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421 Commits
Author SHA1 Message Date
ejcoumans f9832f6b88 updated build systems/GPU_physics for Mac OS X 2006-12-08 22:04:02 +00:00
ejcoumans bf591b44ec Replaced most STL std::vector with btAlignedObjectArray. 
Same interface but less features (push_back, pop_back, clear, size, [] etc).
To prepare for SIMD/SSE code: Added 		#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
 2006-12-06 04:22:36 +00:00
ejcoumans b6d1b4c94e Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences: 
- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
 2006-12-04 15:42:03 +00:00
ejcoumans 71145de242 renamed ConcaveShape to btConcaveShape 
added btHeightfieldTerrainShape (not done yet)
 2006-11-29 02:11:25 +00:00
ejcoumans 6738ed329d ASSERT -> btAssert 
Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
 2006-11-29 01:52:09 +00:00
ejcoumans 94abde9287 Added Genscher's triangle-triangle case (it was not a but) 2006-11-22 19:42:15 +00:00
ejcoumans 460a09c5a5 fixed some issue, to make GCC happy 2006-11-20 19:21:59 +00:00
sjbaker 6bb806d26b More cleanup. 2006-11-20 06:48:45 +00:00
sjbaker 04d41b7a0a Cleanup compilation warnings. 2008-02-12 04:22:31 +00:00
ejcoumans 62104ba082 updated constraint demo, jamfile 2006-11-18 03:33:09 +00:00
ejcoumans 3adf09f7e3 updated EPA, 
updated user manual (work in progress)
 2006-11-18 03:27:01 +00:00
ejcoumans b07bb88a2d Added new EPA penetration depth solver 
improved gjk/minkowski sampling pd method
added original solver variant, use btSequentialImpulseConstraintSolver2
Added Pierre Terdimans PD testbed
 2006-11-16 06:14:12 +00:00
ejcoumans dcdfbe1680 more tweaking to get GJK more reliable 2006-11-15 02:23:45 +00:00
ejcoumans b5afb11282 Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert. 2006-11-14 21:53:59 +00:00
ejcoumans be175e888e 2006-11-14 05:09:11 +00:00
ejcoumans 711b737293 Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes) 
Thanks a lot to Francisco León Nájera for the contribution!
 2006-11-12 07:54:27 +00:00
ejcoumans 125a9c673d Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes) 
Thanks a lot to Francisco León Nájera for the contribution!
 2006-11-12 07:46:30 +00:00
ejcoumans 5f91cc237d updated demo, can't stepFront 2006-11-12 07:30:09 +00:00
ejcoumans 06a1de2574 updated build files for GIMPACT 2006-11-12 07:05:37 +00:00
ejcoumans a9172d8684 Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes) 
Thanks a lot to Francisco León Nájera for the contribution!
 2006-11-12 06:15:19 +00:00
ejcoumans 86c27a7c9d Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!) 
Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
 2006-11-11 23:59:51 +00:00
ejcoumans 18b0603c69 2006-11-11 19:33:19 +00:00
ejcoumans aaa6b687a9 disable EPA demo 2006-11-11 06:49:17 +00:00
ejcoumans 98fa2a38e8 updated some jamfiles, for Extra folder 2006-11-11 06:40:55 +00:00
ejcoumans 8cbd721a1f added some brute-force way to shrink convex polyhedra (to compensate collision margin) 
made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
 2006-11-11 03:22:15 +00:00
ejcoumans 56e135874b added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion. 
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)
 2006-11-10 04:00:16 +00:00
ejcoumans 442ce2ec09 updated VehicleDemo to show Z as up-axis, rather then Y. 
proper gravity for BspDemo
 2006-11-09 19:55:14 +00:00
ejcoumans 4ab4fc8bb1 Integrated fixes for Solaris from Noerghel, http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=673 2006-11-09 15:27:02 +00:00
ejcoumans 5102b7ac60 added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb 2006-11-09 04:43:18 +00:00
ejcoumans 6d47d9492e added non-uniform scaling to btMultiSphereShape 
added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
 2006-11-09 01:58:33 +00:00
ejcoumans c3ed55057c - added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA 
- use microseconds instead of milliseconds for deltatime
 2006-11-07 02:32:52 +00:00
ejcoumans 074e2b2d3b improved robustness of penetrations involving triangles and boxes, by adding their 'preferred' penetration directions. 
added wireframe/solid mode for meshes
updated solid penetration depth solver (comparison in Extras)
 2006-11-05 05:12:10 +00:00
sjbaker 6c61060339 Cleaned up some compile-time warnings. 2006-11-04 15:34:56 +00:00
ejcoumans 23c64fb0db more solver experiments, randomize the order of contact points, not just manifolds 
use #defines for constants, rather then const btScalar
 2006-11-04 05:22:36 +00:00
ejcoumans 07873854a4 more small refactoring: some methods were still upper-case. 2006-11-03 04:32:48 +00:00
ejcoumans 4050da0e2f One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected. 
Also did some work on improving the constraint solver.
 2006-11-02 03:42:53 +00:00
ejcoumans 82ba30caa6 fixed 2 issues, one related to wrong 'safety' catch for large objects 
and COLLADA constaints didn't recognize rigid body names
 2006-10-31 02:11:29 +00:00
ejcoumans b14ccdaa57 rename treshold into thresold (spelling mistake) 
added cr/linefeed at end of btDefaultMotionState.h
 2006-10-30 05:06:46 +00:00
ejcoumans 6232763f9e fixed debugDraw colors (thanks pcOde http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=642 ) 2006-10-29 18:54:09 +00:00
ejcoumans 733e135753 made the BulletDino a c-demo, to demonstrate future Bullet C-API 2006-10-29 16:26:19 +00:00
ejcoumans 507a06bc06 fixed Dino demo for Mac OS X 2006-10-29 14:48:55 +00:00
ejcoumans 82b310c9cd prepared to add BulletDino, and made ForkLiftDemo compile (no functionality yet) 2006-10-29 06:34:58 +00:00
ejcoumans d6c6cbaee6 enabled the vehicle demo again (still needs lots of tuning before it drives well) 
fixed some warnings
 2006-10-29 03:36:16 +00:00
ejcoumans caca3a1ca2 commented out some unused headerfile in the demo 2006-10-28 02:17:54 +00:00
ejcoumans 3fe3b11924 use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave) 
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
 2006-10-28 02:06:19 +00:00
ejcoumans 7987be45c5 added Pierre's PenetrationTestBullet.cpp 
See http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=638
 2006-10-27 21:22:29 +00:00
ejcoumans 289c5ca7fe improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates 2006-10-19 15:20:38 +00:00
ejcoumans d11572a4d7 case-issue, QuickProf->Quickprof 2006-10-19 05:33:36 +00:00
ejcoumans 940e753086 made demos working for realtime 2006-10-18 04:32:00 +00:00
ejcoumans 33b3ec94f1 more fixes, related to introduction of btMotionState, and using realtime timestep 2006-10-18 04:01:07 +00:00