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971a060bbb6cb092532634e9ed8884ea7f921fea
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317 Commits

Author SHA1 Message Date
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
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
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
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
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
a9a67d62c3 Fixed memory leak in btDbvtBroadphase 
http://code.google.com/p/bullet/issues/detail?id=66
 2008-07-22 15:07:04 +00:00
erwin.coumans
884a494412 make the source code compile with older compilers again (Visual Studio 2006 in particular) 
renamed btDbvt::Volume to btDbvtVolume and btDbvt::Node to btDbvtNode to distinguish from btSoftBody::Node
 2008-07-15 23:27:18 +00:00
erwin.coumans
8f3e9603f3 + fixed issue related to temporary/root collision shape in btCollisionObject 
+ normalize plane normal input for btStaticPlaneShape
+ fixed issue related to swapped collision detectors (SphereTriangleDetector in particular)
Thanks a lot to Andrey Tuganov for reporting the issue and his reproduction case ( http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2143 )
 2008-07-11 05:39:31 +00:00
john.mccutchan
31dfbf55e1 Compile fixes 
Added getOwnsBvh to btBvhTriangleMeshShape
 2008-07-10 23:22:29 +00:00
erwin.coumans
1c0fa00bc7 + provide access to 'root' collision shape, in case the original collision shape is temporarily replaced by a child collision shape. 
+ added MultiMaterialDemo showing how to use the new btTriangleIndexVertexMaterialArray.
Thanks to Alex Silverman for this contribution!
 2008-07-10 22:19:30 +00:00
erwin.coumans
b66e5350d0 rename HasHit method to hasHit 
rename AddSingleResult to addSingleResult
moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
 2008-07-09 23:30:21 +00:00
erwin.coumans
9996da6f2d Update to btDbvt and btDbvtBroadphase, thanks to Nathanael Presson 2008-07-09 22:45:01 +00:00
erwin.coumans
dcd57f333b + improved KinematicCharacterController 
+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)
 2008-07-09 00:08:49 +00:00
erwin.coumans
50d41b624b Finally applied patch to removeChildShape from btCompoundShape 
http://code.google.com/p/bullet/issues/detail?id=51
Thanks to Ola Røer Thorsen for the patch!
 2008-06-26 23:29:42 +00:00
erwin.coumans
52de9fee03 add profiling for 'calculateOverlappingPairs' 2008-06-25 01:26:02 +00:00
erwin.coumans
e854a5133b add support for non-power-of-2 dma sizes (for small dma transfers) 
add setBroadphase
 2008-06-24 02:15:06 +00:00
erwin.coumans
d16c1b615f pass in reference to actual contact point in cache, rather then temporary value, should fix issue 53 
http://code.google.com/p/bullet/issues/detail?id=53
Thanks Alex Silverman for reporting and suggested fix
Changed addContactPoint to lowercase
 2008-06-22 03:30:55 +00:00
erwin.coumans
441c729169 Clear the user cache, when re-using an existing contact point in the contact cache (btPersistentManifold). 
Issues reported here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2257
 2008-06-22 03:15:31 +00:00
erwin.coumans
d49aeb9dff + improved split impulse constraint solver option 
+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
 2008-05-29 03:33:32 +00:00
erwin.coumans
6457f5a961 more changes in btGjkEpa2, thanks to Nathanael 2008-05-27 01:09:16 +00:00
erwin.coumans
596e94dfd1 fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and Nathanael for fixing 2008-05-25 17:45:13 +00:00
erwin.coumans
3d32cf7ddf add penetration depth solver for btCollisionWorld::convexSweepTest, to handle touching/penetrating contact (useful for character controller) 2008-05-24 05:22:41 +00:00
erwin.coumans
f8e5481612 Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm) 
virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
 2008-05-24 04:23:00 +00:00
rponom
6141a55f09 Added linear and angular motors for the slider constraint 2008-05-23 22:52:51 +00:00
erwin.coumans
561066af75 + make compound versus soft body work (soft body uses interpolated transform) 
+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
 2008-05-23 09:05:37 +00:00
erwin.coumans
ea86559480 removed some warnings 2008-05-21 23:29:35 +00:00
john.mccutchan
09fbd19279 Don't return true when the hit happens after the end point 2008-05-21 18:37:41 +00:00
erwin.coumans
6a69fe7f3b use collision margin of btBvhTriangleMeshShape for convexTest. 
Thanks to reltham for the contribution.
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2121&p=8454#p8454
 2008-05-18 01:15:00 +00:00
erwin.coumans
d9e7058ff2 Softbody improvements, thanks to Nathanael 2008-05-17 12:39:16 +00:00