The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver.
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody.
Next on the list will be adding support for joint limit constraint for btMultiBody.
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
See http://www.youtube.com/watch?v=RV7sBAsKu4M and Bullet/Demos/RollingFrictionDemo
Fixes in FractureDemo (mouse picking constraint needs to be removed, otherwise constraint solver crashes/asserts)
Note that it can easily introduce instability at regular (60Hertz) simulation steps so it is generally best to not use the option.
If needed, use a very small internal step, such as 1000 Hertz (world->stepSimulation(dt,100,1./1000.f); or stepSimulation(1./1000.,0);
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.
primarily to distribute project files that work.
CMake is still better supported in general (not all demos/libs have been ported)
Revert a recent change about warnings: %zu doesn't work in printf, %d does
