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Author SHA1 Message Date
erwin.coumans@gmail.com
2fb686b937 change btMultiBody to allow removal/changing of links 
(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
 2013-10-03 05:13:41 +00:00
erwin.coumans@gmail.com
88b8ae552b add a btFixedConstraint with toggle between btGeneric6DofConsraint and btFixedConstraint in VoronoiFractureDemo 2013-10-02 21:50:50 +00:00
erwin.coumans
75f17509cc Add a virtual createConstraintRows method, to easier experiment with different kinds of btMultiBodyConstraint 2013-10-02 21:38:40 +00:00
erwin.coumans
c2bece5280 Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint 
Fix case sensitive issue, thanks to Martin Felis
Fix crash/bug in btMultiBodyConstraint computation
 2013-10-02 20:14:48 +00:00
erwin.coumans
36cfbd47a6 preparation for joint limit constraint for Featherstone btMultiBody 2013-10-02 06:25:20 +00:00
erwin.coumans
d8b6a02a7a Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base 
Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint
 2013-10-02 03:07:52 +00:00
erwin.coumans
f02dd51597 Added a first version of a Featherstone multi body implementation. 
The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver. 
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody. 
Next on the list will be adding support for joint limit constraint for btMultiBody. 
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
 2013-10-01 22:50:31 +00:00
erwin.coumans
7292867d25 applied character controller patch, not tested (allow community to develop btKinematicCharacterController.cpp) 2013-10-01 17:35:45 +00:00
erwin.coumans
dece911679 removed Particles OpenCL demo, all OpenCL work is moved to Bullet 3.x see 
http://github.com/erwincoumans/bullet3
Fixes Issue 741
 2013-10-01 17:28:56 +00:00
erwin coumans
fcd5541b04 fix BasicGpuDemo compilation 2013-09-17 14:46:11 -07:00
erwin.coumans
858c890c96 prettify the debug wireframe drawing of sphere, capsule, cylinder and cone 
add an btAssert in normalize of btVector3 and 'normalized' always use 'normalize'
 2013-09-17 02:01:14 +00:00
erwin.coumans
5f5d601ebf added two methods to btQuaternion, and add a note that the 'angle' method returns the half angle. 
angleShortestPath and getAngleShortestPath
Thanks to Tully Foote. This fixes issue 379.
 2013-09-16 19:05:36 +00:00
erwin.coumans
126fd06ac6 remove the 'isActive' test when merging simulation islands for constraints and speculative contacts, it is wrong 
This fixes issue 709
 2013-09-16 17:25:05 +00:00
erwin.coumans
c28652de37 add serialization for btGearConstraint 
support 'linearFactor' and 'angularFactor' for btRigidBody world importer
 2013-09-14 17:51:09 +00:00
erwin.coumans
6fd4738a9e use the old data structures for single precision serialization, to make it backwards compatible 
So files created by the new double precision serialization of Bullet 2.82 cannot be read by old Bullet versions,
but double precision serialized file generated by older Bullet versions can be read by Bullet 2.82 or newer.
 2013-09-14 16:49:31 +00:00
erwin.coumans
e22a11c021 update serialization structures 2013-09-14 06:22:22 +00:00
erwin.coumans
1aac33f6b6 refactor constraint serialization, so that double precision is maintained, 
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
 2013-09-14 06:08:50 +00:00
erwin.coumans
e94a2137b0 minor update manual 
fix vehicle demo (heightfield is broken, when using very large scaling factor)
add btConeShape serialization, see Issue 725
add btGearConstraint get/set, see Issue 685 and Issue 671
 2013-09-13 16:34:39 +00:00
erwin.coumans
8f4f99809e use btScalar instead of float for btTriangleMesh 
thanks to nsarkozi. This fixes issue 704
 2013-09-12 22:22:15 +00:00
erwin.coumans
29915ba7fd bump up VERSION to 2.82 in various places, there is still some more issue to be fixed before release. 2013-09-12 20:37:30 +00:00
erwin.coumans
fa2276f1ca add option for slightly more accurate, and slightly slower algorithm for ray versus convex, used in btCollisionWorld::rayTest. 
rayResult.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
See Demos/RaytestDemo/RaytestDemo.cpp for usage
This fixes issue 146, longest outstanding from 2008.
 2013-09-12 20:25:06 +00:00
erwin.coumans
e792f0e549 Add faster processing of btCompoundShape versus btCompoundShape, using a dedicated btCompoundCompoundCollisionAlgorithm, 
with hash pair caching and tandem tree traversal. It should be much faster, when using many child shapes for both compounds.
Fix iOS compilation, added header.
 2013-09-12 19:28:39 +00:00
erwin.coumans
1685729b80 Show how to use the btBroadphaseInterface::aabbTest, it collects all objects that overlap with a given bounding box 
This fixes old Issue 114
Removed 2 warnings
 2013-09-11 05:52:19 +00:00
erwin.coumans
a197c58935 Add #ifdef BT_NO_SIMD_OPERATOR_OVERLOADS before including Bullet headers, to avoid clashes with XNAMath.h 
Fixes Issue 710
error C2084: function 'XMVECTOR operator +(FXMVECTOR,FXMVECTOR)' already has a body
error C2084: function 'XMVECTOR operator -(FXMVECTOR,FXMVECTOR)' already has a body
error C2084: function 'XMVECTOR operator *(FXMVECTOR,FXMVECTOR)' already has a body
 2013-09-11 00:01:48 +00:00
erwin.coumans
bb379bd84c fix one of the btCompoundShape scaling issues, this fix breaks the API (need to add warning at the next release) 
fixes https://code.google.com/p/bullet/issues/detail?id=374 and
https://code.google.com/p/bullet/issues/detail?id=444
 2013-09-10 23:34:23 +00:00
erwin.coumans
7195b54d13 Fix Issue 712, related to NVIDIA CUDA check in CMakeLists.txt 
Enable btGImpact raycast optimization, thanks to C0DEFACE, see Issue 664
Cull triangle/AABB for concave/heightfield shapes, thanks to Danny Chapman
fix btGetCpuCapabilities, thanks to Ian Ollman! See https://code.google.com/p/bullet/issues/detail?id=738
 2013-09-10 23:09:24 +00:00
erwin.coumans
7633dc8b13 use __int64 for 64bit uint64_t for 64bit Visual Studio 
See https://code.google.com/p/bullet/issues/detail?id=717
allow parallel constraint solver in double precision
See https://code.google.com/p/bullet/issues/detail?id=728
 2013-09-10 21:26:19 +00:00
erwin.coumans
c160bfe74c applied Character controller patch #20 from Issue 198 
See https://code.google.com/p/bullet/issues/detail?id=198
 2013-09-10 20:40:42 +00:00
erwin.coumans
d50be40f8e Fix Issue 2644, compile error due to use of removed stack alloc 2013-09-10 20:15:52 +00:00
erwin.coumans
0779a274de fix Clang issue 
https://code.google.com/p/bullet/issues/detail?id=736
 2013-09-10 20:06:24 +00:00
erwin.coumans
771ae1ce41 fix usage of internal API for Apple iOS devices 
Thanks to nharishankar for the report, see Issue 738
 2013-09-10 19:59:33 +00:00
erwin.coumans
6b3828d74b removed the early out, it was not general 2013-09-10 19:52:58 +00:00
erwin.coumans@gmail.com
2bb26cbb7d Enable btHeightfieldShape in VehicleDemo, so it is tested (using heightfield128x128) 
(converted raw data to .cpp so it doesn't need to be loaded from disk)
Some optimizations for btHeightfieldShape, thanks to Danny Chapman
 Quick check on AABB (was not done) and reduce calls to 'getVertex'
 2013-09-10 00:57:00 +00:00
erwincoumans
e2accf82a0 update readme.txt with some basic Bullet 3.x information 2013-09-09 09:02:38 -07:00
erwincoumans
01d62b12bb adjust velocity after solving PBD springs/links 2013-09-06 23:18:14 -07:00
erwincoumans
40acf922e3 add Thomas Jacobsen / position based dynamics cloth constraint solver 2013-09-06 19:50:58 -07:00
erwincoumans
8faac34801 move ExplititEuler cloth solver to its own file, so it can be replaced by PDB, implicit euler etc 
add wireframe toggle ('w' key)
add --paused command-line option to start simulation in paused mode
render cloth using drawPoints method
 2013-09-06 18:09:35 -07:00
erwincoumans
d0faea90f9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
Conflicts:
	btgui/OpenGLWindow/GLInstancingRenderer.cpp
 2013-09-06 14:34:47 -07:00
erwincoumans
8bee4ed64d replace doc with SIGGRAPH version 2013-09-06 14:33:18 -07:00
erwincoumans
ef42c17143 add drawPoint/drawLine (both slow) and drawPoints (faster) to GLInstancingRenderer, with GLSL shaders 2013-09-06 12:05:56 -07:00
erwin coumans
b79146c7fa add simple place holder for cloth simulation 2013-09-03 15:09:12 -07:00
erwin.coumans
197e17780a replace 'float' by 'double' in btHingeConstraintDoubleData. See Issue 734 2013-09-03 16:46:18 +00:00
erwincoumans
b1bab032b1 add CpuSoftBodyDemo (empty placeholder) 2013-09-03 08:48:27 -07:00
erwincoumans
181a323631 move b3RaycastInfo.h so it can be used without OpenCL dependency 
add b3Assert to make sure m_maxShapeCapacityInBytes is not exceeded in GLInstancingRenderer
prepare for CpuSoftClothDemo
 2013-09-02 22:31:48 -07:00
erwincoumans
d0da37f3dd Merge pull request #14 from mgerhardy/master 
* fixed small readme.txt error
 2013-09-02 04:41:54 -07:00
Martin Gerhardy
a1890b7c51 * fixed small readme.txt error 2013-09-02 11:49:25 +02:00
erwincoumans
5a1d0d8170 more work towards shared CPU/OpenCL codebase 2013-08-30 21:38:04 -07:00
erwin coumans
a6d9cf382f more work towards cpu pipeline, sharing OpenCL kernel code 2013-08-30 16:30:22 -07:00
erwin.coumans@gmail.com
dfaed4b258 fix a line in unused testing code (USE_GJK should be defined) 2013-08-30 18:43:10 +00:00
erwincoumans
0ccb6922a8 more work towards CPU version 2013-08-30 08:06:46 -07:00