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1708 Commits

Author SHA1 Message Date
Erwin Coumans
20a270bc94 more URDF2Bullet refactor to make URDF import a little bit more re-usable 2015-03-20 13:07:25 -07:00
erwin coumans
5d40d90bd0 add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call, 
then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
 2015-03-03 13:24:06 -08:00
Erwin Coumans
193e680790 _N -> n, _C -> c, _L ->l, some collision with a standard C++ header? 2015-02-20 13:51:24 -08:00
Erwin Coumans
4e02f6673b fix a bug related to gyroscopic forces in btMultiBody 2015-02-13 18:27:01 -08:00
erwincoumans
5a91c9ea3c Merge pull request #317 from namar0x0309/master 
Fix for 64bit builds btSqrt and USE_APPROXIMATION
 2015-02-12 13:34:22 -08:00
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c8e252ba36 Merge remote-tracking branch 'bp/master' 2015-02-12 09:14:39 -08:00
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27aa959059 fix some btMultiBody URDF conversion issues in ImportURDFSetup 
remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h"
btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
 2015-02-12 09:11:55 -08:00
erwincoumans
15d5659483 Merge pull request #313 from jackoalan/neon-setinterpolate3-fix 
Fixed self-referencial bug in btVector3's setInterpolate3 (NEON)
 2015-02-10 18:10:26 -08:00
Erwin Coumans
c7671779c2 add method to add triangle by its indices for btTriangleMesh 
See also https://github.com/bulletphysics/bullet3/pull/315
thanks to quiasmo   for the contribution
 2015-02-04 10:47:13 -08:00
Nassim Amar
e9c7f3a0d2 Fixed macro's to detect 64bit 2015-02-01 14:32:37 -08:00
Nassim Amar
cf705d6fa4 Fix for 64bit builds btSqrt 
Fix issue with btSqrt with macro USE_APPROXIMATION turned on.
 2015-02-01 05:41:07 -08:00
erwincoumans
76b80ca71b Merge pull request #309 from erwincoumans/master 
minor fixes (GL2, preSwapFileNameOut), improved URDF/btMultiBody (work in progress), basic debug drawing for btMultiBody
 2015-01-27 13:33:37 -08:00
erwincoumans
bd16df8dd6 add basic debug drawing interface for btMultiBodyPoint2Point constraint 
add basic debug drawing drawText3D in SimpleOpenGL3App
remove a few warnings
add drawTexturedRect3D to GLPrimitiveRenderer to support debug drawing
 2015-01-27 10:45:56 -08:00
erwincoumans
a159fbac69 Improved URDF support for btMultiBody and separate graphics/collision/inertial frames and shapes 
Fix WinXP GetTickCount64 with a typedef
Expose debug drawing mode/flags in UI (hot keys A,D,L,W for now, buttons later)
GLInstancingRenderer: tweak near/far planes to allow closer approach of camera
btDiscreteDynamicsWorld: enable debug drawing for btGeneric6DofSpring2Constraint
btMultiBodyDynamicsWorld: enable basic debug drawing for btMultiBody
btMultibody: allow center-of-mass shift for prismatic and fixed constraint
 2015-01-22 17:56:24 -08:00
Jack Andersen
9e8e22bee5 Same fix for B3 codebase 2015-01-20 20:11:56 -10:00
Jack Andersen
991366a48f Fixed self-referencial bug in btVector3's setInterpolate3 2015-01-20 19:10:52 -10:00
erwincoumans
bb2805379c Merge pull request #292 from lunkhound/fix-sse-win32 
quickfix: SSE was accidentally disabled on windows desktop
 2014-12-16 14:38:17 -08:00
erwincoumans
c7d9c5ba5b Merge pull request #296 from rraallvv/master 
Stop adding motion in the kinematic character controller if the walk dir...
 2014-12-16 14:37:05 -08:00
emMichael Alexander Ewert/em
d4be7a4823 Revert "replace unstable Gyroscopic force calculations with stable back Euler derived" 
This reverts commit 0ce687853d.
 2014-12-12 16:35:40 -08:00
emMichael Alexander Ewert/em
92dabdc07d Fix a couple of bugs in 2dConvex Hull algorithm. 
* Need to use atan2 so 3d angles are calculated properly after projection.
* Need to handle case where the first tripple of points is non-convex,
previously this would cause the algorithm to fail with only 1 point.
 2014-12-12 15:39:16 -08:00
emMichael Alexander Ewert/em
0ce687853d replace unstable Gyroscopic force calculations with stable back Euler derived 
update.  Removed max force clamping.
 2014-12-12 11:49:36 -08:00
Rhody Lugo
2118ade465 Stop adding motion in the kinematic character controller if the walk direction is near zero 2014-12-12 10:31:23 -04:30
erwin coumans
cf2b4e03b5 fix a problem in the btMultiBodyConstraint related to self-collision, see also 
https://github.com/bulletphysics/bullet3/issues/290
 2014-12-09 16:57:21 -08:00
Lunkhound
beaf1b5922 fix for fix 2014-11-25 13:48:20 -08:00
Lunkhound
8cac481091 quickfix: SSE was accidentally disabled on windows desktop by a change intended to disable it only for Windows Phone 2014-11-25 12:44:22 -08:00
Erwin Coumans
ba0dd676aa comment-out the memset in DEBUG mode in btVector3.cpp and b3Vector3.cpp 2014-11-02 14:12:54 -08:00
Erwin Coumans
5757de14d7 Merge remote-tracking branch 'bp/master' 
Conflicts:
	btgui/Bullet3AppSupport/CommonParameterInterface.h
 2014-11-02 13:12:16 -08:00
Erwin Coumans
b1863f7ce2 Refactored GJK, EPA and MPR as a template class, reducing/removing the dependencies 
to the rest of the Bullet code base. This code will replace the original GJK/EPA
in a future commit.

Added btMprPenetration, an implementation of Minkowski Portal Refinement
by Daniel Fiser. Original MPR idea is by Gary Snethen, and the first
implementation is here: https://github.com/erwincoumans/xenocollide
It is an alternative to EPA, although computing the local penetration depth.
EPA computes the global penetration depth. In many cases, MPR is sufficient
and performs better than EPA.
 2014-11-02 12:53:36 -08:00
erwin coumans
4b665fa82b add btFileUtils::toLower to convert a string (char*) to lower case 
URDF import demo: add COLLADA .dae file support
add FiniteElementMethod demo, extracted from the OpenTissue library (under the zlib license)
don't crash if loading an invalid STL file
add comparison with Assimp for COLLADA file loading (disabled by default, to avoid library dependency)
Gwen: disable some flags that make the build incompatible
 2014-10-29 13:18:34 -07:00
erwincoumans
959e86eb1a Merge pull request #276 from erwincoumans/master 
Enable CMake support for Windows Phone (_WIN32+_M_ARM) and Windows Store...
 2014-10-27 12:47:59 -07:00
erwin coumans
aaaf8dc4e2 Enable CMake support for Windows Phone (_WIN32+_M_ARM) and Windows Store Apps, 
Use this recent cmake version (http://cmakems.codeplex.com/) or future cmake that has the Windows Phone/Store App support
Use the following defines in CMake:
-DCMAKE_SYSTEM_NAME=WindowsPhone or -DCMAKE_SYSTEM_NAME=WindowsStore
-DCMAKE_SYSTEM_VERSION=8.0 or -DCMAKE_SYSTEM_VERSION=8.1
Thanks to Microsoft OSS group for the patch!
 2014-10-24 15:44:33 -07:00
erwincoumans
0160512a01 Merge pull request #275 from erwincoumans/master 
fix build
 2014-10-22 14:47:53 -07:00
erwin coumans
1ce647742c fix build 2014-10-22 14:46:48 -07:00
erwincoumans
fccd00b3cf Merge pull request #260 from sippeangelo/issue-260 
Microsoft compiler wrongly assumed on Windows platform
 2014-10-17 13:49:30 -07:00
erwincoumans
1d78b1aef9 Merge pull request #271 from erwincoumans/master 
btHingeConstraint to set/get ERP, refactor gfx backends (work-in-progress)
 2014-10-17 13:48:02 -07:00
erwin coumans
1baf2e5cc6 add support to btHingeConstraint to set/get ERP, example use: 
hinge->setParam(BT_CONSTRAINT_ERP,0.5);
btScalar erp = hinge->getParam(BT_CONSTRAINT_ERP);
Also, preliminary support for status bar messages in demo framework.
 2014-10-17 13:05:53 -07:00
Kevin Watts
0623f99a27 Adding virtual dtors to classes in btSoftBody 2014-10-16 11:58:44 -07:00
sippeangelo
f9674d4b95 MSVC-specific function calls wrapped in a MSVC-specific macro instead of a Windows-specific one. 2014-10-07 18:21:13 +02:00
Erwin Coumans
4352eb1ea4 disable btInMemorySerializer by default 2014-09-16 20:16:01 -07:00
Erwin Coumans
1fccfc4e28 fix btInMemorySerializer 2014-09-16 20:14:31 -07:00
Erwin Coumans
ad251da294 disable btInMemorySerializer by default 2014-09-16 19:56:26 -07:00
Erwin Coumans
f9eb7c68c5 add btInMemorySerializer (experiments, allows for in-memory deep copy of worlds, bypassing the BulletFileLoader mechanism) 
add btCollisionWorldImporter that can load a .bullet file, or use the btInMemorySerializer for deep-copy
 2014-09-16 19:18:10 -07:00
erwincoumans
3240d790e4 Update btSerializer.h 
fix compile error in LinearMath/btSerializer.h
 2014-09-16 09:32:26 -07:00
erwincoumans
89aeae9102 Add serialization support for btGeneric6DofSpring2Constraint 
Attempt to re-order serialization data so it can be serialized in-memory (for deep copy)
 2014-09-16 09:22:35 -07:00
Erwin Coumans
a26f9c1871 premake: use *.cpp insteadl of **.cpp 2014-09-05 11:22:25 -07:00
Erwin Coumans
f199a4a972 add fileOpenDialog and enable loading of urdf from GUI 
(will add .bullet file support soon)
Uses native Windows (getFileOpenFileName) and Mac OSX NSOpenPanel,
on Linux using pipe popen to zenity)
 2014-08-31 11:53:44 -07:00
erwin coumans
dc16655d35 more bug fixes 2014-08-28 19:01:56 -07:00
erwin coumans
0dff61fbe0 fix two compile errors, thanks to Travis 
https://travis-ci.org/bulletphysics/bullet3/jobs/33858712
 2014-08-28 18:53:51 -07:00
erwin coumans
bc5e2b3d50 fix compile issue 2014-08-28 18:47:22 -07:00
erwin coumans
89addd438e add 'fixed' joint for btMultiBody 
improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
 2014-08-28 18:42:08 -07:00