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Author SHA1 Message Date
erwin.coumans 5334611f48 Added MSVC 2005 project and solution. Removed glutInit/GLUT dependency. Fixed minor bug (return of non-existing variable c) 2008-09-04 22:35:08 +00:00
erwin.coumans 7234a61910 fix btSimpleBroadphase, it shouldn't store the allocated handles, they are simply in m_pHandles. 
Thanks to Ole K. for reporting the issue:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2560
 2008-09-04 19:31:37 +00:00
erwin.coumans d2760b18aa fix placement new[], see discussion here: 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1787&p=10252#p10252
 2008-09-04 18:54:14 +00:00
erwin.coumans ae1702cfca Bugfix in btOptimizedBvh, update curNodeSubPart correctly. 
Thanks to Ole K. for the report and patch:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2558&p=10251#p10251
 2008-09-04 18:31:28 +00:00
erwin.coumans 7380db7653 Methods to compute more accurate inertia tensor for btCompoundShape and btConvexTriangleMeshShape. 
Thanks to Ole K. for the fixes, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2562
 2008-09-04 18:20:32 +00:00
erwin.coumans 4019ae1c54 update autogenerated MSVC projectfiles 2008-09-02 19:29:14 +00:00
erwin.coumans 10b447760e Glut/glew update with latest NVidia extensions, so we can use CUDA 2008-09-02 19:26:52 +00:00
erwin.coumans cc3e3a851f fix for btPolyhedralShape::setLocalScaling (and derived classes such as btConvexHullShape): recalcLocalAabb. 
Thanks to pico for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2550&p=10207#p10207
 2008-09-02 17:32:57 +00:00
erwin.coumans 932de57d4c Updated CDTestFramework with the OPCODE Array SAP test. 
Thanks Pierre Terdiman for the latest update.
 2008-09-01 18:46:57 +00:00
erwin.coumans f655eff89f add support for premade aabb in btStridingMeshInterface/btBvhTriangleMeshShape, 
Thanks Roy Eltham, http://code.google.com/p/bullet/issues/detail?id=70
 2008-08-29 05:39:17 +00:00
erwin.coumans 80f80df7e3 set linear/angular velocity to zero when objects are asleep 
Thanks to  http://code.google.com/p/bullet/issues/detail?id=73
improve performance of btConvexTriangleMeshShape::recalcLocalAabb
Thanks to fullmetalcoder, http://code.google.com/p/bullet/issues/detail?id=67#makechanges
 2008-08-29 05:30:50 +00:00
erwin.coumans 8340a77aa8 ConvexResultCallback::hasHit() and RayResultCallback::hasHit() are both const now. 
Developers need to fix their derived classes too!
Thanks to bcsanches, http://code.google.com/p/bullet/issues/detail?id=81&can=1
 2008-08-29 05:16:05 +00:00
erwin.coumans 66861ad334 bump up version to 2.71 2008-08-29 04:37:09 +00:00
erwin.coumans 6be5d00c95 Don't collide wheels with no-contact rigid bodies (sensors/triggers), 
Thanks Murphy for the report and bugfix,
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2510
 2008-08-29 04:35:26 +00:00
erwin.coumans 1fbeedc7b9 added a #define around unaligned DMA in SpuFakeDma.cpp 2008-08-29 00:49:31 +00:00
erwin.coumans 5fd1a69f32 Added some comments for stepSimulation and fixed bug: uninitialized variable m_shapeDrawer(drawer) in DebugCastResult.h 2008-08-28 02:01:23 +00:00
erwin.coumans dcefff0e0e stack variable 'bounds' needs to be 16-byte aligned for SSE 2008-08-27 23:37:33 +00:00
erwin.coumans b21d8caa9a Added more Doxygen comments for classes in src/BulletCollision/CollisionShapes 2008-08-27 22:01:50 +00:00
erwin.coumans 42ad559b2d Add some Doxygen comments for broadphase and linearmath classes. 2008-08-27 02:24:11 +00:00
erwin.coumans db2514e930 provide serialization for btOptimizedBvh, using btQuantizedBvh. 2008-08-27 01:15:34 +00:00
erwin.coumans 79b6f7a772 Removed (circular) dependency between broadphase and collision shapes: moved parts CollisionShapes/btOptimizedBvh into BroadphaseCollision/btQuantizedBvh 2008-08-26 23:40:51 +00:00
erwin.coumans 110e8313da fixes in Doxyfile to generate proper documentation for classes that are aligned using a macro. 2008-08-26 23:01:46 +00:00
erwin.coumans 07b577fd86 make debugDrawWorld virtual for btSoftRigidDynamicsWorld 
Move btSoftBodyWorldInfo to public, instead of nested, so it can be easier forward declared.
See http://code.google.com/p/bullet/issues/detail?id=78

Add get methods for damping/thresholds, see http://code.google.com/p/bullet/issues/detail?id=77
 2008-08-19 16:09:04 +00:00
erwin.coumans 8eafab367f syntax error fix, removed comma, see http://code.google.com/p/bullet/issues/detail?id=76&can=1 
Fix btOptimizedBvh, thanks to reltham, http://code.google.com/p/bullet/issues/detail?id=72&can=1
 2008-08-19 15:57:01 +00:00
erwin.coumans c66b5531a3 Fix memory leak, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2500&p=9848 2008-08-19 15:40:21 +00:00
erwin.coumans 05e64d6715 Add/fix CMake build support for BulletDinoDemo, thanks to slackydeb (http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2465 ) 2008-08-09 21:30:21 +00:00
erwin.coumans 7838a5c980 provide interface for setting the number of tasks (unused in the btDiscreteDynamicsWorld). 2008-08-07 00:02:37 +00:00
erwin.coumans 1150183300 fix case issue in CMakeLists.txt, tMultimaterialTriangleMeshShape. 
Thanks riko and mi076 for reporting.
 2008-08-02 06:00:16 +00:00
erwin.coumans 20ebf711e1 updated ChangeLog.txt 2008-08-01 06:16:58 +00:00
erwin.coumans 9c776c6ed0 some finishing touches for drawing shadows/clusters/textures. 2008-08-01 06:11:11 +00:00
erwin.coumans 7bf65e95f4 add patch for Havok 5.5 to add COLLADA Physics conversion 2008-08-01 05:15:50 +00:00
erwin.coumans bc73c91a39 Converter from Havok .hkx to COLLADA Physics .dae files. Patch for SimpleLoadDemo.cpp. Requires Havok 5.5 SDK, free for download from Intel website. 2008-08-01 04:57:26 +00:00
erwin.coumans 23d9483ea9 use k/l to steer Bunny car (avoid keyboard conflicts) 2008-08-01 02:45:13 +00:00
erwin.coumans e61e1878cd start with Bunny car 2008-08-01 02:43:30 +00:00
erwin.coumans e2daa1c277 fixes to compile on OSX, minor addition to ChangeLog 2008-08-01 02:19:26 +00:00
erwin.coumans 4894f24c9a Fixes for FPU exceptions, thanks to Phil Knight for reporting and John McCutchan for fix/workarounds. 
Added new cluster collision methods for soft bodies, thanks to Nathanael Presson.
Enable/disable textures/shadows for specific demos.
 2008-08-01 01:04:45 +00:00
erwin.coumans af4520801b + Fix btSubsimplexConvexCast 
Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
 2008-07-31 19:44:28 +00:00
erwin.coumans 9cd83c004b + add dummy getcwd/getenv for PS3 compatibility 
+ disable HAVE_SIGNAL_H 0 for LibXML
+ removed unused variable in btCollisionWorld
+ removed unused variable in btSequentialImpulseConstraintSolver
 2008-07-28 23:15:43 +00:00
erwin.coumans 3ca977e39f Patch by Nathanael Presson: (needs some more work, some of the demos don't show properly (RayCaster, CollisionInterfaceDemo,'g' key is already occupied in ConcaveDemo etc) 
btDbvtBroadphase:
- Fixed a performance issues reported by 'reltham'
- Added btDbvtBroadphase::optimize() for people who want good performances right away or don't do dynamics.
- fixed compilation issues when DBVT_BP_PROFILE was set.

btSoftBody:
- Fixed singular matrix issues related to polar decomposition (flat meshes).

DemoApplication:
- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
- Texture can be enable/disable through 'u'

CDFramework:
- fixed compilation issues.
 2008-07-28 04:33:55 +00:00
erwin.coumans 9e2e77d578 fixed accidental bug, introduced while getting rid of for (int i... for (int i... 2008-07-22 15:39:33 +00:00
erwin.coumans a9a67d62c3 Fixed memory leak in btDbvtBroadphase 
http://code.google.com/p/bullet/issues/detail?id=66
 2008-07-22 15:07:04 +00:00
erwin.coumans 3483e2dfc8 Fix btSoftBody so it compiles with older compilers, such as MSVC 6.0 
Add support for angularFactor for applyForce, see http://code.google.com/p/bullet/issues/detail?id=59&can=1
 2008-07-22 15:00:25 +00:00
erwin.coumans d71f8d6623 Added several updates for btSoftBody: convex cluster collision detection, new constraints, new demos (only enabled in SoftBodyDemo, todo for AllBulletDemos) etc. 
Thanks a lot to Nathanael Presson for this update.
 2008-07-22 02:22:01 +00:00
erwin.coumans fe5033119b Add some accessor methods to btHingeConstraint and btSliderConstraint, to allow conversion. 
Thanks to Roman Ponomarev.
 2008-07-22 02:15:17 +00:00
erwin.coumans 016db0b3c5 Bind the SplitImpulse button to SimulationParameters and use the Objective-C SplitImpulse variable 
Thanks to Shamyl Zakariya for the OSX Interface Builder help!
 2008-07-16 23:58:23 +00:00
erwin.coumans 884a494412 make the source code compile with older compilers again (Visual Studio 2006 in particular) 
renamed btDbvt::Volume to btDbvtVolume and btDbvt::Node to btDbvtNode to distinguish from btSoftBody::Node
 2008-07-15 23:27:18 +00:00
erwin.coumans 6f8b396575 use different namespace for SPU version of btGjkEpa2 to avoid name clashes. 2008-07-14 17:19:50 +00:00
erwin.coumans 7acd12243d Added missing projectfiles for MultiMaterialDemo, 
Thanks reltham for reporting!
 2008-07-12 06:23:57 +00:00
erwin.coumans 8f3e9603f3 + fixed issue related to temporary/root collision shape in btCollisionObject 
+ normalize plane normal input for btStaticPlaneShape
+ fixed issue related to swapped collision detectors (SphereTriangleDetector in particular)
Thanks a lot to Andrey Tuganov for reporting the issue and his reproduction case ( http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2143 )
 2008-07-11 05:39:31 +00:00
erwin.coumans 1c0fa00bc7 + provide access to 'root' collision shape, in case the original collision shape is temporarily replaced by a child collision shape. 
+ added MultiMaterialDemo showing how to use the new btTriangleIndexVertexMaterialArray.
Thanks to Alex Silverman for this contribution!
 2008-07-10 22:19:30 +00:00
erwin.coumans b66e5350d0 rename HasHit method to hasHit 
rename AddSingleResult to addSingleResult
moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
 2008-07-09 23:30:21 +00:00
erwin.coumans 9996da6f2d Update to btDbvt and btDbvtBroadphase, thanks to Nathanael Presson 2008-07-09 22:45:01 +00:00
erwin.coumans b9bc96e22b use a btCollisionWorld instead of btDynamicsWorld, thanks reltham for the feedback 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2317&p=9197#p9197
 2008-07-09 18:41:41 +00:00
erwin.coumans 2c224b41c5 bump up the version to 2.70, and add (non-working) button for OSX template 2008-07-09 05:13:18 +00:00
erwin.coumans 104787aeaf updated projectfiles for character demo 2008-07-09 05:12:03 +00:00
erwin.coumans dcd57f333b + improved KinematicCharacterController 
+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)
 2008-07-09 00:08:49 +00:00
erwin.coumans 76bac83937 Added new files to CMakeLists.txt for CharacterDemo 
Use relative path, #include "../BspDemo/BspLoader.h"
 2008-07-03 23:47:38 +00:00
erwin.coumans b6af86bd98 need to include <windows.h> before glut.h (issue with glui.h) 2008-07-03 23:24:56 +00:00
erwin.coumans 65116fd3d3 Minor cleanup of CMakeLists.txt files, it works better with Code::Blocks+MinGW (glut32,opengl32,glu32) 2008-07-03 21:21:44 +00:00
erwin.coumans db146019f1 Fixed debug drawing for btCapsuleShapeX and btCapsuleShapeZ 2008-07-02 23:07:27 +00:00
erwin.coumans dbc464f831 Applied patch from Alex Silverman, to swap the partId/triangleId correctly. 
http://code.google.com/p/bullet/issues/detail?id=54
Thanks for the patch!
 2008-06-26 23:52:39 +00:00
erwin.coumans 50d41b624b Finally applied patch to removeChildShape from btCompoundShape 
http://code.google.com/p/bullet/issues/detail?id=51
Thanks to Ola Røer Thorsen for the patch!
 2008-06-26 23:29:42 +00:00
erwin.coumans 52de9fee03 add profiling for 'calculateOverlappingPairs' 2008-06-25 01:26:02 +00:00
erwin.coumans e854a5133b add support for non-power-of-2 dma sizes (for small dma transfers) 
add setBroadphase
 2008-06-24 02:15:06 +00:00
erwin.coumans d16c1b615f pass in reference to actual contact point in cache, rather then temporary value, should fix issue 53 
http://code.google.com/p/bullet/issues/detail?id=53
Thanks Alex Silverman for reporting and suggested fix
Changed addContactPoint to lowercase
 2008-06-22 03:30:55 +00:00
erwin.coumans 441c729169 Clear the user cache, when re-using an existing contact point in the contact cache (btPersistentManifold). 
Issues reported here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2257
 2008-06-22 03:15:31 +00:00
erwin.coumans 8634b6ba14 fixed a few issues with BulletColladaConverter/ColladaConverter.cpp, related to constraints. 2008-06-05 05:09:47 +00:00
erwin.coumans 35083aae4a moved predictUnconstraintMotion to SPU 2008-06-04 02:39:37 +00:00
erwin.coumans 8827d5dbfb undo btQuadWord changes, added integration in parallel SpuSampleTask 2008-06-04 02:01:41 +00:00
erwin.coumans 5e3777ddd2 added sample task, for multi threading tests 
added union vec_float4 m_Vec128; for btVector3 for SPU and PPU.
 2008-06-03 21:24:34 +00:00
erwin.coumans 8028fa4999 debug draw contact numbers in black, not green (hurts the eyes) 2008-05-29 05:37:50 +00:00
erwin.coumans d49aeb9dff + improved split impulse constraint solver option 
+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
 2008-05-29 03:33:32 +00:00
erwin.coumans 6457f5a961 more changes in btGjkEpa2, thanks to Nathanael 2008-05-27 01:09:16 +00:00
erwin.coumans 596e94dfd1 fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and Nathanael for fixing 2008-05-25 17:45:13 +00:00
erwin.coumans 3726af466e removed obsolete files, make CDTestFramework compile again 2008-05-25 07:32:44 +00:00
erwin.coumans 88ee734bfb added custom memory allocator registration, thanks to Sly. 
call CProfileManager::CleanupMemory(), to cleanup btQuickprof memory.
changed include from #include <new.h> to #include <new> in btOdeQuickstepConstraintSolver.cpp
 2008-05-24 06:10:09 +00:00
erwin.coumans 3a94e70370 don't enable concave mesh for soft body demos (work-in-progress) 2008-05-24 05:32:54 +00:00
erwin.coumans 3d32cf7ddf add penetration depth solver for btCollisionWorld::convexSweepTest, to handle touching/penetrating contact (useful for character controller) 2008-05-24 05:22:41 +00:00
erwin.coumans f8e5481612 Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm) 
virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
 2008-05-24 04:23:00 +00:00
erwin.coumans a1578accac more work on soft body versus concave trimesh 2008-05-23 18:50:41 +00:00
erwin.coumans 561066af75 + make compound versus soft body work (soft body uses interpolated transform) 
+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
 2008-05-23 09:05:37 +00:00
erwin.coumans ea86559480 removed some warnings 2008-05-21 23:29:35 +00:00
erwin.coumans e7aa93af36 added compount shape to soft body demo 2008-05-18 01:51:10 +00:00
erwin.coumans 6a69fe7f3b use collision margin of btBvhTriangleMeshShape for convexTest. 
Thanks to reltham for the contribution.
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2121&p=8454#p8454
 2008-05-18 01:15:00 +00:00
erwin.coumans 0b48b1c76b Added Mac OSX XCode project with Cocoa userinterface (wrapping GLUT) for Bullet demos 
Thanks to TomorrowPlus for the constribution!
 2008-05-18 00:38:17 +00:00
erwin.coumans d9e7058ff2 Softbody improvements, thanks to Nathanael 2008-05-17 12:39:16 +00:00
erwin.coumans 649709dc2d updated build files 2008-05-10 19:24:39 +00:00
erwin.coumans e334254a7b Added _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to MSVC projectfiles, to make warnings in Bullet more visible. This deals with most COLLADA_DOM/libxml issues. 2008-05-10 18:43:09 +00:00
erwin.coumans bd97c5e569 Fixed warnings in Bullet/src core library 
Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch

To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
 2008-05-10 18:00:21 +00:00
erwin.coumans 739d09a7af use btAxisSweep3 by default in BenchmarkDemo 2008-05-06 02:59:40 +00:00
erwin.coumans 6cc18e05aa initialize Element m_tag to zero 2008-05-06 02:57:27 +00:00
erwin.coumans b9acc820d6 removed collision template, some code style cleanup, added btDbvhBroadphase to BenchmarkDemo 2008-05-06 02:45:56 +00:00
erwin.coumans 1d5050f584 added tetrahedral meshes 2008-05-06 01:41:48 +00:00
erwin.coumans 1871513e00 update version to 2.69 2008-05-06 01:08:29 +00:00
erwin.coumans 6989ea8908 upgrade version to 2.69 
moved btDbvt/btDbvtBroadphase to BulletCollision/BroadphaseCollision
applied code-layout to btSoftBodyHelpers.*
 2008-05-06 00:58:10 +00:00
erwin.coumans 25c5d0d57a +Added btDbvtBroadphase, this very fast/efficient broadphase is based on Dynamic AABB tree (btDbvt). 
+SoftBody improvements by Nathanael Presson:
+Add tetrahedralization
+Add support for tearing/slicing cloth and deformable volumes. Uncomment the line in Bullet/src/BulletSoftBody/btSoftBodyHelpers.h: //#define	BT_SOFTBODY_USE_STL	1
 2008-05-05 23:19:21 +00:00
erwin.coumans 73a5643580 add getAabb for btSoftBody, 
add btSoftBodyConcaveCollisionAlgorithm, and register algorithm
 2008-04-20 16:31:13 +00:00
erwin.coumans 0a3baf93d6 make btSoftBody versus btCompoundShape work 2008-04-20 15:42:21 +00:00
erwin.coumans 7a7b46b448 fixed Soft Body compile issues on Mac OSX, added build files 2008-04-14 07:44:54 +00:00
erwin.coumans 9efc46681a updated ChangeLog.txt 2008-04-14 06:42:24 +00:00