2.85
Fixed btKinematicController from clipping through walls in corners.
revert default contact 'erp' (error-reduction-parameter) from 0.8 to 0.2 as it used to be.
separate spinning friction (torsional friction around contact normal) from rolling friction (orthogonal to contact normal)
ping-pong back/forward in PGS solving iterations to reduce bias in constraint order add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
Enable softness for btRigidBody contacts. This is implemented by some value (CFM, constraint force mixing) to the main diagonal of A. CFM for contacts use world CFM value by default, and can override with custom CFM value using the BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags. Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint. Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM. In one of the next commits, contact softness will be enabled btMultiBody contacts. Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
fix warnings (thanks to Aaron!)
Add slider constraint.
premake: use *.cpp insteadl of **.cpp