erwin.coumans
0ff15db3f3
+ capsule should subtract margin, and take local scaling into account.
...
+ boxshape uses btFsels
+ add assert in btGjkPairDetector that the new non-virtual method produces the same result as old non-virtual
2008-09-30 18:37:01 +00:00
john.mccutchan
2b71784c86
Make getShapeType() a non virtual function.
...
Add localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, getAabbNonVirtual and getMarginNonVirtual methods to convex shape classes
2008-09-29 22:47:05 +00:00
erwin.coumans
8f3e9603f3
+ fixed issue related to temporary/root collision shape in btCollisionObject
...
+ normalize plane normal input for btStaticPlaneShape
+ fixed issue related to swapped collision detectors (SphereTriangleDetector in particular)
Thanks a lot to Andrey Tuganov for reporting the issue and his reproduction case ( http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2143 )
2008-07-11 05:39:31 +00:00
erwin.coumans
596e94dfd1
fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and Nathanael for fixing
2008-05-25 17:45:13 +00:00
ejcoumans
7cd651c266
pass collision shapes as const. fixed some issues with continuous convex cast (resulting hitnormal was not initialized properly, results not proper)
2007-07-11 02:16:39 +00:00
ejcoumans
bc3f9535ad
cleaned up, removed warning under MSVC2005 (Level 4)
...
Mostly related to alignment and unused variables
2007-04-13 01:37:21 +00:00
ejcoumans
df9230327c
Contribution to add optional double precision floating point support. Define BT_USE_DOUBLE_PRECISION for all involved libraries/apps.
2006-12-16 05:51:30 +00:00
ejcoumans
6738ed329d
ASSERT -> btAssert
...
Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
2006-11-29 01:52:09 +00:00
ejcoumans
dcdfbe1680
more tweaking to get GJK more reliable
2006-11-15 02:23:45 +00:00
ejcoumans
b5afb11282
Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert.
2006-11-14 21:53:59 +00:00
ejcoumans
86c27a7c9d
Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)
...
Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
2006-11-11 23:59:51 +00:00
ejcoumans
7d7611f671
epsilon was set too small (below machine epsilon)
2006-11-11 19:52:53 +00:00
ejcoumans
2a1546764e
perform GJK calculations in local space, transform added contact points back into worldspace.
...
Perhaps rethink of adding contact points in local place (might hit complication with compounds)
2006-11-07 20:34:52 +00:00
ejcoumans
23c64fb0db
more solver experiments, randomize the order of contact points, not just manifolds
...
use #defines for constants, rather then const btScalar
2006-11-04 05:22:36 +00:00
ejcoumans
07873854a4
more small refactoring: some methods were still upper-case.
2006-11-03 04:32:48 +00:00
ejcoumans
3fe3b11924
use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
...
improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
2006-10-28 02:06:19 +00:00
ejcoumans
659207e7a3
removed some obsolete/debugging stuff
2006-10-07 02:18:05 +00:00
ejcoumans
2b1657b1dd
Refactoring: another huge number of changes, renamed methods to start with lower-case.
2006-09-28 01:11:16 +00:00
ejcoumans
eb23bb5c0c
merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.
...
Still need to verify to make sure no unwanted renaming is introduced.
2006-09-27 20:43:51 +00:00
ejcoumans
0e04cfc806
First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.
...
Made all buildsystems to work again (jam, msvc, cmake)
2006-09-25 08:58:57 +00:00
