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1708 Commits

Author SHA1 Message Date
erwin coumans
2e55d03fd9 more fixes towards working convex-convex, in case of (too) many edge-edge cases: 
1) sample directions over a unit sphere and
2) add a contact, using mpr
add missing bullet.pc.cmake file (for old Bullet 2.x)
 2014-01-09 16:22:34 -08:00
kubas
876293ac95 minor: replaced convenience lambda functions 2014-01-09 01:15:51 +01:00
kubas
aa87e47d2d preparing for stabilization investigation: useRK4 is now a btMultiBody flag (not world's), reenabled global velocities (as a flag-controlled option), made the test application easier to handle for multiple multibodiez and added a max coordinate multibody (created from btMultiBody) 2014-01-09 01:14:48 +01:00
kubas
2cbcd86de9 fixed a btMultiBody ctor bug 2014-01-09 01:13:22 +01:00
kubas
cbf2d915d1 fixed the multibody jitter issue + several friction-related fixes 2014-01-09 01:12:02 +01:00
kubas
736ba01423 minor clean-up 2014-01-09 01:10:45 +01:00
kubas
ef6abf6490 unified btMultiBodyConstrained::fillMultiBodyConstraint..(...) mtds + cleaned some of the earlier dirty changes (6DoF grabbing constraint stuff mainly) 2014-01-09 01:09:44 +01:00
kubas
0ba7d69f86 fixed a jacobian sizing bug (m_jacSizeBoth) 2014-01-09 01:07:53 +01:00
kubas
eb66b22034 dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..) 2014-01-09 01:06:58 +01:00
kubas
87a98939eb tighter packing in btMultiBodySolverConstraint 2014-01-09 01:04:39 +01:00
kubas
81447aa7c5 dirty commit: experimenting with the 6DoF grabbing/p2p constraint 2014-01-09 01:03:20 +01:00
kubas
c0530d31ec minor naming chamge 2014-01-09 01:02:11 +01:00
kubas
66fdc1704b RK4 for floating systems too 2014-01-09 01:01:03 +01:00
kubas
c5594a5826 a bit of rk4 clean-up 2014-01-09 00:59:48 +01:00
kubas
4eac9a11f3 made the multiDof-singleDof disctinction a bit cleaner 2014-01-09 00:58:31 +01:00
kubas
e5372f3712 first experiments with RK4 2014-01-09 00:56:46 +01:00
kubas
cb556f9525 dirty changes - stabilization hacks 2014-01-09 00:51:42 +01:00
kubas
96ff69276f multidof4 patch 2014-01-09 00:26:24 +01:00
erwincoumans
ed73bce9da Move Bullet 2.x demos in a single demo 'AllBullet2Demos', for now only BasicDemo and FeatherstoneDemo is implemented. 2014-01-05 21:58:30 -08:00
erwincoumans
6f9a1c0da2 disable MPR until some issues are fixed (on an NVIDIA GPU, sat axis are not properly computed, resulting in instability) 2014-01-04 21:44:53 -08:00
Erwin Coumans
5eb8fd33ad enable MPR by default, needs more testing on various OpenCL configurations (OS, drive, GPU etc) 2014-01-04 21:33:16 -08:00
erwincoumans
271f458837 Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes) 
Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
 2014-01-04 20:54:27 -08:00
erwin coumans
69e5454d18 Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure 
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher
 2013-12-19 12:40:59 -08:00
Erwin Coumans
222ecb156d add GImpact and BulletSoftBody, until we have replacement (otherwise it prevents people from migrating to the github/Bullet3 repository) 2013-12-18 09:05:30 -08:00
erwin coumans
09ba86ea36 fix cpu version of findCompoundPairs, in order to fix Mac OSX OpenCL compound issues 2013-12-17 19:25:53 -08:00
Erwin Coumans
7bde13be62 fix issue (apparently closestFaceA/B can be -1, need to figure out how that can ever happen (it shouldn’t) 2013-12-17 16:50:50 -08:00
erwin coumans
7964f2d8c1 split OpenCL kernels: fatal error C1091: compiler limit: string exceeds 65535 bytes in length 2013-12-17 12:33:38 -08:00
Erwin Coumans
7e86932edf avoid out-of-bounds issue for some OpenCL kernel, hanging Mac OSX (should not happen, need to check why) 
split kernel for debugging
 2013-12-17 10:44:41 -08:00
erwin coumans
7b55ffd237 more rewriting to get this #@!#@!&*( Mac OSX GPU to work 2013-12-16 15:23:43 -08:00
erwin coumans
1dce953d76 one more debug option for a kernel, to fix a Mac OSX issue (one more to go...) 2013-12-16 12:36:22 -08:00
erwincoumans
fc474a0e62 more debugging to fix Mac OSX OpenCL issue on certain GPUs. 2013-12-16 10:53:38 -08:00
erwin coumans
9ebef9552b implement 'new contact reduction' kernel on CPU , for debugging 2013-12-14 10:54:25 -08:00
erwin coumans
d24b1eaae9 better host check code, to determine failing OpenCL kernels on certain (Apple) platforms 2013-12-13 13:27:00 -08:00
erwin coumans
571b14787a implement clipFacesAndFindContactsCPU, to track down OpenCL issue on Mac OSX 2013-12-13 10:05:07 -08:00
erwin coumans
3fe969c4ee b3Solver -> pass pointer to source instead of 0 (was left over from a debugging session), thanks to David for the report 
Break up clipHullHullConcaveConvexKernel into multiple stages, so it might 'fit' in Apple's OpenCL implementation
Implemented bvhTraversalKernel and findConcaveSeparatingAxis on CPU (debugging, possible future CPU version)
 2013-12-13 07:52:41 -08:00
erwin coumans
c155e126d0 move parts of collision pipeline to shared header files (work-in-progress) 2013-12-12 11:03:55 -08:00
erwincoumans
fca6d11381 created new Bullet 2 CPU BasicDemo, using the OpenGL 3 rendering. I will add picking soon. Hold ctrl/alt + mouse to move/zoom camera 
remove reference to btGImpact (it is removed now)
 2013-12-06 17:48:58 -08:00
Erwin Coumans
bbb2c8a6f1 Merge branch 'bullet2stripped-master' 2013-12-06 15:32:59 -07:00
Erwin Coumans
f06312c632 remove most clutter (todo) 2013-12-06 15:29:13 -07:00
erwin.coumans@gmail.com
d48e2c717c fix rotation correction in btFixedConstraint, see Issue 769 2013-12-04 19:06:28 +00:00
erwin.coumans@gmail.com
1362b6ab48 Fix convex cast normals for btScaledBvhTriangleShape: normals were already in world space 
See Issue 371 THere seems to be some other issues, need to get a reproduction case.
 2013-11-26 18:44:06 +00:00
erwin.coumans@gmail.com
5910b42d8d fix SIMD_2_PI macro, see Issue 773 2013-11-26 17:15:05 +00:00
erwin coumans
beb9e98cd3 expose the gUseLargeBatches as command-line argument --use_large_batches 2013-11-21 09:15:52 -08:00
erwin coumans
8a7ad65177 added a variation of the constraint solver, that works on CPU OpenCL (oneBigBatch), one stage (batching) happens on CPU for this mode 2013-11-21 09:15:42 -08:00
erwincoumans
1d5c651753 Use more shared data structures in src\Bullet3OpenCL\NarrowphaseCollision\kernels\satClipHullContacts.cl 
Revert default error func (was broken)
 2013-11-19 17:52:59 -08:00
erwin coumans
26dfaa441e add some command-line options 
--use_jacobi
--allow_opencl_cpu

b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
 2013-11-19 13:42:53 -08:00
erwin.coumans
bda1fb7dd2 fix 64bit iOS,see also Issue 739 2013-11-18 22:17:00 +00:00
erwin.coumans@gmail.com
9aad92315b Avoid crash in btCompoundCompoundCollisionAlgorithm if there is no tree for one of the btCompoundShapes 
Update the revision, to avoid clearing the child cache each frame
 2013-11-17 20:35:35 +00:00
erwin.coumans@gmail.com
886650a038 fix 'unused' warning. Fixes Issue 770 2013-11-17 20:13:50 +00:00
erwincoumans
a78cbcf354 Accidently left some very slow copyToHost in the batching code, removing it makes it faster :-) 2013-11-12 09:03:30 -08:00