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1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions). See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc. 2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support. This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver. 3) Some minor refactoring to reduce huge constructor overhead in math classes.
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