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87b313d715f02a830f48059228a7264dc67fe77d
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339 Commits

Author SHA1 Message Date
erwin.coumans
87b313d715 Add flags to btRigidBody to disable world gravity. 
Use setFlags/getFlags with BT_DISABLE_WORLD_GRAVITY

See http://code.google.com/p/bullet/issues/detail?id=324
 2010-02-03 23:58:48 +00:00
erwin.coumans
219517db2d move static globals inside static member functions, to avoid hassle with C#/CLI/C++ managed code, compile error C3820 2010-02-03 23:27:22 +00:00
erwin.coumans
1cd52f3d11 Removed empty constructors for constraints, I don't recall why we added them (possibly SPU) but if we really need them we have to revert this. 
Moved static fixed body into a static function 'getFixedBody' to avoid issues when embedding Bullet in C#/CLI managed code.
 2010-02-03 23:02:33 +00:00
erwin.coumans
d58081ce37 Provide easier access to CFM and ERP (and Stop ERP/Stop CFM) for constraints in a similar way to Open Dynamics Engine 
virtual	void	btTypedConstraint::setParam(int num, btScalar value, int axis = -1) = 0;
virtual	btScalar btTypedConstraint::getParam(int num, int axis = -1) const = 0;
	
Parameter can be BT_CONSTRAINT_ERP,BT_CONSTRAINT_STOP_ERP,BT_CONSTRAINT_CFM,BT_CONSTRAINT_STOP_CFM
Axis is 0 .. 5, first 3 for linear degrees of freedom, last 3 for angular. If no axis is specified it will take the 'default' degree of freedom. For a btHingeConstraint this would be the hinge axis (5)
 2010-02-03 22:16:09 +00:00
erwin.coumans
788f48643b remove all warnings on Mac OSX Snow Leopard 2010-01-30 22:31:56 +00:00
rponom
d5f5ddf2f1 Bullet debug draw added 
It is off by default, see attributes of dSolverNode to turn it on
 2010-01-30 04:21:12 +00:00
erwin.coumans
725411a1f3 added a warning to all serialization structures: 
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 2010-01-27 02:41:38 +00:00
erwin.coumans
00f58e5a91 added basic serialization for several constraints including btPoint2PointConstraint, btHingeConstraint, btSliderConstraint, btConeTwistConstraint, btGeneric6DofConstraint 
(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
 2010-01-27 02:13:56 +00:00
erwin.coumans
e7ff71d99b add support for double precision and 64bit serialization (and compatibility between all versions) 
fix some issue in serialization of nested array data
add some tesing files
 2010-01-25 19:42:51 +00:00
rponom
e459145b91 Crash bug when "mesh" applied twice fixed 
Constraints reworked - all of them could now work with one or two bodies

Modification of constraint frames and initial positions of rigid bodies
now allowed at start frame only

Plugin version is set to 2.76
 2010-01-23 03:15:43 +00:00
erwin.coumans
0f707603f1 more work on serialization, work-in-progress 2010-01-23 00:04:58 +00:00
erwin.coumans
6af9f9434f worked a bit more on the serialization, and added a preliminary SerializeDemo. 2010-01-21 00:17:18 +00:00
erwin.coumans
6b89f028bf add newlines to files, thanks to tasioga for the patch 
http://code.google.com/p/bullet/issues/detail?id=334
 2010-01-20 21:33:35 +00:00
erwin.coumans
96d73d642d fixes in debug drawer: always use rgba color with each component in range [0..1] 
use sphere/box rendering of debug drawer
Thanks accodejockey for the report: See http://code.google.com/p/bullet/issues/detail?id=280
Also see http://code.google.com/p/bullet/issues/detail?id=279
 2010-01-19 19:38:18 +00:00
erwin.coumans
4280f54ccf Get rid of some warnings, mainly unused parameters/variables. 
Thanks sparkprime for the patch, see http://code.google.com/p/bullet/issues/detail?id=330
 2010-01-19 06:10:27 +00:00
erwin.coumans
63bb1bab94 fixes to make VC6 compiler (and its users) happy 2009-12-22 21:27:27 +00:00
erwin.coumans
b0e6e2f412 Expose vehicle maxSuspension force (instead of hard-coded 6000 value). 
Thanks blakflow for the patch, see Issue 290
 2009-12-21 22:59:12 +00:00
erwin.coumans
fcd2b93a22 fix in box-box contact generation: choose better contact point location (along contact normal) when objects are swapped. 
move debugDrawWorld to btCollisionWorld.
improved CollisionInterfaceDemo, show how to perform a closest point query for objects that are not in the collision world.
removed a bit of garbage from the debug drawer
 2009-12-18 00:54:52 +00:00
erwin.coumans
0c85c74bae removed stack allocator (was unnecessary/unused) 
Thanks to Brecht for the report: http://code.google.com/p/bullet/issues/detail?id=303
 2009-12-13 20:48:52 +00:00
erwin.coumans
91f1e8117b Add serialization for btRigidBody (all work-in-progress) 2009-12-09 14:11:13 +00:00
rponom
0d80aa855e Improved math precision for btHingeConstraint and btSliderConstraint (btAtan2() used instead of btAtan2Fast()) 2009-12-02 00:53:53 +00:00
rponom
f919baf03d Improved Slider, Hinge and Generic6DOF constraint setup. 
Turned on by default, use m_useOffsetForConstraintFrame = false to use old setup
Use "O" (capital 'o') button to toggle it in SliderConstraintDemo and ConstraintDemo

Total applied impulse copied back from btSolverConstraint to btTypedConstraint
 2009-11-25 23:52:12 +00:00
erwin.coumans
d96818d994 minor fixes in cmake build system, they caused troubles with CMake 2.8 and Xcode 2009-11-17 02:45:37 +00:00
rponom
da9937e06e Bug in btGeneric6DofSpringConstraint::setEquilibriumPoint(int index) fixed 2009-11-05 18:34:19 +00:00
erwin.coumans
4c3af9c95f use LIB_SUFFIX to install under lib${LIB_SUFFIX}, for example /usr/lib64 
Thanks to brumahe for the patch
http://code.google.com/p/bullet/issues/detail?id=174

compile BulletMultiThreaded also on  64 bit
 2009-11-03 06:01:00 +00:00
erwin.coumans
703582f4fa apply fix for btAcosf/btAsinf (numerical issue causes values of X become slightly larger than 1 or smaller than -1, causing NaNs) 
manually add some missing files to msvc projectfiles for now
fix in box-box collision detector, preventing it to fail in some rare cases
remove redundant line in btHingeConstraint, thanks to teravus
fix mouse drag camera rotation issue (modulo 360 instead of 180)
 2009-10-09 23:35:00 +00:00
erwin.coumans
da4a1b14b5 Add support for target motion and slip/cfm for both friction directions. 
It can be handy for effects such as powered conveyor belt effect or sideways slipping tyre friction.
 2009-09-18 07:48:15 +00:00
erwin.coumans
172b87188b install BulletCollision/btBulletCollisionCommon.h and BulletDynamics/btBulletDynamicsCommon.h (but also keep the file in the root destination) 
Thanks to ejtttje
http://code.google.com/p/bullet/issues/detail?id=265
 2009-09-17 21:33:29 +00:00
erwin.coumans
ed09140fb7 remove some warnings, thanks to Zenja http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=4063 2009-09-09 23:51:30 +00:00
erwin.coumans
659b215a69 Override btCollisionWorld::addCollisionObject with flags more appropriate for btDynamicsWorld (StaticFilter) 
Minor fixes (#ifndef SPU_COLLISION_OBJECT_WRAPPER_H block etc)
Only update 'setNumTasks' when necessary
Revert vectormath.h include (can't resolve conflicts with PS3 SDK, need additional #include path)
 2009-09-09 22:49:43 +00:00
erwin.coumans
34699f6de6 + add option to set pre-tick callback, called at the beginning of each internal simulation step 
+ use real-time for soft body demo (using this pre-tick callback)
+ optimize the generation of bending constraints for the special case where the distance is 2
 2009-08-14 21:36:51 +00:00
erwin.coumans
d7c7c0c9ef avoid one redundant motionstate synchronization 
minor warning fix
 2009-08-11 23:50:59 +00:00
erwin.coumans
d67aa861f2 Add support for childshape index for btCompoundShape during ContactAddedCallback, 
see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
 2009-08-11 00:30:41 +00:00
erwin.coumans
aef97d6015 Share btGjkPairDetector, btGjkEpa2, btVoronoiSimplexSolver with SPU/Multithreaded implementation (remove duplicate code) 
Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier.

Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp
 2009-08-07 08:57:56 +00:00
erwin.coumans
5d2cf447e4 Some more minor improvements for PS3 SPU version 2009-08-06 20:03:09 +00:00
erwin.coumans
709f981390 remove redundant methods 
thanks ejtttje for the patch:
http://code.google.com/p/bullet/issues/detail?id=262
 2009-08-06 03:48:01 +00:00
erwin.coumans
1808ec6a0e Some more minor improvements for PS3 SPU version 2009-08-05 23:25:44 +00:00
erwin.coumans
3e2529fcb5 Minor constraint refactoring, to allow SPU-side processing for PLAYSTATION 3 (added non-virtual methods) 
Also comment-out some code for __SPU__ to reduce code size
Added btContactConstraint (only used on PS3 SPU right now, better to use btPersistentManifold directly for contact constraints)
Improved readblend utility library (see also usage in http://gamekit.googlecode.com with Irrlicht)

Fix for btConvexConvexAlgorithm, potential division by zero
Thanks linzner http://code.google.com/p/bullet/issues/detail?id=260
 2009-08-05 22:14:46 +00:00
erwin.coumans
a27b349dd0 compile fixes for Linux 2009-07-14 19:43:22 +00:00
erwin.coumans
60c107b7a7 Updated INSTALL description. This info should go also in Bullet User Manual and Online. 
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=248

Use GJK for GImpact triangle test
See http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3687

More improvements in GJK degeneracy handling (using second EPA/GJK run)
Issue/discussion here http://code.google.com/p/bullet/issues/detail?id=250

CMake improvements
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=247

Added basic camera/wall detection for character demo
 2009-07-14 02:10:03 +00:00
erwin.coumans
c4ad354ac0 More GJK degeneracy fixes, thanks Jacob Langford for the feedback: 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
 2009-07-13 21:48:19 +00:00
rponom
99f6ff7cf3 Some fixes to work with constraint angle limits close to -PI or PI 2009-06-12 01:23:47 +00:00
erwin.coumans
f552a1dbbf Remove first argument from btMultiSphereShape, calculate local inertia approximation from aabb. 
If user wants more accurate inertia tensor for multi-sphere shape, use btCompoundShape instead 
(amd btCompoundShape::calculatePrincipalAxisTransform)

Thanks rcharlton for bringing this up.
Erwin
 2009-06-11 13:51:48 +00:00
erwin.coumans
6c80353556 Minor fix in friction: calculate second friction direction based on un-scaling first friction direction (issue if it was scaled to zero) 
Force activation state of static objects to be ISLAND_SLEEPING, once they are added to the world
Add backwards compatibility option btDiscreteDynamicsWorld::setSynchronizeAllMotionStates, just in case only updating active objects broke someones code
Don't disable 3D box-box in box2ddemo
 2009-06-11 12:22:41 +00:00
erwin.coumans
3e5fc86a6c Iterate only over non-static rigid bodies, instead of all collision objects 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=3625
http://code.google.com/p/bullet/issues/detail?id=128

Attempt to fix issue in mesh striding, multiple-mesh-parts were broken.
 2009-06-11 01:25:10 +00:00
erwin.coumans
acf8ed3de5 Re-enabled split impulse: avoids adding linear/angular momentum due to penetration recovery. 
Both SIMD and scalar version is supported.
 2009-06-10 22:04:06 +00:00
erwin.coumans
a9141d5daf Fix in generic 6dof constraint, when springs/limits/motors are combined 
Added btGeneric6DofConstraint::getRelativePivotPosition to read relative linear position of the constraint frame (pivot)
 2009-06-06 01:09:06 +00:00
rponom
ee664e7750 Damping for spring motors added 
see btGeneric6DofSpringConstraint::setDamping()
 2009-06-02 01:10:43 +00:00
rponom
dfa1f033da Bug fix : Instability of spring motor for the 6DOF constraint 2009-05-27 20:20:38 +00:00
erwin.coumans
258ef6e25a + Added joint feedback for constraints, needs testing/demo before 2.75 release. 
See also http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2677
and http://code.google.com/p/bullet/issues/detail?id=227

To enable, use constraint->enableFeedback(true);
And then either use
constraint->getAppliedImpulse() for an estimated applied impulse,
or constraint-> getAppliedLinearImpulse(), or constraint->getAppliedAngularImpulseA() or constraint->getAppliedAngularImpulseB().

+removed a few warnings.
 2009-05-27 01:34:46 +00:00