changes are backwards compatible (btBulletWorldImporter can load old .bullet files)
but not forwards compatible (constraints in new .bullet files are ignored/unrecognized by old Bullet SDK)
This commit is for Issue 734. Some more work needs to be done for btGImpactMeshShapeDoubleData and thus btStridingMeshInterfaceDoubleData and btMeshPartDoubleData
(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering
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
It is disabled by default, see Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h for instructions how to enable it
Cleaned up Extras/CUDA folder and libbulletcuda project
Add option to compile without btClock and without profiling: comment out USE_BT_CLOCK, and #define BT_NO_PROFILE
Fixed typo/case in #include "LinearMath/btQuickProf.h", in SpuParallelSolver.cpp
Removed unnecessary files from libxml CMakeLists.txt
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy* m_broadphaseProxy;' in btRigidBody
removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
* Unused variables.
* Missing newlines at ends of #included files.
* signed int loop variables where the termination condition is an unsigned 'get number of' function.
* 'NULL' used inappropriately for an integer or character constant (NULL is a pointer)
* abstract base classes with no virtual destructor.
* Floating point constants used to initialise integer variables.
