v0.5.4

Overview:

• Port updates from ODE 0.16.4-0.16.6
• Fixed instability in quick-step
• Fixed exception when colliding DConvex with DTrimeshHeightfield
• Added several convenience methods to DVector3 for pairwise multiplication and division (Hadamard operations)

Detailed list of changes from CHANGELOG:

• Fixed javadoc for DPUJoint, DVector and DWorld #155
• Fixed exception when colliding DConvex with DTrimeshHeightfield #152
• Improved javadoc for DContact and DCapsule (AustinHoover) #150
• Add some math functions for element wise multiplication and division (Hadamard) #145:
  • DVector3 addHadMul(DVector3C v, DVector3C w)
  • DVector3 addHadMul(DVector3C v, DVector3C w, double d)
  • DVector3 addHadDiv(DVector3C v, DVector3C w)
  • DVector3 addHadDiv(DVector3C v, DVector3C w, double d)
  • DVector3 addHadMul(DVector3C v)
  • DVector3 addHadDiv(DVector3C v)
  • DVector3 addHadReciprocal()
• Fixed BVH spelling in API #149
• Post 0.16.6 cleanup #148
  • Re-enabled new BoxPlane collider
  • deprecated DWorld.step()
  • DemoCrash cleanup
• Port updates until 0.16.6 (previous: 0.16.2/.3) (#147). This includes:
  • Fixed porting bug in dxQuickStepIsland_Stage4LCP_IterationStep:
    fc_ptr2P = b2 * CFE__MAX; was declared int and thus overwrote the existing variable.
    This appears to fix known stability issues, e.g. large walls of boxes.
  • New box-plane collider
  • new DemoTrimeshCollision
  • new API method in DPUJoint: void addTorques (double torque1, double torque2);