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92c69ddefa9070ba7910a0277edfd7680965e2e1
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383 Commits

Author SHA1 Message Date
erwin.coumans
92c69ddefa added missing files to build systems for CMake and Automake (Makefile.am still needs to add additional include directory for BulletMultiThreaded, for vectormath) 2008-10-21 19:06:29 +00:00
erwin.coumans
e6202f58ad 1)Added SCE Physics Effects boxBoxDistance 
BulletMultiThreaded/NarrowPhaseCollision makes use of this boxBoxDistance.
Cache some values in src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp, to avoid DMA transfers

2) Added btConvexSeparatingDistanceUtil: this allows caching of separating distance/vector as early-out to avoid convex-convex collision detection.
btConvexSeparatingDistanceUtil is used in src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp and can be controlled by btDispatcherInfo.m_useConvexConservativeDistanceUtil/m_convexConservativeDistanceThreshold

3) Use BulletMultiThreaded/vectormath/scalar/cpp/vectormath/scalar/cpp/vectormath_aos.h as fallback for non-PlayStation 3 Cell SPU/PPU platforms (used by boxBoxDistance).
Note there are other implementations in Extras/vectormath folder, that are potentially faster for IBM Cell SDK 3.0 SPU (libspe2)
 2008-10-20 20:12:39 +00:00
erwin.coumans
4cbb3f2e7b Added btGhostObject and btPairCachingGhostObject functionality. 
It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest.

Updated KinematicCharacterController to use btPairCachingGhostObject.
 2008-10-18 01:33:23 +00:00
erwin.coumans
b48d05d52a Preliminary adding btGhostObject. 
It can be useful for collision sensors, explosion objects, character controller etc.

Similar to Havok phantom object.
 2008-10-16 22:29:38 +00:00
erwin.coumans
947a44452d Removed ray-AABB slopes code again, we are not using it and it is archived in Subversion repo now. 2008-10-16 20:18:41 +00:00
erwin.coumans
e627f38a28 Removed ray-AABB slopes code again, we are not using it and it is archived in Subversion repo now. 2008-10-16 20:18:23 +00:00
erwin.coumans
675c45f42d some rayTest improvements in btDbvt::rayTestInternal, it avoids/reduces memory allocations during stack allocation (by sharing a persistent m_stack) 
and rayTestInternal re-uses precomputed invRayDirection/signs.
also did some performance comparison with different ray-AABB test, from 
http://jgt.akpeters.com/papers/EisemannEtAl07/

In short: it is faster, but it is not clear how to cull ray segments using ray slopes: when rays starts inside the AABB, we get a negative t value, but negatives also get false t-values...
 2008-10-16 20:00:47 +00:00
erwin.coumans
60ce828419 Autoformat selection for soft body, btDbvt related classes (no code change, just layout using Visual Studio) 2008-10-15 18:39:27 +00:00
erwin.coumans
cac172d422 Use consistent rayFrom/rayTo API for rayTest for btDbvt and btSoftBody, instead of rayCast/collideRAY(origin,direction). This means RayFromToCaster has a fraction [0..1] instead of distance [0..INF] 
Renamed collideRay -> rayTest to reflect change to (rayFrom,rayTo) interface.
Re-use btRayAabb2 function from src/LinearMath/btAabbUtil2.h in btDbvt instead of duplicated implementation.
 2008-10-15 18:30:35 +00:00
erwin.coumans
e6c850f13b Fix/improve raycast performance for btBvhTriangleMeshShape (btQuantizedBvh, btOptimizedBvh) 
Add raycast acceleration for btAxisSweep3, using btDbvtBroadphase, providing large speedup. Can be disabled in constructor to safe memory.
 2008-10-14 20:24:28 +00:00
erwin.coumans
fffca75e9f Make raycast benchmark default, to show improved raycasting performance. 
Add rayTest to btBroadphaseInterface, and implement efficient version for btDbvtBroadphase to accelerate raycasting.
btAxisSweep3, btSimpleBroadphase and btMultiSapBroadphase implement brute-force method (as before). For now, it is recommended to use btDbvtBroadphase for fastest world raycast.
 2008-10-14 06:23:45 +00:00
erwin.coumans
4624bde28b updated autogenerated msvc projectfiles, minor fix in Gimpact/btGImpactShape.h (shapeType) and btWin32ThreadInterface. 2008-10-11 16:23:10 +00:00
erwin.coumans
9ae3c55a1c cmake build fixes for Gimpact move 2008-10-11 06:15:30 +00:00
erwin.coumans
22a79e61b1 updated Jamfile build system for reorganized files/folders 2008-10-11 05:23:00 +00:00
erwin.coumans
512c0f167e moved Extras/Gimpact to src/BulletCollision/Gimpact 
moved Extras/BulletMultiThreaded to src/BulletMultiThreaded
(build systems will be updated soon)
 2008-10-10 19:48:36 +00:00
erwin.coumans
9ad17dda22 Add aabbMin/aabbMax to broadphase proxy, and improve rayTest performance. 
Todo: use broadphase acceleration structure (btDbvtBroadphase etc) for ray test
 2008-10-10 17:32:52 +00:00
erwin.coumans
0508c3a5d5 Disable TEST_NON_VIRTUAL debugging for btGjkPairDetector 2008-10-08 21:00:15 +00:00
john.mccutchan
37f6b006af Move some code (mainly constructors) into header files. 
Add parameter to optionally compute local AABB for ConvexPointCloudShape
Add setter and getter for cached local AABB in PolyhedralConvexShape
 2008-10-08 16:56:08 +00:00
john.mccutchan
7b1f30f1cf btGjkEpa2 should call getMarginNonVirtual instead of getMargin() 2008-10-08 16:53:56 +00:00
erwin.coumans
30a13d5b5d updated INSTALL file and btCollisionWorld doxygen, adding ./autogen.sh and make support. 2008-10-04 14:52:01 +00:00
john.mccutchan
4e70343a8b by default, a btTriangleIndexVertexArray has no setPremadeAabb, so initialize m_hasAabb to zero. 2008-10-02 22:15:53 +00:00
erwin.coumans
0ca2eef022 FIX: use btScalar instead of float, otherwise double precision build breaks 
FIX: make Maya plugin compile for Maya 8.0
FIX: btDbvt SSE doesn't compile for double precision builds
 2008-10-02 01:17:18 +00:00
erwin.coumans
1800169604 add new files to CMake 2008-10-01 23:45:54 +00:00
erwin.coumans
d2a282dc07 fixed issue with clamping/quantization in btAxisSweep3, 
Thanks to ole.k for report and fix:  http://code.google.com/p/bullet/issues/detail?id=87
 2008-09-30 20:58:03 +00:00
erwin.coumans
0ff15db3f3 + capsule should subtract margin, and take local scaling into account. 
+ boxshape uses btFsels
+ add assert in btGjkPairDetector that the new non-virtual method produces the same result as old non-virtual
 2008-09-30 18:37:01 +00:00
erwin.coumans
9f28b2bc12 Improve damping formula in btRigidBody::applyDamping 
Thanks to sparkprime, see http://code.google.com/p/bullet/issues/detail?id=74
Fixed btCompoundShape/btCapsuleShape/btGImpactShape for missing m_shapeType, and added an assert in DemoApplication::localCreateRigidBody for invalid shape types.
 2008-09-30 00:34:58 +00:00
john.mccutchan
2b71784c86 Make getShapeType() a non virtual function. 
Add localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, getAabbNonVirtual and getMarginNonVirtual methods to convex shape classes
 2008-09-29 22:47:05 +00:00
john.mccutchan
41b6eaa87f Change to make serializing btOptimizedBvh/btQuantizedBvh properly deterministic. Contributed by reltham. 2008-09-29 21:17:37 +00:00
erwin.coumans
e590f4a721 fixed some outstanding issues with Bullet soft bodies: 
1) re-allocate a pool allocator, if one of the soft body collision algorithms is larger than max pool element size
2) manage child shapes properly, and call RemoveReferences on the m_sparsesdf
 2008-09-26 23:39:17 +00:00
erwin.coumans
682a0a1b90 fixed btSoftBodyConcaveCollisionAlgorithm, wrong bounding box transformation 
added vertex welding option for btTriangleMesh (brute-force slow)
reject appendFace for some degenerate triangles (all 3 vertices/nodes need to be different)
add setVelocity method for btSoftBody
 2008-09-26 21:59:03 +00:00
erwin.coumans
752eb583d0 some minor work on soft body, to make it easier to integrate into apps. 2008-09-24 02:41:50 +00:00
erwin.coumans
d7b635cabf logic bug in (de)activation/island management: deactivated 'fantom' objects do merge islands, in particular when connected by constraints. (fantom = object with collision detection but no collision response). 2008-09-23 04:57:20 +00:00
erwin.coumans
d2f7f9d25b make soft bodies more compatible with rigid body API: disable setCollisionShape (it would delete the shape passed in!) 2008-09-21 15:19:54 +00:00
id0x1234
7a72d76ef2 btDbvtBroadphase, re-enable deferred collide. 2008-09-21 02:23:30 +00:00
id0x1234
323df8f85b btDbvtBroadphase, fixed missed pairs when m_deferred collide was set to false. 2008-09-21 02:21:22 +00:00
erwin.coumans
8ae3f92859 encountered some issue with the btDbvtBroadphase, switch of a deferred collision feature. 2008-09-21 01:15:05 +00:00
erwin.coumans
8db0285d4f attempt to support negative local scaling for btConvexHullShape, btConvexInternalShape-derived classes and btScaledBvhTriangleMeshShape 2008-09-20 23:47:38 +00:00
erwin.coumans
58f2747acf fixed and re-enabled sphere-sphere collision: contact points were not properly removed/refreshed. 2008-09-20 22:33:36 +00:00
erwin.coumans
56d88e18f8 disable sphere-sphere collision algorithm, it is buggy. 
See also http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2636
 2008-09-20 01:59:06 +00:00
rponom
486b172f58 Bug in constructor btHingeConstraint(body, pivot, axis) fixed. Build under MSVC 7.1 fixed 2008-09-19 21:10:01 +00:00
erwin.coumans
bf5eafb759 make sure Bullet and Blender/extern/bullet2 is in sync 2008-09-17 20:01:01 +00:00
erwin.coumans
c9e5f2df05 fix 64-bit issue, can't cast void* to int. 2008-09-16 06:17:33 +00:00
erwin.coumans
1346c95205 reverted back to newer btDbvtBroadphase, and applied Nathanael's fixes. 2008-09-13 08:06:39 +00:00
erwin.coumans
3d2ce530d4 applied patch to make child shape of a compound shape available during ray testing. 
Thanks to Benoit Bolsee for the patch: http://code.google.com/p/bullet/issues/detail?id=91
 2008-09-13 06:46:53 +00:00
erwin.coumans
3018eb9ebb btDbvtBroadphase is broken, revert temporarily to a previous working version. 2008-09-13 06:25:14 +00:00
id0x1234
a6f47f17d8 Fixed alignment issue in btDbvt::CollideTV 2008-09-12 02:39:33 +00:00
id0x1234
670d7d94fc Fixed SIMD compilation issues under msvc 7 2008-09-12 02:31:43 +00:00
erwin.coumans
58e1e9f049 updated version to 2.72, fix a compilation issue. 2008-09-12 00:59:16 +00:00
erwin.coumans
fae48b5c25 some more improvements to support basic CCD motion clamping 2008-09-11 23:50:50 +00:00
erwin.coumans
350e2e0393 btDbvtVolume needs to be 16-byte aligned, otherwise SIMD version crashes. 2008-09-11 20:20:31 +00:00