )
+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
- 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);
