ejcoumans
c1a54d9edc
Attempts to improve performance. Not much gain yet, but good to experiment what has effect and what hasn't.
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Added 'DO_BENCHMARK_PYRAMID' to CcdPhysicsDemo.
2007-03-20 20:12:23 +00:00
ejcoumans
f199cd1347
make visual studio 6 compile again
2007-03-20 05:06:01 +00:00
sjbaker
6b102c65b3
Cleanup some trivial compilation warnings.
2007-03-19 04:27:59 +00:00
ejcoumans
b8ce13adb1
bugfix, also convert rigidbody into solverbodies for constraints (without contact manifolds), and do additional check for validity
2007-03-17 08:29:05 +00:00
ejcoumans
2b87104184
more solver optimizations, can be disabled using solver->setSolverMode(SOLVER_RANDMIZE_ORDER)
2007-03-17 07:59:27 +00:00
ejcoumans
151cd4b9da
prepare and added constraint solver optimizations, not activated yet.
2007-03-17 00:09:12 +00:00
ejcoumans
adfdea5ca6
replaced #include "new.h" to #include <new>
2007-03-06 23:40:06 +00:00
ejcoumans
054d672592
- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).
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- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
2007-03-06 09:59:17 +00:00
ejcoumans
b73900bc60
Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels.
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Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.
2007-02-26 04:59:05 +00:00
ejcoumans
bf68a742cc
by default, disable warmstarting, enable random ordering,
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user can override this using solver->setSolverMode(...)
2007-02-13 16:14:55 +00:00
ejcoumans
df9230327c
Contribution to add optional double precision floating point support. Define BT_USE_DOUBLE_PRECISION for all involved libraries/apps.
2006-12-16 05:51:30 +00:00
ejcoumans
6dff5a218e
process contact and non-contact constraints inside the same iteration loop
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added first draft for hingeConstraint motor
2006-12-12 03:15:11 +00:00
ejcoumans
7dc6aa215a
some more fixes to get msvc6 happy, and constraint solver: make non-randomizing solver default
2006-11-23 02:57:38 +00:00
ejcoumans
b07bb88a2d
Added new EPA penetration depth solver
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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
23c64fb0db
more solver experiments, randomize the order of contact points, not just manifolds
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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.
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Also did some work on improving the constraint solver.
2006-11-02 03:42:53 +00:00
ejcoumans
3fe3b11924
use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
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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
2b1657b1dd
Refactoring: another huge number of changes, renamed methods to start with lower-case.
2006-09-28 01:11:16 +00:00
ejcoumans
eb23bb5c0c
merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.
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Still need to verify to make sure no unwanted renaming is introduced.
2006-09-27 20:43:51 +00:00
ejcoumans
0e04cfc806
First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.
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Made all buildsystems to work again (jam, msvc, cmake)
2006-09-25 08:58:57 +00:00
