2.86
fix many warnings remove btMultiSapBroadphase.* make collisionFilterGroup/collisionFilterMark int (instead of short int)
add Inverted Pendulum example with PD control
add example for btMultiBody constraint and joint feedback
Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. Added demos for rigid and multi body soft (compliant) contact. Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring. Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
enable URDF loading throught the 'File/Open' menu set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location. no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
add a Pendulum example that is also used as unit test. Gold data is created by numerically solving a second-order non-linear differential equation. (see examples/MultiBody/pendulum_gold.h)