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Commit Graph
372 Commits
Author SHA1 Message Date
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
ejcoumans 4050da0e2f One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected. 
Also did some work on improving the constraint solver.
 2006-11-02 03:42:53 +00:00
ejcoumans 82ba30caa6 fixed 2 issues, one related to wrong 'safety' catch for large objects 
and COLLADA constaints didn't recognize rigid body names
 2006-10-31 02:11:29 +00:00
ejcoumans d1a1b3d492 fixes to allow applying impulses during interpolated timesteps (avoid visual discontinuities) 
experimental jitter removal (doesn't work very well yet)
 2006-10-30 19:37:08 +00:00
ejcoumans b14ccdaa57 rename treshold into thresold (spelling mistake) 
added cr/linefeed at end of btDefaultMotionState.h
 2006-10-30 05:06:46 +00:00
ejcoumans dd8297c86e refresh contact points, even when they are already persistent. needs a bit more work (a 'replacedContactCallback' where optionally the user can carry over the persistent contact data) 2006-10-30 04:51:17 +00:00
ejcoumans 6232763f9e fixed debugDraw colors (thanks pcOde http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=642 ) 2006-10-29 18:54:09 +00:00
ejcoumans d6c6cbaee6 enabled the vehicle demo again (still needs lots of tuning before it drives well) 
fixed some warnings
 2006-10-29 03:36:16 +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 e2093823ff fixed check for response (no static/kinematic, rather then 'active') 2006-10-21 16:34:36 +00:00
ejcoumans 289c5ca7fe improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates 2006-10-19 15:20:38 +00:00
ejcoumans 33b3ec94f1 more fixes, related to introduction of btMotionState, and using realtime timestep 2006-10-18 04:01:07 +00:00
ejcoumans 3a6942fb91 processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated. 
renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
 2006-10-18 03:28:42 +00:00
ejcoumans 1fe414d98a Hooked up 'disable deactivation mode' via debugMode 2006-10-17 01:59:02 +00:00
ejcoumans 15840d7bb0 2006-10-15 20:18:38 +00:00
sjbaker ca4a071880 Fixed bug - paying attention to compiler warnings saves lives! 2006-10-14 17:52:26 +00:00
ejcoumans 2c66be25fc added cleanup memory for BasicDemo, and another pragma warning ignore 2006-10-13 23:24:09 +00:00
ejcoumans ccb7a311b2 updated the Extras/quickstep files, for comparison 2006-10-13 22:34:16 +00:00
ejcoumans a337372905 added first draft of C-API, btConvexHullShape takes float* instead of btPoint*, added getGravity to btRigidBody 2006-10-11 06:07:14 +00:00
ejcoumans 919e8def68 removed scaling from btTransform (we only want to deal with rigid transforms) 
added BasicDemo to projectfiles (serves as a very small test for porting Bullet to other languages)
 2006-10-10 00:43:13 +00:00
ejcoumans f3eb3cfa37 Added a very basic dynamics demo, only using spheres (and optionally boxes) 2006-10-09 20:41:18 +00:00
ejcoumans 659207e7a3 removed some obsolete/debugging stuff 2006-10-07 02:18:05 +00:00
ejcoumans 2832300435 doxygen tags 2006-10-06 22:12:17 +00:00
ejcoumans 831636af25 doxygen comments 2006-10-06 22:03:04 +00:00
ejcoumans 7f8345f0e9 doxygen comments 2006-10-06 22:02:34 +00:00
ejcoumans e24aa9f0c7 doxygen comments 2006-10-06 22:02:02 +00:00
ejcoumans bbe301fff8 lowered safety limit to 32, and added link/comment to forum 2006-10-06 22:01:29 +00:00
ejcoumans ce627a8b2a doxygen comments 2006-10-06 21:57:10 +00:00
ejcoumans 70e5fcf024 doxygen comments 2006-10-06 21:56:39 +00:00
ejcoumans 4ba9619b5d 2006-10-06 05:49:40 +00:00
ejcoumans 3241443434 removed 1 file 2006-10-06 05:47:57 +00:00
ejcoumans bf847b839a another large series of changes, related to the refactoring. 
CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
 2006-10-06 05:22:13 +00:00