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670 Commits

Author SHA1 Message Date
rponom
21afccdb29 Handy functions for debug visualization was added 2009-01-16 03:04:55 +00:00
rponom
e7ca0e6a9c Bug in Generic 6DOF joint fixed 
Debug visualization of joint constraints was added
 2009-01-16 03:04:07 +00:00
rponom
33fe793bcd a bug in the btHingeConstraint motor for SIMD solver fixed 2009-01-13 20:23:29 +00:00
john.mccutchan
ff274a2e77 Allow setting up axis on kinematic character controller 2009-01-12 17:11:35 +00:00
rponom
682dd3262b Bug in the sign of linear motor force for btSliderConstraint fixed 2009-01-09 00:32:06 +00:00
john.mccutchan
a8ec916af0 Added Height Field Fluid Demo to Bullet. All code stored in the Demos/HeightFieldFluidDemo directory for now. 
Please see HfFluidDemo.cpp for examples of how to use the height field fluid along with buoyant collision shapes.

The implementation is still lacking in my ways:
1) Need to complete more collision algorithms for buoyant collision shapes
2) Support compound buoyant shapes
3) The buoyancy model isn't that great
4) Fluid volume can be lost over time
 2009-01-08 22:53:23 +00:00
rponom
1991bf3013 Added getInfo1()/ getInfo2() code for joints to support the new SIMD constraint solver 2008-12-25 02:13:46 +00:00
erwin.coumans
4be20dc347 BulletMultiThreaded optimization: remove some memory copy on non-SPU platforms, using cellDmaGetReadOnly. 2008-12-12 22:28:16 +00:00
erwin.coumans
c541414c84 disable btDbvt::collideTT with transform, it is unused and uses an invalid Intersect method. 2008-12-09 06:21:19 +00:00
erwin.coumans
8ed2db9b42 finally applied this 'getGravity' patch, so getGravity matches setGravity. 
Thanks to Evgeny for the report/patch:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1852
http://code.google.com/p/bullet/issues/detail?id=23
 2008-12-09 02:16:05 +00:00
erwin.coumans
6db1b932fd Make the btDbvtBroadphase deterministic/reproducable, by sorting the btBroadphasePair using unique ID, instead of proxy address. 
The btAxisSweep3 didn't suffer from this issue, because proxies were always allocated in-order, as part of an array.
 2008-12-08 20:16:29 +00:00
erwin.coumans
65cdd7146f Use placement new for copy constructor of arrays. Thanks to M. Reuvers for the patch. 
http://bulletphysics.com/Bullet/phpBB3/viewforum.php?f=9

Generally, however, it is best to avoid copying entire arrays, but use a 
reference.

typedef btAlignedObjectArray<btSomeClass> Array;

Array a;
Array b = a;//avoid this whenever possible

This is much better:
Array& b = a;//use a reference
const Array& b = a; //or const reference
 2008-12-08 17:57:18 +00:00
erwin.coumans
f3a70b65eb Fix issues with btCompoundShape when adding/removing child shapes after construction of a btRigidBody. 
Thanks tp for the report:
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2925&p=11700#p11700
 2008-12-07 20:57:38 +00:00
erwin.coumans
635e1a6aa0 set broadphase handle to zero when destructing a btCollisionWorld, just in case a collision object/ rigid body is re-used. 
Thanks to Ole for reporting

Fix a bug , causing some deep penetrations to be missed. Not likely to have impacted many users, as such deep penetrations should have prevented in the first place.
Thanks a lot to Andy O'Neil for reporting and reproduction case.
 2008-12-05 22:40:13 +00:00
erwin.coumans
b89b71b38d improving the SSE constraint solver performance: avoid a FPU/minus operation, by replacing a _mm_add_ps(-normal,X) by _mm_sub_ps(X,normal) 2008-12-03 17:40:01 +00:00
erwin.coumans
452fd24501 use 0.2 for erp, 0.4 makes stacks very spungy 2008-12-03 06:09:25 +00:00
erwin.coumans
a064fd2052 Use the opposite constraint axis inside the constraint solver for the second object (-normal). 
This makes it easier to port existing constraints and makes it 100% compatible with ODE quickstep constraint layout (getInfo2)
 2008-12-03 04:52:23 +00:00
erwin.coumans
12a9a6e412 reverted patch, it breaks all the demos. 2008-12-02 22:32:45 +00:00
erwin.coumans
23bb0d94e6 documentation/parameter name fix for btMatrix3x3::setEulerZYX. There is no change in behaviour, no compatibility issues. 
Thanks Tully Foote for the patch.
http://code.google.com/p/bullet/issues/detail?id=157
 2008-12-02 22:27:26 +00:00
erwin.coumans
76b3e44117 Enable contact constraint in the obsolete/experimental SpuParallellSolverTask. It will be replaced by a better parallel constraint solver. 2008-12-02 07:39:13 +00:00
erwin.coumans
5383ed4930 + need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor 
+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
 2008-12-02 04:01:56 +00:00
erwin.coumans
bfa8ebfbd8 fixes to keep compiler and unix/libspe developers happy 2008-12-01 16:22:43 +00:00
erwin.coumans
dd21959709 Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 07:24:39 +00:00
erwin.coumans
bbfdcd44b6 Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 06:57:41 +00:00
erwin.coumans
7341c6ee7e Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 06:55:27 +00:00
erwin.coumans
e80feca36b Big work-in-progress refactoring of the constraint solver: 
1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.

2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.

3) Some minor refactoring to reduce huge constructor overhead in math classes.
 2008-12-01 06:41:25 +00:00
erwin.coumans
7e93be739b add copy constructor for btAlignedObjectArray, to avoid crashes as reported by JamesH 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?p=11600#p11600
 2008-11-30 16:47:36 +00:00
erwin.coumans
e26b11ea5a fixed IBM Cell sdk build + demo (need to review related patch), thanks Jochen for reporting the issues. 2008-11-26 19:34:20 +00:00
erwin.coumans
82047e601e updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables... 2008-11-26 00:27:35 +00:00
erwin.coumans
7dda192bfc duplicate class name causes crashes, thanks to Nado and mickey for the report 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?t=2884
 2008-11-20 19:18:48 +00:00
erwin.coumans
decf91a34d Made btCollisionWorld::convexSweepTest and btGhostObject::convexSweepTest consistent. Both have an optional last argument for allowedCcdPenetration. 
Bugfix due to recent change in friction in constraint solver.
 2008-11-19 19:55:14 +00:00
erwin.coumans
50344c4a23 Add support for broadphase acceleration of convex cast (re-use rayTest implementation with an added aabb min/max, zero for rays) 
Add Concave Convexcast demo back in AllBulletDemos, and tweaked it a bit.
Fix view frustum of ForkLiftDemo (caused picking to fail)
Removed innerloop profiling for ray and convex casts, it hurts performance.
Set default #aabb's in CDTestFramework to 8192
 2008-11-19 00:38:29 +00:00
erwin.coumans
cb03329d06 added missing license in headers 2008-11-18 01:42:55 +00:00
erwin.coumans
fe461296c6 Fix issue with un-initialized broadphase proxy during broadphase insert. It was an chicken-egg problem: 
1) creating a broadphase proxy -> adding pairs during insertion. But during this pair insertion, the btGhostObject broadphase handle isn't set yet (it is done in step 2)
2) assign the broadphase proxy to btGhostObject
Thanks to ihar3d for the report http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2864
 2008-11-17 18:40:21 +00:00
erwin.coumans
bc131321a8 fix in (unused) operator == 2008-11-16 08:06:28 +00:00
erwin.coumans
0deffb7495 mutable wasn't needed for this anonymous union (btBroadphasePair) 2008-11-16 08:06:07 +00:00
erwin.coumans
f474e58fb1 some minor fixes for BulletMultiThreaded 2008-11-16 06:39:45 +00:00
erwin.coumans
686accab16 + repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE 
+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
 2008-11-16 05:48:42 +00:00
erwin.coumans
4d0c11cd95 add PE_REF macro to allow Win32 SIMD for Physics Effects box-boxBoxDistance (although performance hardly differs) 2008-11-15 22:40:09 +00:00
erwin.coumans
29bfd06af7 Disable friction warmstarting by default, removing second friction direction. This gives a large performance increase. 
friction warmstarting can be turned on using:
dynamicsWorld ->getSolverInfo().m_solverMode |= SOLVER_USE_FRICTION_WARMSTARTING;
 2008-11-15 22:20:55 +00:00
erwin.coumans
a5c18db854 fix CMake install for CMAke 2.6 -> version GREATER then 2.5 2008-11-15 03:48:24 +00:00
rponom
8abddb2400 Fixed deleting objects procedure for btSimpleBroadphase 2008-11-15 00:17:59 +00:00
erwin.coumans
cc43193b25 Fixes to allow compilation of BulletMultiThreaded under 64bit linux 2008-11-14 23:51:49 +00:00
john.mccutchan
86727242a2 Define USE_ADDR64 on x86-64 platform 
Add configure option --disable-multithreaded which will disable building of libbulletmultithreaded.a and MultiThreadedDemo
 2008-11-14 17:57:30 +00:00
erwin.coumans
5493ba8411 Updated ChangeLog 
Rename CProfileManager::DumpAll to CProfileManager::dumpAll
 2008-11-12 22:52:13 +00:00
erwin.coumans
9516e505a7 fix broken build 
Add btCompoundShape export support for BulletColladaConverter. 
Thanks to JamesH for the report/request:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
 2008-11-12 22:25:23 +00:00
erwin.coumans
5feea39803 Fix compilation for MSVC 6.0 for Bullet and COLLADA DOM. 
Fix issues with btDbvt: use ATTRIBUTE_ALIGNED16
Removed several places where variable was declared within for statement: for (int i=0; should be int i; for (i=0
 2008-11-12 18:37:05 +00:00
erwin.coumans
444fbfeb40 add obsolete 'getPoints' to be backwards compatible (breaks MayaPlugin) 2008-11-12 16:53:06 +00:00
erwin.coumans
c4bd276dfc make it easier to disable btQuickProf, 
added a CProfileManager::DumpAll, to dump/printf all timings for one simulation frame.
 2008-11-12 02:45:59 +00:00
erwin.coumans
1381394dd8 reverted 'getActiveObjects', island management will be improved for Bullet 2.74 release. 
The implementation was error-prone and could lead to crashes.

See http://code.google.com/p/bullet/issues/detail?id=128
 2008-11-11 16:19:20 +00:00