+ fixed issue with persistent manifold, warmstarting values were not initialized properly + don't clear manifold in sphere-sphere collision (need warmstarting) + added support for 'split impulse', decouple positional error correction from velocity correction This avoids adding momentum due to penetration correction, it can be tuned using following variables: solverInfo.m_splitImpulse = true/false (disable/enable) solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible) solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
Download COLLADA 1.4 DOM COLLADA DOM Patch3 or later and unzip here. http://sourceforge.net/projects/collada-dom Visual Studio 2005 projectfiles are provided.