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2cf026aae300e628bf74a81aa8251390ffd2c239
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101 Commits

Author SHA1 Message Date
ejcoumans
2cf026aae3 allow incremental refitting of the quantized aabb tree 2007-04-10 21:40:43 +00:00
ejcoumans
853bafb7ae Get the open source Bullet library more in sync with Playstation SPU version 2007-04-10 01:02:58 +00:00
ejcoumans
9546633ade Added 'cache friendly' tree traversal format, and traversal. Array of subtrees with specified maximum size. This is useful to fit tree traversals on SPU. 2007-03-27 21:02:45 +00:00
ejcoumans
7adc0742e3 Added demo code that show recursive traversal on tree data that doesn't have explicit left/right child pointers. 
Can also be used as starting point for tree versus tree.
 2007-03-26 19:19:25 +00:00
ejcoumans
c791a3192c In the copy constructor initializer list of LocalRayResult in 
btCollisionWorld.h  line 139 (version 2.48) it reads:
m_localShapeInfo(m_localShapeInfo),
which should be:
m_localShapeInfo(localShapeInfo),

Thanks frinkiac8
 2007-03-21 19:04:44 +00:00
ejcoumans
cef39974e1 fixed some enum issue (comma at last entry) 2007-03-21 18:51:40 +00:00
ejcoumans
4685f6acc8 Added a refit to the quantized stackless tree, with updated ConcaveDemo. 2007-03-21 02:45:43 +00:00
ejcoumans
c1a54d9edc Attempts to improve performance. Not much gain yet, but good to experiment what has effect and what hasn't. 
Added 'DO_BENCHMARK_PYRAMID' to CcdPhysicsDemo.
 2007-03-20 20:12:23 +00:00
ejcoumans
f199cd1347 make visual studio 6 compile again 2007-03-20 05:06:01 +00:00
sjbaker
6b102c65b3 Cleanup some trivial compilation warnings. 2007-03-19 04:27:59 +00:00
ejcoumans
2b87104184 more solver optimizations, can be disabled using solver->setSolverMode(SOLVER_RANDMIZE_ORDER) 2007-03-17 07:59:27 +00:00
ejcoumans
151cd4b9da prepare and added constraint solver optimizations, not activated yet. 2007-03-17 00:09:12 +00:00
ejcoumans
ea97ed3e30 fix in template usage, error only reported on Sun Solaris ?!? 
Thanks Noerghel for reporting!
 2007-03-13 15:21:01 +00:00
ejcoumans
0a5b19864e allow to use compression on btTriangleMesh 2007-03-12 23:19:02 +00:00
ejcoumans
b2351c84f3 optional define for 32bit handles in Broadphase, which allows number of objects to exceed 32767 2007-03-12 20:14:29 +00:00
ejcoumans
57883344df removed testing assert(0) 2007-03-07 00:22:40 +00:00
ejcoumans
adfdea5ca6 replaced #include "new.h" to #include <new> 2007-03-06 23:40:06 +00:00
ejcoumans
8fd8a85eee fixed memory leak, thanks AshMcConnell for reporting! 
http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1009
 2007-03-06 16:44:22 +00:00
ejcoumans
054d672592 - removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal). 
- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
 2007-03-06 09:59:17 +00:00
ejcoumans
b73900bc60 Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels. 
Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.
 2007-02-26 04:59:05 +00:00
ejcoumans
e610598d33 - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices. Should be faster and smaller then original version (quantized aabb check is done in integer space) 
Original aabb nodes are 44 bytes (with full floating point precision and additional part index)
- added meter-unit scaling support in ColladaConverter.cpp
 2007-02-25 06:11:23 +00:00
ejcoumans
42278e58dd fixes to add improved double-precision for raycasts 2007-02-14 04:10:55 +00:00
ejcoumans
9b94416d61 allow single raycast to be performed on objects 2007-02-14 04:09:17 +00:00
ejcoumans
581468ceec Added btCapsuleShape. This could already be simulated by simply adding 2 spheres to the btMultiSphereShape, but this was bad documented/unknown. 
For tapered capsules, you can still use btMultiSphereShape, just pass 2 spheres with different radius.
 2007-01-30 00:09:08 +00:00
ejcoumans
ca973e9322 Fixed AABB tree building, which failed for certain large triangle meshes due to stack overflow. 
Now it has a safer check for unbalanced tree, and forces them to be balanced.
 2007-01-04 22:31:31 +00:00
ejcoumans
5929b2b79d fixed jam 'install' to properly copy right headerfiles in the destination directory 2006-12-26 17:16:40 +00:00
sjbaker
e9b21e21a6 Pathnames between #include files that are intended to be used within application code should not depend on the paths to the subdirectories being known to the compiler because this will not always be the case when an end-user includes your headers. 
Includes of files in the local hierarchy must not use <...> please stick with "..."
 2006-12-26 15:33:28 +00:00
sjbaker
208bbe7594 Added a set of empty, classless 'extern "C"' probe functions to allow '.so' loaders and application domain 'autotools' to easily and unambiguously check for the correct installation of the various bullet libraries. 
eg:

  bulletmath_suffix="-lbulletmath"
  bulletcollision_suffix="-lbulletcollision"
  bulletdynamics_suffix="-lbulletdynamics"
  dnl Check bulletmath library
  AC_CHECK_LIB(bulletmath, btBulletMathProbe, true,
  AC_MSG_ERROR([there seems to be a problem with the bulletmath library]))
  LIBS="$bulletmath_suffix $LIBS"
  dnl Check bulletcollision library
  AC_CHECK_LIB(bulletcollision, btBulletCollisionProbe, true,
  AC_MSG_ERROR([there seems to be a problem with the bulletcollision library]))
  LIBS="$bulletcollision_suffix $LIBS"
  dnl Check bulletdynamics library
  AC_CHECK_LIB(bulletdynamics, btBulletDynamicsProbe, true,
  AC_MSG_ERROR([there seems to be a problem with the bulletdynamics library]))
  LIBS="$bulletdynamics_suffix $LIBS"
 2006-12-26 00:39:32 +00:00
ejcoumans
24691e8eb8 reverted jam buildsystem, until changed for make is working, 
minor fix in island processing
 2006-12-25 20:39:39 +00:00
sjbaker
db573e4a59 Clean up about a bazillion compilation warnings. 2006-12-22 02:33:42 +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
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
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
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
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