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28 Commits

Author SHA1 Message Date
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
erwin.coumans
654fe7872a remove btContinuousDynamicsWorld, it is obsolete and was never completed. 
If you need tunneling prevention, one option is to use the CCD motion clamping in btDiscreteDynamicsWorld. See also Bullet/Demos/CcdPhysicsDemo.
You can use an embedded sphere that prevents tunneling, using the following settings:

		body->setCcdMotionThreshold(0.5);
		body->setCcdSweptSphereRadius(0.9f);


Add a camera zoom setting for the demos, thanks to ejtttje, fixes Issue 543
 2011-09-15 18:47:13 +00:00
erwin.coumans
b52eced793 btDynamicsWorld::addRigidBody(body,group,mask) added 
Thanks to Mat for the request, see Issue 462
 2010-12-15 19:16:19 +00:00
erwin.coumans
c4ad354ac0 More GJK degeneracy fixes, thanks Jacob Langford for the feedback: 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
 2009-07-13 21:48:19 +00:00
erwin.coumans
075ba0b9d9 Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation, but there are issues with large size rations. todo: fix this 
Make synchronizeMotionStates() pure virtual in btDynamicsWorld and public in btDiscreteDynamicsWorld. Thanks Chunky.
 2008-11-08 19:27:53 +00:00
erwin.coumans
bcd0f48c28 some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB), 
removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)
 2008-11-04 04:01:31 +00:00
johnmccutchan
8fff5c54e9 Added name fields to Collision Object and Shape. 
Added name field to Typed Constraint.
Added accessor for gravity in dynamics world.
 2008-01-30 01:52:07 +00:00
ejcoumans
947dc8d33d Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep. 
Should help with this issue, reported here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
We can optionally leave out the 'clearForces'.
Thanks everyone for the discussion.
 2007-12-12 02:53:51 +00:00
ejcoumans
a45912e39c move updateAabbs from dynamics world to collision world 2007-12-10 02:59:04 +00:00
ejcoumans
e755d1ed4e added some comments, to clarify unit-test/brute force implementations. 2007-11-02 01:14:29 +00:00
ejcoumans
fd1e672fcb updated demos to show debug display with new AllBulletDemos (AllInOne), 
added btDynamicsWorld::getWorldType
 2007-10-25 07:07:12 +00:00
ejcoumans
e7caaa28d3 re-organized memory (stack and pool) allocators. this lets the user pass in their own memory allocators. 2007-10-20 02:23:39 +00:00
ejcoumans
a38de566c6 make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class. 
integrated some contributions from IBM Germany for libspe2
 2007-09-25 06:41:57 +00:00
ejcoumans
1f7646f72a Refactoring to enable multi SAP broadphase. 
This was already planned, and Pierre Terdiman recent thread motivated me to decouple the paircache from the sweep and prune.
http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
 2007-08-02 23:48:46 +00:00
ejcoumans
0df4cedc3e added 'getConstraintSolver' and ability to 'reset' (set randseeds back to zero, and clear internal caches) 2007-07-27 23:54:22 +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
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
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
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
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
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
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
2a602aefa1 added replacement for CcdPhysicsEnvironment 2006-09-26 23:55:35 +00:00
ejcoumans
9531ec4b30 most basic rigid body simulation 
lacks object deactivation and constraints, vehicles etc.
 2006-09-26 21:31:44 +00:00