Add dynamic aabb tree (btDbvt) optimization for btCompoundShape/btCompoundCollisionAlgorithm
Add btTransformAabb util, todo: deploy it throughout the codebase
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.
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.
rename AddSingleResult to addSingleResult
moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
+ 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)
move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)
work-in-progress (update projectfiles etc)
- copy user data over to child shape
- added applied impulse to btManifoldPoint
- add ContactProcessedCallback (needs test/demo)
- didn't copy over m_additionalDampingFactor into btRigidBody.
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.
added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
added preliminary continuous dynamics world (under construction, not ready yet)
fix crash on when restarting simplex demo using spacebar, Thanks Jorrit Tyberghein for reporting!
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);
Thanks Jay for reporting
Added braking capability to btRaycastVehicle, see Bullet/Demos/VehicleDemo/VehicleDemo.cpp
Added glutKeyboardUpFunc, for vehicle demo (keep accelerating/breaking, until key released/UP). Hope this is compatible with most GLUT implementations.
improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
