Add faster processing of btCompoundShape versus btCompoundShape, using a dedicated btCompoundCompoundCollisionAlgorithm,
with hash pair caching and tandem tree traversal. It should be much faster, when using many child shapes for both compounds.
Fix iOS compilation, added header.

git-svn-id: http://bullet.googlecode.com/svn/trunk@2661 08e121b0-ae19-0410-a57b-3be3395fd4fd
add option for slightly more accurate, and slightly slower algorithm for ray versus convex, used in btCollisionWorld::rayTest.
rayResult.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
See Demos/RaytestDemo/RaytestDemo.cpp for usage
This fixes issue 146, longest outstanding from 2008.

git-svn-id: http://bullet.googlecode.com/svn/trunk@2662 08e121b0-ae19-0410-a57b-3be3395fd4fd
bump up VERSION to 2.82 in various places, there is still some more issue to be fixed before release.

git-svn-id: http://bullet.googlecode.com/svn/trunk@2663 08e121b0-ae19-0410-a57b-3be3395fd4fd
use btScalar instead of float for btTriangleMesh
thanks to nsarkozi. This fixes issue 704

git-svn-id: http://bullet.googlecode.com/svn/trunk@2664 08e121b0-ae19-0410-a57b-3be3395fd4fd
minor update manual
fix vehicle demo (heightfield is broken, when using very large scaling factor)
add btConeShape serialization, see Issue 725
add btGearConstraint get/set, see Issue 685 and Issue 671

git-svn-id: http://bullet.googlecode.com/svn/trunk@2665 08e121b0-ae19-0410-a57b-3be3395fd4fd
refactor constraint serialization, so that double precision is maintained,
changes are backwards compatible (btBulletWorldImporter can load old .bullet files)
but not forwards compatible (constraints in new .bullet files are ignored/unrecognized by old Bullet SDK)
This commit is for Issue 734. Some more work needs to be done for btGImpactMeshShapeDoubleData and thus btStridingMeshInterfaceDoubleData and btMeshPartDoubleData

git-svn-id: http://bullet.googlecode.com/svn/trunk@2666 08e121b0-ae19-0410-a57b-3be3395fd4fd
update serialization structures

git-svn-id: http://bullet.googlecode.com/svn/trunk@2667 08e121b0-ae19-0410-a57b-3be3395fd4fd
use the old data structures for single precision serialization, to make it backwards compatible
So files created by the new double precision serialization of Bullet 2.82 cannot be read by old Bullet versions,
but double precision serialized file generated by older Bullet versions can be read by Bullet 2.82 or newer.

git-svn-id: http://bullet.googlecode.com/svn/trunk@2668 08e121b0-ae19-0410-a57b-3be3395fd4fd
add serialization for btGearConstraint
support 'linearFactor' and 'angularFactor' for btRigidBody world importer

git-svn-id: http://bullet.googlecode.com/svn/trunk@2669 08e121b0-ae19-0410-a57b-3be3395fd4fd
remove the 'isActive' test when merging simulation islands for constraints and speculative contacts, it is wrong
This fixes issue 709

git-svn-id: http://bullet.googlecode.com/svn/trunk@2670 08e121b0-ae19-0410-a57b-3be3395fd4fd
added two methods to btQuaternion, and add a note that the 'angle' method returns the half angle.
angleShortestPath and getAngleShortestPath
Thanks to Tully Foote. This fixes issue 379.


git-svn-id: http://bullet.googlecode.com/svn/trunk@2671 08e121b0-ae19-0410-a57b-3be3395fd4fd
prettify the debug wireframe drawing of sphere, capsule, cylinder and cone
add an btAssert in normalize of btVector3 and 'normalized' always use 'normalize'

git-svn-id: http://bullet.googlecode.com/svn/trunk@2672 08e121b0-ae19-0410-a57b-3be3395fd4fd
removed Particles OpenCL demo, all OpenCL work is moved to Bullet 3.x see
http://github.com/erwincoumans/bullet3
Fixes Issue 741

git-svn-id: http://bullet.googlecode.com/svn/trunk@2673 08e121b0-ae19-0410-a57b-3be3395fd4fd
applied character controller patch, not tested (allow community to develop btKinematicCharacterController.cpp)


git-svn-id: http://bullet.googlecode.com/svn/trunk@2674 08e121b0-ae19-0410-a57b-3be3395fd4fd
Added a first version of a Featherstone multi body implementation.
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.

git-svn-id: http://bullet.googlecode.com/svn/trunk@2675 08e121b0-ae19-0410-a57b-3be3395fd4fd
Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base
Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint

git-svn-id: http://bullet.googlecode.com/svn/trunk@2676 08e121b0-ae19-0410-a57b-3be3395fd4fd
preparation for joint limit constraint for Featherstone btMultiBody

git-svn-id: http://bullet.googlecode.com/svn/trunk@2677 08e121b0-ae19-0410-a57b-3be3395fd4fd
Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint
Fix case sensitive issue, thanks to Martin Felis
Fix crash/bug in btMultiBodyConstraint computation

git-svn-id: http://bullet.googlecode.com/svn/trunk@2678 08e121b0-ae19-0410-a57b-3be3395fd4fd
Add a virtual createConstraintRows method, to easier experiment with different kinds of btMultiBodyConstraint


git-svn-id: http://bullet.googlecode.com/svn/trunk@2679 08e121b0-ae19-0410-a57b-3be3395fd4fd
add a btFixedConstraint with toggle between btGeneric6DofConsraint and btFixedConstraint in VoronoiFractureDemo

git-svn-id: http://bullet.googlecode.com/svn/trunk@2680 08e121b0-ae19-0410-a57b-3be3395fd4fd