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
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
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
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
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
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
ejcoumans
97b287a6bc
updated Jam buildsystem to link properly under systems that rely on strict ordering of the link libraries
2006-10-05 14:05:09 +00:00
ejcoumans
323a1046fd
Cleaned up/simplified construction of a btRigidBody
...
Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy* m_broadphaseProxy;' in btRigidBody
2006-10-04 23:46:27 +00:00
ejcoumans
1208c67f85
removed duplicate int i, caused VC6 not to compile.
2006-10-03 17:51:07 +00:00
sjbaker
2aaab1ab1a
Assorted cleanup of compilation warnings. Also fixed some actual errors:
...
#include "renderTexture.h"...when the file is actually called 'RenderTexture.h'.
2006-10-01 00:08:09 +00:00
ejcoumans
01a6290cf7
more refactoring, restored some profiling and some debugging
2006-09-30 02:26:51 +00:00
ejcoumans
d38549aa54
more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.
...
removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
2006-09-30 01:36:39 +00:00
ejcoumans
14397a2f72
confusion about memory management, and removed obsolete PhysicsInterface code.todo: updated the demos that still use this code
2006-09-29 19:57:23 +00:00
ejcoumans
21482e4cab
some minor comment-renames, and moved some data from box/sphere into common convex.
2006-09-28 20:14:10 +00:00
ejcoumans
5a75c6e09e
refactoring: sphere-box collision algorithm added
2006-09-28 01:47:24 +00:00
ejcoumans
153ffcda52
more refactoring: fixed conventions in this class
2006-09-28 01:46:36 +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
d0f09040e9
fixed some merging conflicts
2006-09-27 20:58:49 +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
e48c81c55e
added basic sphere-box case for porting purposes. This way, we can have a basic sample without GJK.
2006-09-27 00:51:25 +00:00
ejcoumans
37a53ee7d9
small cleanup in the DemoApplication, removed references to obsolete PHY_ShapeProps/PHY_MaterialProps
...
removed deletion of motionstate in CcdPhysics/CcdPhysicsController destructor
disabled m_type optimization in SimdTransform (making the memory size 64 byte, potentially more cache friendly)
fixed a bug in island generation, causing the activation not propagating in one frame, but one 'layer' of rigidbodies at a time
2006-09-26 18:59:29 +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
