Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA.
See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
and remove this temporary code from libCCD
Note, for large differences in shapes, use double precision build!
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform
(serialize the quaternion, not the converted 3x3 matrix)
There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc.
See examples\pybullet\examples\saveRestoreState.py for an example.
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
CFM for contacts use world CFM value by default, and can override with custom CFM value using the
BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags.
Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint.
Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM.
In one of the next commits, contact softness will be enabled btMultiBody contacts.
Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal.
use smaller world size (10 units versus 100) for higher resolution shadow map
use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable)
fix loading of command log files, when platform features are different (64bit/32bit)
to the rest of the Bullet code base. This code will replace the original GJK/EPA
in a future commit.
Added btMprPenetration, an implementation of Minkowski Portal Refinement
by Daniel Fiser. Original MPR idea is by Gary Snethen, and the first
implementation is here: https://github.com/erwincoumans/xenocollide
It is an alternative to EPA, although computing the local penetration depth.
EPA computes the global penetration depth. In many cases, MPR is sufficient
and performs better than EPA.
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)
rayResult.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
See Demos/RaytestDemo/RaytestDemo.cpp for usage
This fixes issue 146, longest outstanding from 2008.
