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273 Commits

Author SHA1 Message Date
erwin.coumans
fd5057ec5a fixed build/project files 2008-04-10 21:28:37 +00:00
erwin.coumans
1139c06a4d more soft body preparations, moved some parts from Demo/SoftBody to src/BulletDynamics/SoftBody 
moved Extras/ConvexHull/btConvexHull.* to src/LinearMath/btConvexHull.*
removed btCollisionObject::m_internalOwner, replaced it by m_internalType. This should not affect external API (it was clearly marked as internal)
 2008-04-10 20:00:41 +00:00
erwin.coumans
883d3278ec + fixed btMinkowskiSumShape Sa+b(v) = Sa(v)-Sb(-v) instead of Sa(v)+Sb(v) 
+ fix related btMinkowskiSumShape issue in btSubsimplexConvexCast and btGjkConvexCast
+ add hitpoint for btSubsimplexConvexCast
+ reduce maximum number of iterations in conservative advancement/CCD implementations
 2008-04-03 18:35:28 +00:00
erwin.coumans
2478591e13 allow quantized AABB tree to be build and used for arbitrary arrays of AABBs, not just triangle meshes 2008-03-15 08:52:42 +00:00
erwin.coumans
fe5386a5c8 Made the move from sourceforge to googlecode (no svn sync any longer) 
Fixed BulletColladaConverter load/save
Removed btTypedUserInfo
Added btHashMap
Fixed btCapsuleShape
 2008-03-13 05:16:42 +00:00
ejcoumans
3d3d24afa9 refit tree needs an aabbMin/aabbMax 
improved unquantization for quantized trees
reverted heightfield quantize
 2008-02-28 02:55:25 +00:00
ejcoumans
f51ac89dbe add support for 16bit indices and 3-float vertices (instead of btVector3 which is 4float) in 
in btTriangleMesh container and ColladaConverter.

btTriangleMesh now derives from btTriangleIndexVertexArray, so it can be used for meshes on SPU
 2008-02-18 04:23:50 +00:00
ejcoumans
9aec3255ef add support for 16bit indices and 3-float vertices (instead of btVector3 which is 4float) in 
in btTriangleMesh container and ColladaConverter.

compile issue with PlatformDefinitions in GDC demo.
 2008-02-18 01:37:30 +00:00
ejcoumans
eeb78b8d45 free memory for btShapeHulls, keep track of it in GL_ShapeDrawer. 
move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)
 2008-02-13 07:14:19 +00:00
johnmccutchan
65ce92885b Don't fallback to getAabbSlow in btCapsuleShape 2008-02-13 03:07:25 +00:00
ejcoumans
7ca3020133 removed some dependencies 2008-02-08 23:22:31 +00:00
ejcoumans
618263163c add support for X,Z axis aligned capsules 2008-02-08 01:11:05 +00:00
ejcoumans
f22d338959 added btCapsuleShapeX and btCapsuleShapeZ, for X and Z upaxis capsules. The default btCapsuleShape stays Y-axis, for backwards compatibility. 2008-02-07 00:34:06 +00:00
johnmccutchan
d368ef3d71 Remove name field and replace it with btTypedUserInfo field 2008-02-05 18:55:05 +00:00
ejcoumans
39ecc2ab7e error C2374: 'i' : redefinition; multiple initialization 
make MSVC 6.0 build again.
This code breaks:
for (int i=0;....
for (int i=0;....
use
int i;
for (i=0;...
for (i=0;...
instead ;-)
 2008-02-05 05:55:25 +00:00
johnmccutchan
8fff5c54e9 Added name fields to Collision Object and Shape. 
Added name field to Typed Constraint.
Added accessor for gravity in dynamics world.
 2008-01-30 01:52:07 +00:00
ejcoumans
923f1411d7 Disable a recent new optimization for ray-aabb in btOptimizedBvh, it has some issues. 
///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
 2008-01-28 01:34:48 +00:00
johnmccutchan
2addd46f4b Further refactoring of btConvexHull. 2008-01-24 22:22:36 +00:00
ejcoumans
a267152945 fix doubleprecision build 2008-01-24 02:41:45 +00:00
ejcoumans
30e1c56520 fix doubleprecision build 2008-01-24 02:40:15 +00:00
ejcoumans
127d911c9d Added Stan Melax Convex Hull utility under Zlib license, Thanks Stan! 
Use this Convex Hull to create a renderable shape, using btHullShape, Thanks to John McCutchan
 2008-01-23 22:24:45 +00:00
ejcoumans
6eb97cd966 added debug rendering for planeshape 
added void* userpointer (+getUserPointer/setUserPointer) to each btCollisionShape
 2008-01-23 03:06:15 +00:00
johnmccutchan
41e9491402 Move unquantize from btOptimizedBvh.cpp to btOptimizedBvh.h 2008-01-14 23:47:05 +00:00
johnmccutchan
15cdd9de8e Rename btCollisionWorld::convexTest to btCollisionWorld::convexSweepTest. The new test sweeps the convex shape against all objects in the world taking into account the orientation specified in the from and to transformations. 2008-01-11 20:18:29 +00:00
ejcoumans
a7e04dbdc2 Added faster and more robust support for btStaticPlaneShape 2007-12-11 23:13:29 +00:00
ejcoumans
c1c01ff1a0 Use btContinuousConvexCollision instead of btGjkConvexCast (has issues in btCollisionWorld::objectQuerySingle) 
Fixes in btHeightfieldTerrainShape, thanks Jay Lee.
 2007-12-11 00:38:13 +00:00
ejcoumans
a4bc26544c add support for generic concave shapes for convex cast. 
minor improvement in ray cast demo.
Thanks John McCutchan (JMC)
 2007-12-07 19:21:16 +00:00
ejcoumans
6f80b98a67 - fix issue with convex cast: results further away (larger hitfraction) could overwrite closer results 
- minor naming convention thing (variables start with lower case)
- renamed MotorDemo
- added ConcaveConvexcastDemo, Thanks John McCutchan (JMC)
 2007-12-06 02:54:29 +00:00
ejcoumans
d53f2875e5 minor fixes, only btBvhTriangleMeshShape should provide getShapeType(), add get methods for motor limits in btHingeConstraint. 2007-12-06 01:41:07 +00:00
ejcoumans
1245995c84 Added convex cast query to collision world. 
Thanks to John McCutchan (JMC)
 2007-12-06 00:51:24 +00:00
ejcoumans
86f0575291 fixed misleading name 'numTriangleIndices' into 'numTriangles', thanks Sean Tasker for reporting: 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1733
 2007-11-30 06:59:12 +00:00
ejcoumans
f2c9588969 Added raycast against trianglemesh. Will be extended to object cast soon. 
Thanks John Rowe (JMC)
 2007-11-29 21:24:51 +00:00
ejcoumans
174f6009bb make getNumPoints const correct, add const getPoints(). Thanks Dirk 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1725
 2007-11-28 20:14:01 +00:00
ejcoumans
f5fb2d77eb fixed include path (don't use system include <>, but "" instead) 
Thanks to Stephen (shatcher) for reporting!
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696&p=6412#p6412
 2007-11-17 17:16:19 +00:00
ejcoumans
7ef4eab189 use better tolerance, instead of hard-coded 0.0001 inside the btMultiSphereShape supporting vector implementation. 
Thanks to Phil Knight for reporting and fixing this issue (it could lead to failing collisions under certain conditions).
 2007-11-07 13:39:05 +00:00
ejcoumans
282cbdcdd9 applied patch contributed by Tim Johansson: adds support for multiple mesh parts in combination with bvh, add short index support for meshes. 2007-11-06 06:47:04 +00:00
ejcoumans
e755d1ed4e added some comments, to clarify unit-test/brute force implementations. 2007-11-02 01:14:29 +00:00
ejcoumans
0723448895 disabled btTriangleMeshShape, to avoid usage, it is very slow performing for larger triangle meshes. Please use the derived btBvhTriangleMeshShape instead. 2007-11-01 23:59:22 +00:00
ejcoumans
f3424f491c cleanup memory in CcdPhysicsDemo, RagdollDemo, ConcaveDemo, BspDemo (work in progress) 2007-11-01 05:50:50 +00:00
ejcoumans
d17a8dae0e updated autogenerated msvc projectfiles, moved destructor in CPP file, it was causing some random crash under msvc 6.0 (todo find out why) 2007-10-25 05:11:19 +00:00
ejcoumans
ec76f2e0a3 - keep track of all memory allocations (gNumAllignedAllocs/gNumAllignedFree) 
All memory allocations in Bullet go through btAlignedAlloc/btAlignedFree
Fix in hinge constraint constructors, thanks Marcus Hennix!
 2007-10-22 22:23:10 +00:00
ejcoumans
c80d1532f6 made access to mesh interface more consistent, so btConvexTriangleMeshShape uses also 'getMeshInterface', similar to btTriangleMeshShape. 
Thanks Et3D for pointing this out here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1590
 2007-10-21 21:04:04 +00:00
ejcoumans
dbe502c5a8 prepare for Box2D style gui demo 2007-10-18 06:37:36 +00:00
ejcoumans
239d88985f fix for heightfield, thanks SMJ/Spangle and Jay Lee for testing. 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1482
 2007-10-16 21:57:05 +00:00
ejcoumans
715611060d integrated StressTest into BasicDemo. 2007-10-14 00:03:10 +00:00
ejcoumans
ea3dfb4ca3 made 'calculateLocalInertia' const, thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514 
- applied a large patch to remove warnings
Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
- disabled 16-byte alignement on btQuadWord class, it causes problems under PS3 Linux. Need to check out why.
 2007-10-13 23:41:37 +00:00
ejcoumans
eff4fe8ec8 more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance. 
boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
 2007-10-12 02:52:28 +00:00
ejcoumans
0405ce278a use size_t instead of int, for allocator 
added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
 2007-10-11 03:17:54 +00:00
ejcoumans
a98ccc839e enable double precision for triangle indices in BT_USE_DOUBLE_PRECISION mode (need to review this) 2007-09-30 02:28:04 +00:00
ejcoumans
a38de566c6 make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class. 
integrated some contributions from IBM Germany for libspe2
 2007-09-25 06:41:57 +00:00