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erwin.coumans b9bc96e22b use a btCollisionWorld instead of btDynamicsWorld, thanks reltham for the feedback 
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2317&p=9197#p9197
 2008-07-09 18:41:41 +00:00
erwin.coumans 2c224b41c5 bump up the version to 2.70, and add (non-working) button for OSX template 2008-07-09 05:13:18 +00:00
erwin.coumans 104787aeaf updated projectfiles for character demo 2008-07-09 05:12:03 +00:00
erwin.coumans dcd57f333b + improved KinematicCharacterController 
+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)
 2008-07-09 00:08:49 +00:00
erwin.coumans 76bac83937 Added new files to CMakeLists.txt for CharacterDemo 
Use relative path, #include "../BspDemo/BspLoader.h"
 2008-07-03 23:47:38 +00:00
erwin.coumans b6af86bd98 need to include <windows.h> before glut.h (issue with glui.h) 2008-07-03 23:24:56 +00:00
erwin.coumans 65116fd3d3 Minor cleanup of CMakeLists.txt files, it works better with Code::Blocks+MinGW (glut32,opengl32,glu32) 2008-07-03 21:21:44 +00:00
erwin.coumans db146019f1 Fixed debug drawing for btCapsuleShapeX and btCapsuleShapeZ 2008-07-02 23:07:27 +00:00
erwin.coumans dbc464f831 Applied patch from Alex Silverman, to swap the partId/triangleId correctly. 
http://code.google.com/p/bullet/issues/detail?id=54
Thanks for the patch!
 2008-06-26 23:52:39 +00:00
erwin.coumans 50d41b624b Finally applied patch to removeChildShape from btCompoundShape 
http://code.google.com/p/bullet/issues/detail?id=51
Thanks to Ola Røer Thorsen for the patch!
 2008-06-26 23:29:42 +00:00
erwin.coumans 52de9fee03 add profiling for 'calculateOverlappingPairs' 2008-06-25 01:26:02 +00:00
erwin.coumans e854a5133b add support for non-power-of-2 dma sizes (for small dma transfers) 
add setBroadphase
 2008-06-24 02:15:06 +00:00
erwin.coumans d16c1b615f pass in reference to actual contact point in cache, rather then temporary value, should fix issue 53 
http://code.google.com/p/bullet/issues/detail?id=53
Thanks Alex Silverman for reporting and suggested fix
Changed addContactPoint to lowercase
 2008-06-22 03:30:55 +00:00
erwin.coumans 441c729169 Clear the user cache, when re-using an existing contact point in the contact cache (btPersistentManifold). 
Issues reported here: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2257
 2008-06-22 03:15:31 +00:00
erwin.coumans 8634b6ba14 fixed a few issues with BulletColladaConverter/ColladaConverter.cpp, related to constraints. 2008-06-05 05:09:47 +00:00
erwin.coumans 35083aae4a moved predictUnconstraintMotion to SPU 2008-06-04 02:39:37 +00:00
erwin.coumans 8827d5dbfb undo btQuadWord changes, added integration in parallel SpuSampleTask 2008-06-04 02:01:41 +00:00
erwin.coumans 5e3777ddd2 added sample task, for multi threading tests 
added union vec_float4 m_Vec128; for btVector3 for SPU and PPU.
 2008-06-03 21:24:34 +00:00
erwin.coumans 8028fa4999 debug draw contact numbers in black, not green (hurts the eyes) 2008-05-29 05:37:50 +00:00
erwin.coumans d49aeb9dff + improved split impulse constraint solver option 
+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
 2008-05-29 03:33:32 +00:00
erwin.coumans 6457f5a961 more changes in btGjkEpa2, thanks to Nathanael 2008-05-27 01:09:16 +00:00
erwin.coumans 596e94dfd1 fixes in GJK/btGjkEpa2, thanks to Dev0 for reporting and Nathanael for fixing 2008-05-25 17:45:13 +00:00
erwin.coumans 3726af466e removed obsolete files, make CDTestFramework compile again 2008-05-25 07:32:44 +00:00
erwin.coumans 88ee734bfb added custom memory allocator registration, thanks to Sly. 
call CProfileManager::CleanupMemory(), to cleanup btQuickprof memory.
changed include from #include <new.h> to #include <new> in btOdeQuickstepConstraintSolver.cpp
 2008-05-24 06:10:09 +00:00
erwin.coumans 3a94e70370 don't enable concave mesh for soft body demos (work-in-progress) 2008-05-24 05:32:54 +00:00
erwin.coumans 3d32cf7ddf add penetration depth solver for btCollisionWorld::convexSweepTest, to handle touching/penetrating contact (useful for character controller) 2008-05-24 05:22:41 +00:00
erwin.coumans f8e5481612 Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm) 
virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
 2008-05-24 04:23:00 +00:00
erwin.coumans a1578accac more work on soft body versus concave trimesh 2008-05-23 18:50:41 +00:00
erwin.coumans 561066af75 + make compound versus soft body work (soft body uses interpolated transform) 
+ 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)
 2008-05-23 09:05:37 +00:00
erwin.coumans ea86559480 removed some warnings 2008-05-21 23:29:35 +00:00
erwin.coumans e7aa93af36 added compount shape to soft body demo 2008-05-18 01:51:10 +00:00
erwin.coumans 6a69fe7f3b use collision margin of btBvhTriangleMeshShape for convexTest. 
Thanks to reltham for the contribution.
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2121&p=8454#p8454
 2008-05-18 01:15:00 +00:00
erwin.coumans 0b48b1c76b Added Mac OSX XCode project with Cocoa userinterface (wrapping GLUT) for Bullet demos 
Thanks to TomorrowPlus for the constribution!
 2008-05-18 00:38:17 +00:00
erwin.coumans d9e7058ff2 Softbody improvements, thanks to Nathanael 2008-05-17 12:39:16 +00:00
erwin.coumans 649709dc2d updated build files 2008-05-10 19:24:39 +00:00
erwin.coumans e334254a7b Added _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to MSVC projectfiles, to make warnings in Bullet more visible. This deals with most COLLADA_DOM/libxml issues. 2008-05-10 18:43:09 +00:00
erwin.coumans bd97c5e569 Fixed warnings in Bullet/src core library 
Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch

To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
 2008-05-10 18:00:21 +00:00
erwin.coumans 739d09a7af use btAxisSweep3 by default in BenchmarkDemo 2008-05-06 02:59:40 +00:00
erwin.coumans 6cc18e05aa initialize Element m_tag to zero 2008-05-06 02:57:27 +00:00
erwin.coumans b9acc820d6 removed collision template, some code style cleanup, added btDbvhBroadphase to BenchmarkDemo 2008-05-06 02:45:56 +00:00
erwin.coumans 1d5050f584 added tetrahedral meshes 2008-05-06 01:41:48 +00:00
erwin.coumans 1871513e00 update version to 2.69 2008-05-06 01:08:29 +00:00
erwin.coumans 6989ea8908 upgrade version to 2.69 
moved btDbvt/btDbvtBroadphase to BulletCollision/BroadphaseCollision
applied code-layout to btSoftBodyHelpers.*
 2008-05-06 00:58:10 +00:00
erwin.coumans 25c5d0d57a +Added btDbvtBroadphase, this very fast/efficient broadphase is based on Dynamic AABB tree (btDbvt). 
+SoftBody improvements by Nathanael Presson:
+Add tetrahedralization
+Add support for tearing/slicing cloth and deformable volumes. Uncomment the line in Bullet/src/BulletSoftBody/btSoftBodyHelpers.h: //#define	BT_SOFTBODY_USE_STL	1
 2008-05-05 23:19:21 +00:00
erwin.coumans 73a5643580 add getAabb for btSoftBody, 
add btSoftBodyConcaveCollisionAlgorithm, and register algorithm
 2008-04-20 16:31:13 +00:00
erwin.coumans 0a3baf93d6 make btSoftBody versus btCompoundShape work 2008-04-20 15:42:21 +00:00
erwin.coumans 7a7b46b448 fixed Soft Body compile issues on Mac OSX, added build files 2008-04-14 07:44:54 +00:00
erwin.coumans 9efc46681a updated ChangeLog.txt 2008-04-14 06:42:24 +00:00
erwin.coumans be2490e4fb Final 2.68 from Nathanael Presson, mainly soft body related. Added raycast support for soft bodies (press comma-key in the soft body demos to toggle ray cast tests) 2008-04-14 06:24:56 +00:00
erwin.coumans 912b4ccd29 updated autogenerated projectfiles, added new libbulletsoftbody library. 2008-04-11 21:02:29 +00:00
erwin.coumans 28846b0515 more updates, added SliderConstraintDemo to AllBulletDemos 2008-04-11 20:49:46 +00:00
erwin.coumans 3df41a478d moved/updated projectfiles for new BulletSoftBody library 2008-04-11 18:56:49 +00:00
erwin.coumans 5024d06366 removed files (are now in BulletSoftBody lib) 2008-04-11 18:50:32 +00:00
erwin.coumans 621be07178 move the SoftBody work into its own library, BulletSoftBody (work in progress) 2008-04-11 18:41:07 +00:00
erwin.coumans 177287ae78 add user interface to select Soft Body demo 2008-04-11 01:50:02 +00:00
erwin.coumans 0bdc6f6262 updated autogenerated msvc projectfiles for soft body / convex hull changes 2008-04-10 23:02:49 +00:00
erwin.coumans fd5057ec5a fixed build/project files 2008-04-10 21:28:37 +00:00
erwin.coumans 1139c06a4d more soft body preparations, moved some parts from Demo/SoftBody to src/BulletDynamics/SoftBody 
moved Extras/ConvexHull/btConvexHull.* to src/LinearMath/btConvexHull.*
removed btCollisionObject::m_internalOwner, replaced it by m_internalType. This should not affect external API (it was clearly marked as internal)
 2008-04-10 20:00:41 +00:00
erwin.coumans 03d846add0 cleanup of Stan Melax ConvexHull utility, all memory allocations go through btAlignedAlloc/btAlignedFree, instead of new/delete. 
It can be moved into Bullet/src now.
 2008-04-10 05:36:17 +00:00
erwin.coumans 2ee866e37f fix in partId/triangleId, thanks Alex 2008-04-08 22:28:02 +00:00
erwin.coumans bfe6774399 removed unused structure 2008-04-08 21:14:14 +00:00
erwin.coumans b32d6f790f added btInternalTickCallback, see btDynamicsWorld::setInternalTickCallback 
Thanks chunky!

http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1991
 2008-04-08 02:51:49 +00:00
erwin.coumans 2997b95f63 updated autogenerated msvc projectfiles 2008-04-08 02:41:50 +00:00
erwin.coumans daf293c43e don't try to include <pthread> if USE_PTHREADS is not defined 2008-04-08 02:13:05 +00:00
erwin.coumans 06bae58536 patch for the constructor of the btHingeConstraint. Thanks LvR and eddybox! 
http://code.google.com/p/bullet/issues/detail?id=47
 2008-04-07 23:27:03 +00:00
erwin.coumans 569a949ae3 fixes in btQuaternion::inverse, fixed in btConeTwistConstraint, RagdollDemo and BenchmarkDemo. 
Some constraint limits for btConeTwistConstraint might need to flip sign now.
 2008-04-07 21:58:36 +00:00
erwin.coumans c1a10fd1fe Add support for part/triangle id for GIMPACT. 
Thanks Alex Silverman:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2032
 2008-04-07 19:37:04 +00:00
erwin.coumans f9b22b36aa add aspect ratio in glFrustum/ray picking 2008-04-07 05:03:40 +00:00
erwin.coumans ed3e909282 some more fixes for btSoftBody: 
+ use btBroadphaseProxy::AllFilter to collide with static and dynamic rigidbodies in broadphase
+ enlarge aabb for softbody in broadphase, otherwise misses collisions (deformation is not updated in-time?)
 2008-04-06 08:22:46 +00:00
erwin.coumans a3c8bb172a removed BulltMultiThreaded demo from AllBulletDemos (there is still a standalone demo) 2008-04-06 07:15:31 +00:00
erwin.coumans 0708b07e5d updated projects for softbody work 2008-04-06 07:13:06 +00:00
erwin.coumans b37a37a28e Added initial broadphase support for softbody versus softbody and softbody versus rigidbody (see btSoftSoftCollisionAlgorithm and btSoftRididCollisionAlgorithm) 
Added 	SOFTBODY_SHAPE_PROXYTYPE.
Some refactoring for btSoftBody, needs more work.
 2008-04-06 06:53:00 +00:00
erwin.coumans 39d929cbb0 removed btTypedUserInfo again, added getUid to btTypedConstraint 2008-04-05 01:58:38 +00:00
erwin.coumans 883d3278ec + fixed btMinkowskiSumShape Sa+b(v) = Sa(v)-Sb(-v) instead of Sa(v)+Sb(v) 
+ fix related btMinkowskiSumShape issue in btSubsimplexConvexCast and btGjkConvexCast
+ add hitpoint for btSubsimplexConvexCast
+ reduce maximum number of iterations in conservative advancement/CCD implementations
 2008-04-03 18:35:28 +00:00
erwin.coumans 8ddbf12f1a only move 10% of objects 
added relative path to Bullet projectfiles (math/collision)
 2008-04-02 19:22:08 +00:00
erwin.coumans 1ef4c721a0 CDTestFramework, OPCODE, ICE redistributed under the ZLib License, with permission of Pierre Terdiman 
Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*)
AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)
 2008-04-02 18:05:36 +00:00
erwin.coumans 285163b31a add include file, necessary for PS3 platform 2008-04-02 17:23:52 +00:00
erwin.coumans 64df6edf39 reverted DISABLE_CELL_DMA_READ_ONLY 
commented out printf
 2008-04-01 00:29:21 +00:00
erwin.coumans a151ec1c73 fixed a few issues, removed dependency from BulletDynamics to Extras/ConvexHull 2008-03-31 01:09:41 +00:00
erwin.coumans 80714cab13 update CMakeList file, softbody in Cmake 2008-03-31 00:43:56 +00:00
erwin.coumans b54ea42064 updated version to 2.68 2008-03-31 00:12:07 +00:00
erwin.coumans 2872080b12 updated AllBulletDemos to include SoftBodyDemo 2008-03-31 00:10:08 +00:00
erwin.coumans c7b526abfa adjusted demos to include SoftDemo into AllBulletDemos 2008-03-31 00:03:35 +00:00
erwin.coumans 8a9f66b357 added appBenchmarks projectfiles 2008-03-30 23:30:52 +00:00
erwin.coumans 2576921e69 added autogenerated projectfiles for softbody demo and removed libboxbox and libquickstep, they are now part of Bullet collision/dynamics. 2008-03-30 23:29:14 +00:00
erwin.coumans 726b9c2ac2 improved multi-platform support for SoftBodyDemo 2008-03-30 23:22:30 +00:00
erwin.coumans d4698cb3d5 Added SoftBody demo, contribution by Nathanael Presson. Will integrate into Bullet broadphase. 
Added very basic drawTriangle for btIDebugDraw, useful for basic softbody visualization.
Added btGjkEpa2, contribution by Nathanael Presson. Improved version of EPA penetration depth computation, more suitable for multi-core/SPU (less memory usage). Note: btGjkEpa2 is not enabled by default currently.
 2008-03-30 23:08:06 +00:00
erwin.coumans 8d38ef49ef Moved ODE quickstep solver as optional solver into Bullet core, redistributed under the ZLib licensed with permission from Russell L. Smith 2008-03-30 21:03:35 +00:00
erwin.coumans b12c52efa8 removed AlternativeCollisionAlgorithms, and moved btBoxBoxDetector from Extras into Bullet core collision detection 
Re-distribute ODE box-box under the ZLib license as part of Bullet, with permission of Russell L. Smith.
 2008-03-30 20:54:14 +00:00
erwin.coumans a9080f2984 removed quickstep from Extras folder, into Bullet core as optional constraint solver. 
Re-distributed under the Zlib license with permission from Russel L. Smith.
 2008-03-30 20:51:49 +00:00
erwin.coumans 83c6ea03d1 added btBoxBoxCollisionAlgorithm and btBoxBoxDetector.cpp to core of Bullet under the ZLib license 
Thanks to Russell L. Smith from Open Dynamics Library (ODE) to allow re-distribution under ZLib as part of Bullet.
 2008-03-30 20:29:26 +00:00
erwin.coumans cc264199af added Jamfile 2008-03-20 10:05:17 +00:00
erwin.coumans 6051a08f65 updated buildfiles for Benchmarks 2008-03-20 10:01:58 +00:00
erwin.coumans bc5b56e99d Added performance benchmarks 2008-03-20 09:34:11 +00:00
erwin.coumans bb680f512d avoid warning of passing the 'this' pointer into constructor 2008-03-18 05:20:39 +00:00
erwin.coumans 91e40d4c24 fix compile errors under Mac OSX (class definition cannot be local for template classes) 2008-03-17 05:55:07 +00:00
erwin.coumans 44ed78a6bd removed btTypedUserInfo.h and added btHashMap.h 2008-03-17 02:48:11 +00:00
erwin.coumans 65bb612598 - added quickSort to btAlignedObjectArray (has generally better performance then heapSort) 
- replaced all usage of heapSort by quickSort
- finished btMultiSapBroadphase. Still some work to be done to increase performance (faster add/remove from child broadphases. 
  uses currently AABB tree to locate child broadphase (should use grid), and sorted array takes too much time.
 2008-03-16 04:30:43 +00:00
erwin.coumans 44186898af Got btMultiSapBroadphase in a working state. Now tuning/optimizations can be started. 
Added getBroadphaseAabb to btBroadphaseInterface.
 2008-03-15 08:59:26 +00:00
erwin.coumans 2478591e13 allow quantized AABB tree to be build and used for arbitrary arrays of AABBs, not just triangle meshes 2008-03-15 08:52:42 +00:00