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2103 Commits

Author SHA1 Message Date
ejcoumans
48c6917387 don't assert on bad input, just export the warning (todo add proper user-feedback for asserts/warning!) 2006-12-20 21:23:26 +00:00
ejcoumans
0710ca2e36 better safe then sorry: set m_data to zeto after deallocation. 2006-12-19 23:54:02 +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
13b637f1ce updated build configuration to include make, next to jam. So ./configure will create Makefile AND Jamefile. 2006-12-15 18:24:31 +00:00
ejcoumans
df0c044228 removed obsolete code, added #ifdef to allow skipping of default registration of collision algorithm (avoid linking of unneeded code) 2006-12-13 22:44:20 +00:00
ejcoumans
6dff5a218e process contact and non-contact constraints inside the same iteration loop 
added first draft for hingeConstraint motor
 2006-12-12 03:15:11 +00:00
ejcoumans
2db98be0f7 added sourcefile to cmake 2006-12-06 04:56:26 +00:00
ejcoumans
5a5ba572a7 multi-platform issues with allocator 2006-12-06 04:51:13 +00:00
ejcoumans
bf591b44ec Replaced most STL std::vector with btAlignedObjectArray. 
Same interface but less features (push_back, pop_back, clear, size, [] etc).
To prepare for SIMD/SSE code: Added 		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
 2006-12-06 04:22:36 +00:00
ejcoumans
b6d1b4c94e Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences: 
- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
 2006-12-04 15:42:03 +00:00
ejcoumans
2f557b2a4d Added btStackAlloc to Bullet (right now only used by btGjkEpa) 2006-11-29 02:27:27 +00:00
ejcoumans
71145de242 renamed ConcaveShape to btConcaveShape 
added btHeightfieldTerrainShape (not done yet)
 2006-11-29 02:11:25 +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
43ab3c67c4 compiler issue with GCC 3.3.5 2006-11-23 06:27:32 +00:00
ejcoumans
7dc6aa215a some more fixes to get msvc6 happy, and constraint solver: make non-randomizing solver default 2006-11-23 02:57:38 +00:00
ejcoumans
633bb02daa fix to get msvc 6 to compile, related to 'Allocate' template 2006-11-22 19:41:25 +00:00
ejcoumans
0757f1fe9e add 'force activate', for static/kinematic objects that get moved. 
fixed some activation issues with kinematic objects
 2006-11-21 13:00:18 +00:00
ejcoumans
f4e8bf70c5 updated rotational-only hinge 2006-11-21 01:41:21 +00:00
ejcoumans
c801569644 updated rotational-only hinge 2006-11-21 01:38:18 +00:00
ejcoumans
4a23f4f438 added get methods for constraints 2006-11-21 00:29:11 +00:00
sjbaker
15bb51d780 Fixed compilation problem with GCC 3.3.5 - which appears at first glance to be due to a compiler error. 2006-11-20 23:21:05 +00:00
sjbaker
04d41b7a0a Cleanup compilation warnings. 2008-02-12 04:22:31 +00:00
ejcoumans
05877799af type in CMakeLists.txt 2006-11-18 03:35:26 +00:00
ejcoumans
083b86fbeb updated CMakeLists.txt for new files 2006-11-18 03:33:34 +00:00
ejcoumans
3adf09f7e3 updated EPA, 
updated user manual (work in progress)
 2006-11-18 03:27:01 +00:00
ejcoumans
b07bb88a2d Added new EPA penetration depth solver 
improved gjk/minkowski sampling pd method
added original solver variant, use btSequentialImpulseConstraintSolver2
Added Pierre Terdimans PD testbed
 2006-11-16 06:14:12 +00:00
ejcoumans
5a28e96a38 Added a more reliable EPA penetration depth solver, contributed by Nathanael Presson. 2006-11-15 15:40:24 +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
6bc090fd28 2006-11-14 05:36:30 +00:00
ejcoumans
be175e888e 2006-11-14 05:09:11 +00:00
ejcoumans
a9172d8684 Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes) 
Thanks a lot to Francisco León Nájera for the contribution!
 2006-11-12 06:15:19 +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
d7ad204943 updated CMakefile with new files 2006-11-11 06:48:30 +00:00
ejcoumans
c6be761166 some brute-force method for creating vertices from a convex defined by plane equations, and creating plane equations from a point cloud 2006-11-11 03:27:10 +00:00
ejcoumans
8cbd721a1f added some brute-force way to shrink convex polyhedra (to compensate collision margin) 
made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
 2006-11-11 03:22:15 +00:00
ejcoumans
438230b95b added proper clipping of angular limits in generic d6 ConstraintSolver/btGeneric6DofConstraint.cpp 
added trianglebuffer (easier GIMPACT integration)
 2006-11-10 22:56:45 +00:00
ejcoumans
56e135874b added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion. 
Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
 2006-11-10 04:00:16 +00:00
ejcoumans
a42718f753 quickprof (optional performance tuning) changed into Zlib license,entire Bullet/src folder is Zlib again. (thanks Tyler Streeter) 2006-11-09 18:44:28 +00:00
ejcoumans
4ab4fc8bb1 Integrated fixes for Solaris from Noerghel, http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=673 2006-11-09 15:27:02 +00:00
ejcoumans
5102b7ac60 added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb 2006-11-09 04:43:18 +00:00
ejcoumans
6d47d9492e added non-uniform scaling to btMultiSphereShape 
added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
 2006-11-09 01:58:33 +00:00
ejcoumans
db65601f9a added LCP clamp for linear limit on the generic D6 joint 2006-11-07 22:11:15 +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
c3ed55057c - added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA 
- use microseconds instead of milliseconds for deltatime
 2006-11-07 02:32:52 +00:00
ejcoumans
074e2b2d3b improved robustness of penetrations involving triangles and boxes, by adding their 'preferred' penetration directions. 
added wireframe/solid mode for meshes
updated solid penetration depth solver (comparison in Extras)
 2006-11-05 05:12:10 +00:00
sjbaker
6c61060339 Cleaned up some compile-time warnings. 2006-11-04 15:34:56 +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