m_implicitShapeDimensions was used in setMargin, called from setSafeMargin
from constructors of btBoxShape, btCylinerShape and btBox2dShape,
effectively using uninitialized variable and leading to floating point
exceptions.
It was working correctly only because in the same constructor
m_implicitShapeDimensions was reinitialized after setSafeMargin.
Properly initialize variable before use by first setting it up and only
then using it in setSafeMargin.
Share physics setup of BasicDemo between different graphics frameworks, see Demos\BasicDemo\BasicDemoPhysicsSetup.*
Plan is to do this for all Bullet demos.
Improve gwen performance and cursor navigation for tree control.
tweak shadowmap size
SimpleOpenGL3App::registerCubeShape accepts half extents
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
(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'
add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in findSeparatingAxis (similar to the default GJK case)
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh
Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.
As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
Enable #define BT_ALLOW_ARRAY_COPY_OPERATOR in Bullet/LinearMath/btAlignedObjectArray.h to re-enable it
Fixes Issue 564, thanks to Tissen Peter for the report/fix
use btConvexPolyhedron for debug rendering, if available
fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero
don't shift vertices in btPolyhedralConvexShape
Make the winding consistent in btConvexHullComputer (and related fixes in btPolyhedralConvexShape), thanks to Ole!
Some fixes in the btPolyhedralContactClipping implementation (never report a penetration deeper than GJK/EPA found, to avoid issues due to its approximate contact normal directions)
Properly visualize btPolyhedralConvexHullShape that have a btConvexPolyhedron (by calling initializePolyhedralFeatures() method)
improved debug rendering for polyhedra
allow to dynamically switch between gjk and sat test to compute separating axis (independent from the polyhedral clipping)
Added initial support for polyhedral contact clipping.
This clipping takes a separating normal, that can be computed using either SAT or GJK/EPA.
To enable clipping, use btPolyhedralConvexShape::initializePolyhedralFeatures(); (needs to be enabled for both convex shapes)
No concave trimesh support for SAT/clipping yet. To enable SAT, see the toggle in btConvexConvexAlgorithm.
Fixes in contact normal in btGjkPairDetector. Hopefully this doesn't cause any regression (we need unit tests!)
Thanks to Sigluy, see Issue 471
Default constructor for btBvhTriangleMeshShape causes NULL dereference, so removed obsolete constructor.
Thanks to exarkun, see Issue 465
