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2029 Commits

Author SHA1 Message Date
erwincoumans
cbd046e87f Merge pull request #1012 from DaveeFTW/winarm-fix 
fix using SSE on non x86 targets
 2017-03-13 21:50:55 -07:00
erwincoumans
41d7ee4f89 Merge pull request #1009 from cprogrammer1994/fix-compile-warnings 
Fix some compiler warnings
 2017-03-13 21:49:28 -07:00
David Morgan
6e35a9ee64 fix using SSE on non x86 targets 2017-03-13 19:14:10 +00:00
Erwin Coumans
bdaadf57e0 apply _clang-format to Bullet/src/LinearMath/btScalar.h, disable around preprocessor defines 
(issue with clang-format lacking preprocessor indentation support, see
https://bugs.llvm.org//show_bug.cgi?id=17362
and possibly apply this patch:
https://github.com/mkurdej/clang/tree/indent-pp-directives
)
 2017-03-13 11:17:42 -07:00
Szabolcs Dombi
839086ac84 fix type conversion warnings 2017-03-13 18:30:44 +01:00
Szabolcs Dombi
3052477c67 cast vertex data (btScalar) to float 2017-03-13 18:27:57 +01:00
Szabolcs Dombi
41c5a2e972 sinf -> btSin and acosf -> btAcos 2017-03-13 18:26:36 +01:00
Szabolcs Dombi
953bc0d3e7 float to btScalar 2017-03-13 18:22:36 +01:00
erwincoumans
644e510c83 Fix Issue 997 2017-03-08 12:38:27 -08:00
Sandu Liviu Catalin
bbb7e3c5f5 Adjust thread-local local static variable syntax for MinGW/GCC. 2017-03-08 00:46:39 +02:00
erwincoumans
18fb738f80 Merge pull request #992 from taylor001/dev 
Fix warning when compiling with -Dundef on MinGW
 2017-03-07 07:37:39 -08:00
Daniele Bartolini
af284122a3 Fix warning when compiling with -Dundef on MinGW 2017-03-06 19:27:21 +01:00
Pavel
13669a4331 remove unnecessary using namespace std from b3CommandLineArgs.h 2017-03-04 03:52:50 -08:00
Erwin Coumans
dcc4c0bda8 fix uninitialized value in new btMatrix3x3::diagonalize 2017-03-03 16:02:12 -08:00
Erwin Coumans
0131754173 Add 'extractRotation' based on "A robust method to extract the rotational part of deformations" 
///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
Rewrite 'diagonalize' to use 'extractRotation', should fix Issue 846
 2017-02-25 16:57:18 -08:00
yunfeibai
e12981fd45 Enable logging a specified list of objects for generic robot logging. 2017-02-20 12:17:12 -08:00
erwincoumans
46c7974927 Merge pull request #947 from erwincoumans/master 
[pybullet] add some out-of-bounds checks, reduce run-time memory allocations
 2017-02-07 12:07:40 -08:00
erwincoumans
88fdffba04 pybullet/shared memory API: add some more check for out-of-bounds indices when setting up a command. 
avoid many run-time memory allocations in btCompoundCompoundCollisionAlgorithm
 2017-02-04 12:32:42 -08:00
erwincoumans
e1cfe94ac9 no special case for <=1 minimumSolverBatchSize 2017-02-01 11:20:36 -08:00
erwincoumans
2fa3e267fc Merge pull request #940 from erwincoumans/master 
fix sphere-triangle for degenerate triangles (zero area/normal), fix 'safeNormalize' (probably should remove it)
 2017-01-30 21:26:08 -08:00
erwincoumans
72dd8285e8 fix 'safeNormalize' (probably should remove it) 
Fix for Issue 953: cull degenerate triangles
https://github.com/bulletphysics/bullet3/issues/935
Thanks to Oleg Klimov for the report and reproduction case.
 2017-01-30 18:12:09 -08:00
Kibeom Kim
761275df28 Add and use BT_ID_* math functions for idScalar. 2017-01-26 11:40:09 -08:00
Erwin Coumans
980908bdee add optimized version of sphere-capsule and capsule-sphere, re-using the capsule-capsule code with zero height for a sphere. 2017-01-25 10:45:55 -08:00
erwincoumans
bc997c1fd0 Update btMultiBody.h 2017-01-23 22:53:11 -08:00
Erwin Coumans
1b2db1ff09 more btCapsuleShape fixes 
use hello_mjcf.xml for MJCF importer
 2017-01-23 22:22:02 -08:00
Erwin Coumans
a25a5e523c drop non-uniform local scaling support for btCapsuleShape 2017-01-23 21:10:32 -08:00
Erwin Coumans
0060c42ae8 more fixes for btCapsuleShape: its entire radius is collision margin, don't let the user override it (similar to a btSphereShape) 2017-01-23 19:38:14 -08:00
Erwin Coumans
d465e1eea5 add capsule support in urdf parser (non-standard extension), capsule.urdf 
fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
 2017-01-23 16:45:18 -08:00
Erwin Coumans
cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs. 
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
 2017-01-22 19:08:31 -08:00
Erwin Coumans
d81d62a70b Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon) 
protect some C-API methods against negative dof indices
add triangle mesh import from MJCF files
update to recent pybullet quickstart guide pdf
 2017-01-20 11:48:33 -08:00
Erwin Coumans
93471a1c31 cmake Win32 fixes 
fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
 2017-01-16 13:05:26 -08:00
Erwin Coumans
8e9181f85c [MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility 
[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
 2017-01-16 08:23:49 -08:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
erwincoumans
e738d1ffde fix for iOS, add #include <TargetConditionals.h> 2017-01-13 12:06:13 -08:00
Erwin Coumans
9aa5a839d5 add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint. 
add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
 2017-01-12 10:30:46 -08:00
Erwin Coumans
5e6cfd70b5 iOS platform and Android don't have __thread local storage, so avoid multi-threaded profiler on those (only on _WIN32, __linux__ and __APPLE__ and not TARGET_OS_IPHONE 
Add a Sleep(0) for Windows to yield threads (and not Sleep(1))
 2017-01-08 12:49:04 -08:00
Erwin Coumans
8e554a0c1b allow creation of multiple shared memory segments 2017-01-06 09:49:03 -08:00
erwincoumans
a5ecbbc682 Merge pull request #898 from erwincoumans/master 
many pybullet / VR improvements
 2016-12-27 15:57:17 -08:00
Erwin Coumans
a4cf0c8b11 Linux clock_gettime needs rt / librt, so put it behind BT_LINUX_REALTIME for now. 2016-12-26 22:00:39 -08:00
Erwin Coumans
7aa7c4dfee Linux needs #include <time.h>? 
/home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:19: error: ‘CLOCK_REALTIME’ was not declared in this scope
/home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:37: error: ‘clock_gettime’ was not declared in this scope
 2016-12-26 21:15:59 -08:00
Erwin Coumans
0917310521 add nanosecond resolution for Mac OSX clock / about://tracing timings 2016-12-23 18:18:35 -08:00
Erwin Coumans
4c06fd27b3 Example Browser: add option (keypress 'p') to dump json timing profile trace, that you can open using Chrome about://tracing 
Make btQuickprof thread safe
Add option in btQuickprof to override custom timing profile (btSetCustomEnterProfileZoneFunc, btSetCustomLeaveProfileZoneFunc)
remove b3Printf in a user/physics thread (those added added, while drawing the GUI running in the main thread)
 2016-12-23 15:20:04 -08:00
Lunkhound
6d2c7b9aba constraint solver: fix bug in getOrInitSolverBody (threadsafe case only) for kinematic objects 2016-12-19 21:31:38 -08:00
Erwin Coumans
e0c46f4b1a Fix contact normal issue if disabling/using small margins, See Issue #889 
See Issue #889 : GJK/EPA: use smaller tolerances in BT_USE_DOUBLE_PRECISION mode
 2016-12-18 18:37:53 -08:00
Erwin Coumans
379a852f93 fix compile issues 2016-12-16 18:43:21 -08:00
Erwin Coumans
8ff1e55166 disable VERBOSE_RESIDUAL_PRINTF 2016-12-16 18:12:33 -08:00
Erwin Coumans
dcd02a1e15 add option to terminate PGS constraint solvers based on a least square residual threshold 
(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
 2016-12-16 18:09:52 -08:00
Erwin Coumans
38b10137c9 allow to terminate btSolveProjectedGaussSeidel MLCP solver based on a least squares residual threshold (m_leastSquaresResidualThreshold) 2016-12-16 14:30:12 -08:00
Erwin Coumans
032e0fb3ce Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-12-11 09:17:04 -08:00
Erwin Coumans
710ac09b56 fix clearVelocities (should use 6+dofCount, not 6+numLinks 
fixes issue 878
 2016-12-11 09:16:18 -08:00