Will also add Erin Catto's local implicit version from the GDC 2015 tutorial
Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr
Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...)
Use 1,1,1 for local scaling in btStaticPlaneShape
Add btCollisionObject::setIgnoreCollisionCheck to disable collisions between specific instances, without having a btTypedConstraint. See https://github.com/bulletphysics/bullet3/issues/165
Make btMultiBody and btMultiBodyJointMotor backwards compatible with Bullet 2.82 API (single-DOF API)
Note that it can easily introduce instability at regular (60Hertz) simulation steps so it is generally best to not use the option.
If needed, use a very small internal step, such as 1000 Hertz (world->stepSimulation(dt,100,1./1000.f); or stepSimulation(1./1000.,0);
warmstarting for contact points was broken, fix in btPersistentManifold
enable split impulse by default (at the cost of some performance)
add the option for zero-length friction (instead of recomputing friction directions using btPlaneSpace), use the solver mode flag SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
precompute lateral friction directions (in btManifoldResult)
remove the mConstraintRow[3] from btManifoldPoint, it just took a lot of memory with no benefits: fixed it in btParallelConstraintSolver
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.
Avoid crash in BulletWorldImporter, ignoring 'invalid' constraints between two static bodies
Use a bitfield for btCollisionObject::CollisionObjectTypes (to allow custom types that are derived from build-in types such as btRigidBody)
Revert/improve softbody debug rendering
improve serialization based on feedback: make it easier to serialize a single object, or single shape, or single bvh.
Modified Bullet/Demos/ConcaveDemo to use btSerializer to serialize the btOptimizedBvh (or optionally the trimesh+bvh)
You can also serialize trimesh without BVH, use:
serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
Tweak the BenchmarkDemo a bit:
1) disable deactivation in graphical mode
2) add some settings that increase performance in the BenchmarkDemo2 (1000 stack) from 35ms to 15ms on this quad core (at the cost of a bit of quality)
For example, to only allow linear motion in the X-Z plane, and only rotation around Y axis use:
body->setLinearFactor(btVector3(1,0,1));
body->setAngularFactor(btVector3(0,1,0));
Fix build issues with CodeBlocks, when generating projectfiles using CMake 2.6:
${OPENGL_glU_LIBRARY} should be ${OPENGL_glu_LIBRARY}
Fix build issue with CodeBlocks, comment out xmlfree in Extras/COLLADA_DOM/src/modules/LIBXMLPlugin/daeLIBXMLPlugin.cpp (will leak memory)
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)
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver
added cone drawing (for X,Y,Z cones)
It leads to problems with certain compilers, when Bullet/src is located in a long pathname.
Keep include path starting with "LinearMath/, "BulletCollision/, or "BulletDynamics/
- optionally disable collisions between bodies that are linked with constraints
- improved debug rendering with support for compounds, spheres, capsules
- 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)
