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Author SHA1 Message Date
erwin.coumans f3a70b65eb Fix issues with btCompoundShape when adding/removing child shapes after construction of a btRigidBody. 
Thanks tp for the report:
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2925&p=11700#p11700
 2008-12-07 20:57:38 +00:00
erwin.coumans 06167a0b31 For visual studio 2005 and later project files, in release mode use /fp:fast, /arch:SSE2 and using intrinsics. 
Thanks to Roy Eltham for the tip:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2930
 2008-12-06 01:54:29 +00:00
erwin.coumans 635e1a6aa0 set broadphase handle to zero when destructing a btCollisionWorld, just in case a collision object/ rigid body is re-used. 
Thanks to Ole for reporting

Fix a bug , causing some deep penetrations to be missed. Not likely to have impacted many users, as such deep penetrations should have prevented in the first place.
Thanks a lot to Andy O'Neil for reporting and reproduction case.
 2008-12-05 22:40:13 +00:00
erwin.coumans b89b71b38d improving the SSE constraint solver performance: avoid a FPU/minus operation, by replacing a _mm_add_ps(-normal,X) by _mm_sub_ps(X,normal) 2008-12-03 17:40:01 +00:00
erwin.coumans 6966b627a9 update ChangeLog 2008-12-03 06:20:23 +00:00
erwin.coumans 452fd24501 use 0.2 for erp, 0.4 makes stacks very spungy 2008-12-03 06:09:25 +00:00
erwin.coumans a064fd2052 Use the opposite constraint axis inside the constraint solver for the second object (-normal). 
This makes it easier to port existing constraints and makes it 100% compatible with ODE quickstep constraint layout (getInfo2)
 2008-12-03 04:52:23 +00:00
erwin.coumans 12a9a6e412 reverted patch, it breaks all the demos. 2008-12-02 22:32:45 +00:00
erwin.coumans 23bb0d94e6 documentation/parameter name fix for btMatrix3x3::setEulerZYX. There is no change in behaviour, no compatibility issues. 
Thanks Tully Foote for the patch.
http://code.google.com/p/bullet/issues/detail?id=157
 2008-12-02 22:27:26 +00:00
erwin.coumans 76b3e44117 Enable contact constraint in the obsolete/experimental SpuParallellSolverTask. It will be replaced by a better parallel constraint solver. 2008-12-02 07:39:13 +00:00
erwin.coumans 5383ed4930 + need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor 
+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
 2008-12-02 04:01:56 +00:00
erwin.coumans f0c302f65c update changelog 2008-12-01 16:25:43 +00:00
erwin.coumans bfa8ebfbd8 fixes to keep compiler and unix/libspe developers happy 2008-12-01 16:22:43 +00:00
erwin.coumans dd21959709 Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 07:24:39 +00:00
erwin.coumans bbfdcd44b6 Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 06:57:41 +00:00
erwin.coumans 7341c6ee7e Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 06:55:27 +00:00
erwin.coumans e80feca36b Big work-in-progress refactoring of the constraint solver: 
1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.

2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.

3) Some minor refactoring to reduce huge constructor overhead in math classes.
 2008-12-01 06:41:25 +00:00
erwin.coumans 7e93be739b add copy constructor for btAlignedObjectArray, to avoid crashes as reported by JamesH 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?p=11600#p11600
 2008-11-30 16:47:36 +00:00
erwin.coumans e26b11ea5a fixed IBM Cell sdk build + demo (need to review related patch), thanks Jochen for reporting the issues. 2008-11-26 19:34:20 +00:00
erwin.coumans 82047e601e updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables... 2008-11-26 00:27:35 +00:00
rponom 09aa2dbbe7 CPU implementation of btCudaBroadphase added. 
It is called bt3DGridBroadphase and btCudaBroadphase is now derived from it rater than from btSimpleBroadphase
Test of bt3DGridBroadphase was added to CDTestFramework
 2008-11-25 03:16:11 +00:00
erwin.coumans 7dda192bfc duplicate class name causes crashes, thanks to Nado and mickey for the report 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?t=2884
 2008-11-20 19:18:48 +00:00
erwin.coumans bdea80f2ca added missing Jamfile 2008-11-20 08:10:05 +00:00
erwin.coumans bab2854e16 minor update in Bullet user manual (needs a lot of work) 2008-11-20 07:52:24 +00:00
erwin.coumans decf91a34d Made btCollisionWorld::convexSweepTest and btGhostObject::convexSweepTest consistent. Both have an optional last argument for allowedCcdPenetration. 
Bugfix due to recent change in friction in constraint solver.
 2008-11-19 19:55:14 +00:00
erwin.coumans 50344c4a23 Add support for broadphase acceleration of convex cast (re-use rayTest implementation with an added aabb min/max, zero for rays) 
Add Concave Convexcast demo back in AllBulletDemos, and tweaked it a bit.
Fix view frustum of ForkLiftDemo (caused picking to fail)
Removed innerloop profiling for ray and convex casts, it hurts performance.
Set default #aabb's in CDTestFramework to 8192
 2008-11-19 00:38:29 +00:00
erwin.coumans cb03329d06 added missing license in headers 2008-11-18 01:42:55 +00:00
erwin.coumans 615b7fbe94 removed unused files, accidently copied wrong license header in them. 2008-11-18 01:39:00 +00:00
erwin.coumans dc8692ba94 Added IBM Cell SDK 2.x software_cache to Bullet/Extras. There is an option to enable it for the BulletMultiThreaded Cell version. 
See USE_SOFTWARE_CACHE in Bullet\src\BulletMultiThreaded\SpuNarrowPhaseCollisionTask\SpuGatheringCollisionTask.cpp
It improves the Bullet midphase collision detection (triangle/vertex fetch)
The license is CommonPublicLicense-1.0, see included license docs.
 2008-11-18 01:33:30 +00:00
erwin.coumans 50f475feb5 moved a few Extras projects into Extras/obsolete. 2008-11-17 21:05:22 +00:00
erwin.coumans fe461296c6 Fix issue with un-initialized broadphase proxy during broadphase insert. It was an chicken-egg problem: 
1) creating a broadphase proxy -> adding pairs during insertion. But during this pair insertion, the btGhostObject broadphase handle isn't set yet (it is done in step 2)
2) assign the broadphase proxy to btGhostObject
Thanks to ihar3d for the report http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2864
 2008-11-17 18:40:21 +00:00
erwin.coumans bc131321a8 fix in (unused) operator == 2008-11-16 08:06:28 +00:00
erwin.coumans 0deffb7495 mutable wasn't needed for this anonymous union (btBroadphasePair) 2008-11-16 08:06:07 +00:00
erwin.coumans a006cea5ab cosmetic text fix for ForkLiftDemo 2008-11-16 07:48:08 +00:00
erwin.coumans f474e58fb1 some minor fixes for BulletMultiThreaded 2008-11-16 06:39:45 +00:00
erwin.coumans 686accab16 + repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE 
+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
 2008-11-16 05:48:42 +00:00
erwin.coumans dcf3f96869 Raise number of objects to 16384, move all objects at 0.01 speed, to show worst case behaviour (and CUDA benefits) 2008-11-15 23:44:40 +00:00
erwin.coumans 21f03f2aed add 'NextScene' button and minor help in GUI 2008-11-15 23:42:39 +00:00
erwin.coumans 972d3be247 Disable Bullet SAP by default (initialization takes too long, will speed that up later), just compare btDbvt, CUDA and OPCODE broadphases 2008-11-15 23:06:12 +00:00
erwin.coumans 4d0c11cd95 add PE_REF macro to allow Win32 SIMD for Physics Effects box-boxBoxDistance (although performance hardly differs) 2008-11-15 22:40:09 +00:00
erwin.coumans 29bfd06af7 Disable friction warmstarting by default, removing second friction direction. This gives a large performance increase. 
friction warmstarting can be turned on using:
dynamicsWorld ->getSolverInfo().m_solverMode |= SOLVER_USE_FRICTION_WARMSTARTING;
 2008-11-15 22:20:55 +00:00
erwin.coumans a5c18db854 fix CMake install for CMAke 2.6 -> version GREATER then 2.5 2008-11-15 03:48:24 +00:00
erwin.coumans 183dcb0ce4 fixed uninitialized variable, thanks to Roman 2008-11-15 00:45:04 +00:00
rponom b8b2d8f69b Test for btCudaBroadphase added 2008-11-15 00:22:17 +00:00
rponom afec653726 New version of btCudaBroadphase compatible with Bullet and better performance 2008-11-15 00:21:09 +00:00
rponom 8abddb2400 Fixed deleting objects procedure for btSimpleBroadphase 2008-11-15 00:17:59 +00:00
erwin.coumans 78a7b07b41 removed BulletSpuOptimized.pdf and Bullet_Faq.pdf, it will be moved into the Bullet_User_Manual.pdf 2008-11-15 00:05:26 +00:00
john.mccutchan a6fb51a871 Switch multithreaded flag to disable by default (pass 
--enable-multithreaded) to enable BulletMultiThreaded
 2008-11-14 23:55:54 +00:00
erwin.coumans cc43193b25 Fixes to allow compilation of BulletMultiThreaded under 64bit linux 2008-11-14 23:51:49 +00:00
john.mccutchan 86727242a2 Define USE_ADDR64 on x86-64 platform 
Add configure option --disable-multithreaded which will disable building of libbulletmultithreaded.a and MultiThreadedDemo
 2008-11-14 17:57:30 +00:00