561066af75
+ 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)
Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation. Free for commercial use, including Playstation 3, open source under the ZLib License. Discrete and continuous collision detection, integrated into Blender 3D, and COLLADA 1.4 Physics import. See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at http://bulletphysics.com