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2087 Commits

Author SHA1 Message Date
erwin.coumans
92eed617cd fix SSE issue with XCode 3 2013-05-14 12:38:06 +00:00
erwin coumans
4877a2af8a enable CPU joint (non-contact) constraint solver in GPU rigid body pipeline 
small change to BasicGpuDemo
 2013-05-08 15:55:02 -07:00
erwin.coumans@gmail.com
542c53fb30 Don't pass along unused btStackAlloc everywhere. The API change might user code (derived classes with the old virtual method are not called anymore) 2013-05-08 22:45:35 +00:00
erwin.coumans@gmail.com
329b9a1e3c Avoid collision response between non-dynamic bodies, introduced in a recent commit. 
Fixes Issue 711 https://code.google.com/p/bullet/issues/detail?id=711
Thanks to Sergej Reich.
 2013-05-08 21:07:35 +00:00
erwin coumans
26873328cf gridtable needs to be in the __constant memory space 2013-05-03 11:38:23 -07:00
erwin coumans
1185de51d5 experiment with first-level batching using object index instead of spatial hash in uniform grid (to avoid tuning average object size for uniform grid) 2013-05-03 01:14:34 -07:00
erwin coumans
6ee9eb9bb5 fix bug in assignment of contact constraints to solver grid (always use dynamic body to determine constraint assignment, otherwise write conflicts can occur) 
implement CPU version of narrowphase convex collision, for comparison/debug purposes
start towards cpu/gpu sync, for adding/removing bodies (work in progress)
 2013-05-02 09:49:16 -07:00
erwincoumans
e999903c15 resolve some naming conflicts between Bullet 3.x and Bullet 2.x 
add BasicGpuDemo that bridges Bullet 2.x and Bullet 3.x (still preliminary/crashing/instable)
 2013-04-30 18:17:44 -07:00
erwincoumans
92f0938af3 add bitonic sort, as comparison. 
fix stringify.bat for Windows (need to fix Mac/Linux version too)
 2013-04-30 11:40:09 -07:00
erwincoumans
3ac332f3a7 reorder files, in preparation for Bullet 3 -> Bullet 2 merge 2013-04-29 19:04:08 -07:00
erwincoumans
55b69201a9 rename to b3 convention, to avoid naming conflicts when using in combination with Bullet 2.x 2013-04-29 15:19:36 -07:00
erwin coumans
7366e262fd bt -> b3 and BT -> B3 rename for content and filenames 2013-04-28 23:11:10 -07:00
erwin coumans
f943204aa2 add .bullet loader for GPU demo 2013-04-23 16:07:17 -07:00
erwin coumans
66e5dcf65a add joint/constraint solver support (using CPU, Bullet 2.x solver), in combination with GPU contact solver 2013-04-23 12:03:55 -07:00
erwin.coumans@gmail.com
9abd0b6029 Sorry for the lack of updates, I am preparing Bullet 3.x initial release and get back to merging Bullet 2.x and Bullet 3.x afterwards. 
fix some crash in btSoftBody, related to running out-of-memory. You can configure the default maximum memory allocation for the signed distance field using worldInfo->m_sparsesdf.Initialize(hash, maxAllocation);
fix 'exploding' btSoftBody, related to very small masses. You can configure maximum displacement per frame using worldInfo->m_maxDisplacement 
avoid some crash in the world importer
 2013-04-22 19:00:58 +00:00
erwin coumans
dc1984713a add option for btDbvtBroadphase (comparison) 2013-04-20 23:59:00 -07:00
erwin coumans
9ecd898c34 re-introduce Bullet 2.x solver, in Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.* 
move b3Contact and b3RigidBody
 2013-04-18 23:28:13 -07:00
erwin coumans
626f0cf1e3 bt->b3 2013-04-17 17:52:51 -07:00
erwin coumans
3cb80ad1a3 more bt->b3* 2013-04-16 17:13:38 -07:00
erwin coumans
e646754228 more bt* to b3* 2013-04-16 17:08:59 -07:00
erwin coumans
4a93c2e704 x() -> x or getX() or [0] 
y() -> y or getY() or [1]
z() -> z or getZ() or [2]
w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
 2013-04-03 18:27:36 -07:00
erwin.coumans
33688fc011 removed name from source code 2013-04-02 18:33:00 +00:00
erwin.coumans@gmail.com
e8c2475c95 Added a gCompoundChildShapePairCallback to filter (enable/disable) child shape collisions for a btCompoundShape. 
Thanks to Rich McDaniel for the patch.
See MyCompoundChildShapeCallback in Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp for usage.
 2013-04-02 02:01:43 +00:00
erwin.coumans@gmail.com
1f4f8c7e05 Workaround for sticky convex collisions when using GJK/EPA in combination with very small collision margins. 
In some degenerate cases the contact normal is pointing the wrong direction
so fix it now (until we can deal with all degenerate cases in GJK and EPA)
contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
We like to use a dot product of the normal against the difference of the centroids, 
once the centroid is available in the API
until then we use the center of the aabb to approximate the centroid
 2013-04-02 00:32:18 +00:00
erwin coumans
9c0ca25cf6 add preparation for btGpuJacobiSolver 2013-03-25 17:13:53 -07:00
erwin coumans
39884e4665 more compile fixes 2013-03-20 00:33:21 -07:00
erwin coumans
d8a3732306 fix demo/gpudemo build 2013-03-13 13:22:56 -07:00
erwin coumans
7c0824665c add Bullet 2.x files (renamed/split LinearMath into BulletCommon and BulletGeometry 2013-03-13 00:01:55 -07:00
erwin.coumans
976cd0028a Add a missing header file btCollisionObjectWrapper.h 
Thanks to  Alexander Meissner

Fixes Issue 684
 2013-01-03 18:51:20 +00:00
erwin.coumans
02a22f6329 Avoid using SSE in API when BT_USE_SSE_IN_API is not defined 
Fixes Issue 683.
 2012-12-20 22:09:59 +00:00
erwin.coumans
0c555a5afe just use 16-byte aligned data for solverbody, not 64byte 
fixes Issue 659
 2012-12-17 21:29:20 +00:00
erwin.coumans
7e14e79da0 Fix Issue 680, compilation error using Visual Studio 2005, service pack 1, quicksort compare function needs to be in a class. 
Toggle between GJK and SAT (initializePolyhedralFeatures) in convexDecomposition at easch restart of the demo (spacebar)
 2012-12-17 20:38:31 +00:00
erwin.coumans
c4548ec746 Add a helper method that creates a btCompoundShape from a btGimpactMeshShape, for more robust collision detection. 
The idea is to create tetrahedra from each surface triangle, by moving its centroid inwards along the collision normal using depth.
If the centroid hits an internal triangle, it will stop there.

The commit also includes part of the gimpact raycast performance improvement, except for the actual btCollisionWorld part
(that file was out-of-date and needs manual patching)
 2012-12-14 23:14:09 +00:00
erwin.coumans
27fd8ea0d7 make it more obvious that btBvhTriangleMeshShape cannot be used for moving objects. 2012-12-14 20:31:03 +00:00
erwin.coumans
1d4a5d950d Usually m_contactNormal2 == -m_contactNormal1, but not always, so 
use a separate contactNormal1/contactNormal2 for each body in btSolverConstraint.

Thanks to Richard McDaniel for the patch.
 2012-12-12 23:21:51 +00:00
erwin.coumans
7c610ec045 use unsigned int indices in btGImpactMeshShape 
See Issue 663
 2012-12-07 19:20:06 +00:00
erwin.coumans
17ca9eb7e7 Fix compile error when defining DEBUG, include memset header 
See Issue 678, thanks to Max for the report!
 2012-12-07 18:21:14 +00:00
erwin.coumans
d54423f9c0 Fix compile error in Visual Studio 2005 build: only enable SSE/SIMD intrinsics for btVector3 for Visual Studio 2008 and higher 2012-12-07 18:16:04 +00:00
erwin.coumans
f5704d5981 Fix issue with btQuaternion::slerp, thanks to Martin Heistermann. 
Fixes Issue 665
 2012-11-25 17:19:17 +00:00
erwin.coumans
6964612e8c Remove #end in btScalar.h 
Fixes Issue 674
 2012-11-24 22:14:13 +00:00
erwin.coumans
9eddd42347 fix win32 (non-glut) cmake build. 
add partId/index to btCollisionObjectWrapper to be able to recognize recursive shape indices (a btCompoundShape with a btGimpactShape child shape etc)
 2012-11-10 01:42:35 +00:00
rponom@gmail.com
f35621eb01 Bug in ConeTwist constraint with tight limits fixed 
ConeTwist constructor for one-body constraint modified
 2012-11-09 19:22:05 +00:00
erwin.coumans
ff38230704 use the right m_bvhAabbMax/m_bvhAabbMin to adjust quantization 2012-10-11 16:36:16 +00:00
erwin.coumans
fe3cfe56b6 fix unaligned data issue, see Issue 657 2012-10-10 06:35:32 +00:00
erwin.coumans
79989a8d3d Force spuNodeCallback to be 16-byte aligned, so that we can use SIMD. Related to Issue 657 
Recompute the quantization values in case the maximum/minimum extends roundtrip using quantize/unQuantize are out-of-range
(alternatively, pass in a larger quantizationMargin)
 2012-10-10 04:21:36 +00:00
erwin.coumans
48e932c8d6 fix build 2012-10-05 22:12:41 +00:00
erwin.coumans
eaabf1a2c8 Expose btManifoldResult::calculateCombinedRestitution and btManifoldResult::calculateCombinedFriction as static member functions, so it can be reused for speculative contacts 
Add speculative contact restitution, but disabled by default, not well tested (btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution)
Add --with-double-precision option to premake build system
 2012-10-05 21:15:11 +00:00
erwin.coumans
6be2689f01 add joint feedback (applied force and applied torque for a constraint) 2012-10-05 05:37:12 +00:00
erwin.coumans
394bb103f0 Fix src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp 
See Issue 643, thanks to Laurent at liquiddragon for the patch.
Fix warning, See Issue 655
 2012-10-04 20:32:04 +00:00
erwin.coumans
74db95d827 disable sphere-box again, it seems broken 
http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=8456

fix some warnings
 2012-10-02 02:26:37 +00:00