Various patches used in a shipped game


Should digg through those improvements, and either merge them into Bullet 2.x 
or them into account for Bullet 3.x:

ability to query only static/dynamic hierarchy in btDbvtBroadphase
add btNonUniformScalingShape
scratch memory for temporary arrays (may not be thread safe)
btQuantizedBvh node merging (~5x memory savings)
batched triangle callbacks (eliminates most per-triangle virtual function calls)
k-DOP queries against btQuantizedBvh
flag to specify whether GJK should skip EPA test for yes/no queries
active collision object skip indices to allow fast iteration over active 
collision objects without second list memory overhead (the Wii really did need 
that 15k, and 2.73 didn’t have the active list anyway)
optimize many loops to use active object skip indices (I didn’t compare speed 
with the 2.76 non-static list, but these loops are much faster than the 2.73 
loops over all collision objects)
face normal replacement (though this only handles our triangle winding and is 
probably not necessary with the internalEdgeUtility)
allow compounds of meshes by storing parent object in btTriangleShape
allow deferred creation of compound btDbvt to allow for only creating the 
hierarchy when the child count reaches a threshold
optimize btMultiSphereShape's AABB calculation
optimize btGjkEpa2::newFace
break up function in btVoronoiSimplexSolver to allow inlining its internal 
function calls on Wii (the function size was too big before)
add spherical gravity mode (this should probably be generalized or just removed)
optimize btRigidBody packing to save memory
many btRayCastVehicle improvements including user specified wheel solve order

Original issue reported on code.google.com by erwin.coumans on 9 Jul 2010 at 6:14

Attachments:

bullet_patches.zip

chenynCV / bullet

Various patches used in a shipped game #405