ejcoumans
5102b7ac60
added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb
2006-11-09 04:43:18 +00:00
ejcoumans
6d47d9492e
added non-uniform scaling to btMultiSphereShape
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added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
2006-11-09 01:58:33 +00:00
ejcoumans
db65601f9a
added LCP clamp for linear limit on the generic D6 joint
2006-11-07 22:11:15 +00:00
ejcoumans
2a1546764e
perform GJK calculations in local space, transform added contact points back into worldspace.
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Perhaps rethink of adding contact points in local place (might hit complication with compounds)
2006-11-07 20:34:52 +00:00
ejcoumans
c3ed55057c
- added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA
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- use microseconds instead of milliseconds for deltatime
2006-11-07 02:32:52 +00:00
ejcoumans
074e2b2d3b
improved robustness of penetrations involving triangles and boxes, by adding their 'preferred' penetration directions.
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added wireframe/solid mode for meshes
updated solid penetration depth solver (comparison in Extras)
2006-11-05 05:12:10 +00:00
sjbaker
6c61060339
Cleaned up some compile-time warnings.
2006-11-04 15:34:56 +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
82ba30caa6
fixed 2 issues, one related to wrong 'safety' catch for large objects
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and COLLADA constaints didn't recognize rigid body names
2006-10-31 02:11:29 +00:00
ejcoumans
d1a1b3d492
fixes to allow applying impulses during interpolated timesteps (avoid visual discontinuities)
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experimental jitter removal (doesn't work very well yet)
2006-10-30 19:37:08 +00:00
ejcoumans
b14ccdaa57
rename treshold into thresold (spelling mistake)
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added cr/linefeed at end of btDefaultMotionState.h
2006-10-30 05:06:46 +00:00
ejcoumans
dd8297c86e
refresh contact points, even when they are already persistent. needs a bit more work (a 'replacedContactCallback' where optionally the user can carry over the persistent contact data)
2006-10-30 04:51:17 +00:00
ejcoumans
6232763f9e
fixed debugDraw colors (thanks pcOde http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=642 )
2006-10-29 18:54:09 +00:00
ejcoumans
d6c6cbaee6
enabled the vehicle demo again (still needs lots of tuning before it drives well)
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fixed some warnings
2006-10-29 03:36:16 +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
e2093823ff
fixed check for response (no static/kinematic, rather then 'active')
2006-10-21 16:34:36 +00:00
ejcoumans
289c5ca7fe
improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates
2006-10-19 15:20:38 +00:00
ejcoumans
33b3ec94f1
more fixes, related to introduction of btMotionState, and using realtime timestep
2006-10-18 04:01:07 +00:00
ejcoumans
3a6942fb91
processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.
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renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
2006-10-18 03:28:42 +00:00
ejcoumans
1fe414d98a
Hooked up 'disable deactivation mode' via debugMode
2006-10-17 01:59:02 +00:00
ejcoumans
15840d7bb0
2006-10-15 20:18:38 +00:00
sjbaker
ca4a071880
Fixed bug - paying attention to compiler warnings saves lives!
2006-10-14 17:52:26 +00:00
ejcoumans
2c66be25fc
added cleanup memory for BasicDemo, and another pragma warning ignore
2006-10-13 23:24:09 +00:00
ejcoumans
ccb7a311b2
updated the Extras/quickstep files, for comparison
2006-10-13 22:34:16 +00:00
ejcoumans
a337372905
added first draft of C-API, btConvexHullShape takes float* instead of btPoint*, added getGravity to btRigidBody
2006-10-11 06:07:14 +00:00
ejcoumans
919e8def68
removed scaling from btTransform (we only want to deal with rigid transforms)
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added BasicDemo to projectfiles (serves as a very small test for porting Bullet to other languages)
2006-10-10 00:43:13 +00:00
ejcoumans
f3eb3cfa37
Added a very basic dynamics demo, only using spheres (and optionally boxes)
2006-10-09 20:41:18 +00:00
ejcoumans
659207e7a3
removed some obsolete/debugging stuff
2006-10-07 02:18:05 +00:00
ejcoumans
2832300435
doxygen tags
2006-10-06 22:12:17 +00:00
ejcoumans
831636af25
doxygen comments
2006-10-06 22:03:04 +00:00
ejcoumans
7f8345f0e9
doxygen comments
2006-10-06 22:02:34 +00:00
ejcoumans
e24aa9f0c7
doxygen comments
2006-10-06 22:02:02 +00:00
ejcoumans
bbe301fff8
lowered safety limit to 32, and added link/comment to forum
2006-10-06 22:01:29 +00:00
ejcoumans
ce627a8b2a
doxygen comments
2006-10-06 21:57:10 +00:00
ejcoumans
70e5fcf024
doxygen comments
2006-10-06 21:56:39 +00:00
ejcoumans
4ba9619b5d
2006-10-06 05:49:40 +00:00
ejcoumans
3241443434
removed 1 file
2006-10-06 05:47:57 +00:00
ejcoumans
bf847b839a
another large series of changes, related to the refactoring.
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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
2006-10-06 05:22:13 +00:00
ejcoumans
97b287a6bc
updated Jam buildsystem to link properly under systems that rely on strict ordering of the link libraries
2006-10-05 14:05:09 +00:00
ejcoumans
323a1046fd
Cleaned up/simplified construction of a btRigidBody
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Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy* m_broadphaseProxy;' in btRigidBody
2006-10-04 23:46:27 +00:00
ejcoumans
1208c67f85
removed duplicate int i, caused VC6 not to compile.
2006-10-03 17:51:07 +00:00
ejcoumans
708aa9fbcc
added getW for btQuaternion
2006-10-03 02:00:11 +00:00
sjbaker
2aaab1ab1a
Assorted cleanup of compilation warnings. Also fixed some actual errors:
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#include "renderTexture.h"...when the file is actually called 'RenderTexture.h'.
2006-10-01 00:08:09 +00:00
ejcoumans
01a6290cf7
more refactoring, restored some profiling and some debugging
2006-09-30 02:26:51 +00:00
ejcoumans
d38549aa54
more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.
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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
2006-09-30 01:36:39 +00:00
ejcoumans
14397a2f72
confusion about memory management, and removed obsolete PhysicsInterface code.todo: updated the demos that still use this code
2006-09-29 19:57:23 +00:00
ejcoumans
0d7c960eb6
removed #undef max
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was leftover/redundant, thanks for reporting Jack
2006-09-29 15:20:45 +00:00
ejcoumans
21482e4cab
some minor comment-renames, and moved some data from box/sphere into common convex.
2006-09-28 20:14:10 +00:00
