Bullet 2.37 has just some minor changes:
- added unfinished btHeightfieldTerrainShape.cpp/h. Needs work to create the triangles (and potentially optimized CollisionAlgorithms for certain cases)
- removed default construction of btDiscreteDynamicsWorld/btCollisionWorld.
User needs to pass data explicitly. This is in order to reduce dependencies.
- Internal change: Added btStackAlloc, to allow fast allocations in a FIFO style. Was used in btGjkEpa, exposed it into btCollisionWorld.
- Internal change: renamed ConcaveShape to btConcaveShape
Download page for Bullet Physics SDK