store command-line arguments in bulletDemo.txt
save/load of configuration, save demo name instead of index
add setBackgroundColor as example (background_color_red) and
mouse move/wheel speed config (mouse_wheel_multiplier and mouse_move_multiplier)
(saved after changing the demo)
default btIDebugDraw colors can be changed
b3CommandLineArgs::GetCmdLineArgument returns bool, and b3CommandLineArgs::addArgs added
fix copy/paste
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
add sphere2.urdf
move btSpatialAlgebra into LinearMath
remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
Will also add Erin Catto's local implicit version from the GDC 2015 tutorial
Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr
Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...)
Use 1,1,1 for local scaling in btStaticPlaneShape
to the rest of the Bullet code base. This code will replace the original GJK/EPA
in a future commit.
Added btMprPenetration, an implementation of Minkowski Portal Refinement
by Daniel Fiser. Original MPR idea is by Gary Snethen, and the first
implementation is here: https://github.com/erwincoumans/xenocollide
It is an alternative to EPA, although computing the local penetration depth.
EPA computes the global penetration depth. In many cases, MPR is sufficient
and performs better than EPA.
Share physics setup of BasicDemo between different graphics frameworks, see Demos\BasicDemo\BasicDemoPhysicsSetup.*
Plan is to do this for all Bullet demos.
Improve gwen performance and cursor navigation for tree control.
tweak shadowmap size
SimpleOpenGL3App::registerCubeShape accepts half extents
Add btCollisionObject::setIgnoreCollisionCheck to disable collisions between specific instances, without having a btTypedConstraint. See https://github.com/bulletphysics/bullet3/issues/165
Make btMultiBody and btMultiBodyJointMotor backwards compatible with Bullet 2.82 API (single-DOF API)
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher
The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver.
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody.
Next on the list will be adding support for joint limit constraint for btMultiBody.
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
