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.
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)
+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
BulletMultiThreaded/NarrowPhaseCollision makes use of this boxBoxDistance.
Cache some values in src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp, to avoid DMA transfers
2) Added btConvexSeparatingDistanceUtil: this allows caching of separating distance/vector as early-out to avoid convex-convex collision detection.
btConvexSeparatingDistanceUtil is used in src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp and can be controlled by btDispatcherInfo.m_useConvexConservativeDistanceUtil/m_convexConservativeDistanceThreshold
3) Use BulletMultiThreaded/vectormath/scalar/cpp/vectormath/scalar/cpp/vectormath_aos.h as fallback for non-PlayStation 3 Cell SPU/PPU platforms (used by boxBoxDistance).
Note there are other implementations in Extras/vectormath folder, that are potentially faster for IBM Cell SDK 3.0 SPU (libspe2)
Add rayTest to btBroadphaseInterface, and implement efficient version for btDbvtBroadphase to accelerate raycasting.
btAxisSweep3, btSimpleBroadphase and btMultiSapBroadphase implement brute-force method (as before). For now, it is recommended to use btDbvtBroadphase for fastest world raycast.
