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60fa900995590fcea7374037a5c2c442e0cea674
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482 Commits

Author SHA1 Message Date
erwin.coumans
60fa900995 Added CCD motion camping, to avoid tunneling. 
Not as versatile compared to btContinuousDynamicsWorld but still useful.
 2008-09-11 18:13:56 +00:00
erwin.coumans
96c7465265 stack variables 'aabb' needs to be 16-byte aligned, when used for SIMD 2008-09-11 16:45:21 +00:00
id0x1234
fe0e2cd266 Improved DbvtBroadphase performance for sleeping world (when no bodies are moving). 
Improved DbvtBroadphase velocity prediction.
 2008-09-11 15:20:55 +00:00
id0x1234
afcfcb0a5d DbvtBroadphase, fixed slow initialization issue. 2008-09-11 11:41:10 +00:00
id0x1234
c09a664808 Improved speed for 'slow' moving bodies. 2008-09-11 11:26:00 +00:00
id0x1234
8c6788ad6a Improved Dbvt speed slightly. 2008-09-11 11:23:55 +00:00
erwin.coumans
8b3270f22f Added 2 optimizations for the SAP broadphase: check AABB before remove, and a faster 2D overlap test. 
Thanks to Pierre Terdiman/OPCODE Array SAP. Performance goes down from 4.6 to 2.9ms for the 8192 Extras/CDTestFramework benchmark.
 2008-09-11 07:34:18 +00:00
erwin.coumans
93d1d24234 Some changes in rendering, to get shadows for trimeshes 
Add dynamic aabb tree (btDbvt) optimization for btCompoundShape/btCompoundCollisionAlgorithm
Add btTransformAabb util, todo: deploy it throughout the codebase
 2008-09-10 05:20:04 +00:00
erwin.coumans
aad1d574ef wrong condition: swap the contact normal/results independent from contact manifold owner. 
Thanks to ihar3d, http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2588
 2008-09-09 22:40:30 +00:00
id0x1234
bb50a2038f (re)Enable SSE by default (using intrinsics) should compile fine under all Intel platforms. 2008-09-07 09:10:43 +00:00
erwin.coumans
6c426f9545 make those members private, in btScaledBvhTriangleMeshShape 2008-09-07 05:30:35 +00:00
erwin.coumans
6b365a7ca5 Add get methods for localAabbMin/localAabbMax, required for btScaledBvhTriangleMeshShape 2008-09-07 05:00:55 +00:00
erwin.coumans
d836e83ea2 Added btScaledBvhTriangleMeshShape. The btScaledBvhTriangleMeshShape allows to instance multiple differently scaled versions of an existing btBvhTriangleMeshShape. 
All those instances re-use the same btBvhTriangleMeshShape child shape (and its btOptimizedBvh).
 2008-09-07 04:59:57 +00:00
erwin.coumans
103b98de73 disable SSE by default on btDbvt, it breaks build on Windows 64 bit and Win32 Intel compiler. 2008-09-06 16:58:18 +00:00
rponom
65f8a7e70e Current slider position member and access function added 2008-09-06 00:55:26 +00:00
erwin.coumans
398d681b22 fixed compile error for btConvexTriangleMeshShape. 
Thanks to slackydeb for the report, http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2567
 2008-09-05 18:30:18 +00:00
erwin.coumans
971a060bbb Define btAssert as empty in non-debug builds. 
GL_DEPTH_BUFFER_BIT -> GL_DEPTH_TEST, thanks to Mihail Isakov, http://code.google.com/p/bullet/issues/detail?id=86
 2008-09-05 06:22:18 +00:00
erwin.coumans
862ea08d3b use new/delete[] array, overriden by BT_ALIGNED_ALLOCATOR macro. 
Thanks to Russell Bartley for the feedback.
 2008-09-05 05:58:37 +00:00
erwin.coumans
cef07cfa20 Revert to max 1 substep by default: increased maxSubSteps to 10 make debug version way too slow. 
Use btDbvtBroadphase in BasicDemo and CcdPhysicsDemo.
 2008-09-05 01:41:32 +00:00
erwin.coumans
359c84d3b3 Fix previous commit, accidently removed some aabbMin/aabbMax assignments. 
move margin calculation for aabb before basis transform.
 2008-09-05 00:26:02 +00:00
erwin.coumans
d8a5bf2c9c Calculation of bounding box: margins should be added before basis transform. 
Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
 2008-09-04 22:53:24 +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
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
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
john.mccutchan
32bf51aa47 Fixed memory leaks in ConvexDecomposition and ColladaConverter libraries 
Added ConvexDecompositionDemo to CMake build
 2008-08-28 17:36:50 +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
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
id0x1234
79a1e5b8f4 - General performances improvement (25%) on insert/update/collideTT. 
- ~30% additional performance improvement for win32 using SSE implementation for critical methods.
 2008-08-13 04:46:01 +00:00
john.mccutchan
551f0fa1ec Keep track of raw pointer returned from btAlignedAlloc when using placement new on an array. 2008-08-07 16:02:59 +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
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