ejcoumans
3fe3b11924
use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
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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
289c5ca7fe
improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates
2006-10-19 15:20:38 +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.
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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
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
bf847b839a
another large series of changes, related to the refactoring.
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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
sjbaker
2aaab1ab1a
Assorted cleanup of compilation warnings. Also fixed some actual errors:
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#include "renderTexture.h"...when the file is actually called 'RenderTexture.h'.
2006-10-01 00:08:09 +00:00
ejcoumans
01a6290cf7
more refactoring, restored some profiling and some debugging
2006-09-30 02:26:51 +00:00
ejcoumans
d38549aa54
more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.
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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
2b1657b1dd
Refactoring: another huge number of changes, renamed methods to start with lower-case.
2006-09-28 01:11:16 +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.
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Still need to verify to make sure no unwanted renaming is introduced.
2006-09-27 20:43:51 +00:00
ejcoumans
a54f928b60
added vehicle simulation
2006-09-27 00:08:24 +00:00
ejcoumans
2a602aefa1
added replacement for CcdPhysicsEnvironment
2006-09-26 23:55:35 +00:00
