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Author SHA1 Message Date
ejcoumans 2db98be0f7 added sourcefile to cmake 2006-12-06 04:56:26 +00:00
ejcoumans 5a5ba572a7 multi-platform issues with allocator 2006-12-06 04:51:13 +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 2f21514f3d 2006-12-04 15:43:40 +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 2f557b2a4d Added btStackAlloc to Bullet (right now only used by btGjkEpa) 2006-11-29 02:27:27 +00:00
ejcoumans bdd2e481f0 documented some changes 2006-11-29 02:23:39 +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 94abde9287 Added Genscher's triangle-triangle case (it was not a but) 2006-11-22 19:42:15 +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
ejcoumans f4e8bf70c5 updated rotational-only hinge 2006-11-21 01:41:21 +00:00
ejcoumans c801569644 updated rotational-only hinge 2006-11-21 01:38:18 +00:00
ejcoumans 4a23f4f438 added get methods for constraints 2006-11-21 00:29:11 +00:00
ejcoumans 460a09c5a5 fixed some issue, to make GCC happy 2006-11-20 19:21:59 +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 62104ba082 updated constraint demo, jamfile 2006-11-18 03:33:09 +00:00
ejcoumans 3adf09f7e3 updated EPA, 
updated user manual (work in progress)
 2006-11-18 03:27:01 +00:00
ejcoumans 509ed8f634 added GIMPACT update from Francisco. Thanks! 2006-11-17 02:20:37 +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 25f3d00f01 updated EPA penetration depth demo, projectfiles for new EPA 2006-11-16 04:25:41 +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
ejcoumans 6bc090fd28 2006-11-14 05:36:30 +00:00
ejcoumans be175e888e 2006-11-14 05:09:11 +00:00
ejcoumans 133a7dda99 updated CMakefiles and stuff 2006-11-12 07:56:16 +00:00
ejcoumans 711b737293 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 07:54:27 +00:00
ejcoumans 125a9c673d 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 07:46:30 +00:00
ejcoumans 5f91cc237d updated demo, can't stepFront 2006-11-12 07:30:09 +00:00
ejcoumans 06a1de2574 updated build files for GIMPACT 2006-11-12 07:05:37 +00:00
ejcoumans d1f6cdd150 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 07:02:21 +00:00
ejcoumans f227b476d7 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 06:20:34 +00:00
ejcoumans d4307428c4 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 06:19:52 +00:00
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 82132b7b5f 2006-11-11 19:54:06 +00:00
ejcoumans 7d7611f671 epsilon was set too small (below machine epsilon) 2006-11-11 19:52:53 +00:00
ejcoumans 18b0603c69 2006-11-11 19:33:19 +00:00
ejcoumans d46ff8ea45 2006-11-11 19:32:20 +00:00
ejcoumans f3432e7069 2006-11-11 19:31:30 +00:00
ejcoumans de59b585f7 2006-11-11 19:30:53 +00:00
ejcoumans 43115eb10a msvc projectfiles update 2006-11-11 07:30:34 +00:00
ejcoumans dc2f754996 updated projectfiles 2006-11-11 07:22:33 +00:00
ejcoumans aaa6b687a9 disable EPA demo 2006-11-11 06:49:17 +00:00
ejcoumans d7ad204943 updated CMakefile with new files 2006-11-11 06:48:30 +00:00
ejcoumans 98fa2a38e8 updated some jamfiles, for Extra folder 2006-11-11 06:40:55 +00:00
ejcoumans 946963441f updated projectfiles with added files 2006-11-11 03:33:03 +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 442ce2ec09 updated VehicleDemo to show Z as up-axis, rather then Y. 
proper gravity for BspDemo
 2006-11-09 19:55:14 +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
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 c4c4523a4e updated changelog 2006-11-03 16:01:45 +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 68c78eaf4b updated build/version/changelog 2006-10-30 19:59:22 +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 745828ab9c added resource file 2006-10-30 02:49:20 +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 0404ba51b3 addad BulletDino demo (C instead of C++, will use future Bullet C-API) projectfiles 2006-10-29 16:51:49 +00:00
ejcoumans 733e135753 made the BulletDino a c-demo, to demonstrate future Bullet C-API 2006-10-29 16:26:19 +00:00
ejcoumans 507a06bc06 fixed Dino demo for Mac OS X 2006-10-29 14:48:55 +00:00
ejcoumans 82b310c9cd prepared to add BulletDino, and made ForkLiftDemo compile (no functionality yet) 2006-10-29 06:34:58 +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 caca3a1ca2 commented out some unused headerfile in the demo 2006-10-28 02:17:54 +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 7987be45c5 added Pierre's PenetrationTestBullet.cpp 
See http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=638
 2006-10-27 21:22:29 +00:00
ejcoumans b8376a1673 removed SphereSphereCollisionAlgorithm.cpp (is now part of core Bullet/src) and added ODE BoxBoxCollisionAlgorithm/BoxBoxDetector for comparison 2006-10-27 21:01:16 +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 d11572a4d7 case-issue, QuickProf->Quickprof 2006-10-19 05:33:36 +00:00
ejcoumans 940e753086 made demos working for realtime 2006-10-18 04:32:00 +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
ejcoumans b476223c45 added/documented some options 2006-10-14 00:16:55 +00:00
ejcoumans 3db4afa4ec disable comparison by default 2006-10-14 00:06:46 +00:00
ejcoumans d878885db4 updated quickstep solver (for comparison), enabled GPU physics again (but WIN32 doesn't have the VertexTextureSupport enabled) 2006-10-13 23:58:52 +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 6fa35ba9a4 updated the Extras/quickstep files, for comparison 2006-10-13 22:33:28 +00:00
ejcoumans f3b9dcd714 modified triangle mesh generation, to use btTriangleMesh, which is easier to build then the striding index/vertex arrays alternative. 2006-10-11 20:45:11 +00:00