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Author SHA1 Message Date
kubas e5372f3712 first experiments with RK4 2014-01-09 00:56:46 +01:00
kubas cb556f9525 dirty changes - stabilization hacks 2014-01-09 00:51:42 +01:00
kubas 96ff69276f multidof4 patch 2014-01-09 00:26:24 +01:00
Erwin Coumans 75b8f7230d fix Mac OSX build 2014-01-05 22:06:12 -08:00
erwincoumans ed73bce9da Move Bullet 2.x demos in a single demo 'AllBullet2Demos', for now only BasicDemo and FeatherstoneDemo is implemented. 2014-01-05 21:58:30 -08:00
erwincoumans 6f9a1c0da2 disable MPR until some issues are fixed (on an NVIDIA GPU, sat axis are not properly computed, resulting in instability) 2014-01-04 21:44:53 -08:00
Erwin Coumans 5eb8fd33ad enable MPR by default, needs more testing on various OpenCL configurations (OS, drive, GPU etc) 2014-01-04 21:33:16 -08:00
erwincoumans 271f458837 Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes) 
Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
 2014-01-04 20:54:27 -08:00
Erwin Coumans 999c5ff766 fix Mac OSX version of preparation of AllBullet2Demo collection 2013-12-19 22:23:50 -08:00
erwin coumans 12dd0daebc prepare for Bullet 2 demo collection 2013-12-19 22:14:37 -08:00
erwin coumans abeea0c8b0 add Bullet icon files 2013-12-19 12:41:36 -08:00
erwin coumans 69e5454d18 Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure 
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher
 2013-12-19 12:40:59 -08:00
Erwin Coumans 222ecb156d add GImpact and BulletSoftBody, until we have replacement (otherwise it prevents people from migrating to the github/Bullet3 repository) 2013-12-18 09:05:30 -08:00
erwin coumans 09ba86ea36 fix cpu version of findCompoundPairs, in order to fix Mac OSX OpenCL compound issues 2013-12-17 19:25:53 -08:00
Erwin Coumans 7bde13be62 fix issue (apparently closestFaceA/B can be -1, need to figure out how that can ever happen (it shouldn’t) 2013-12-17 16:50:50 -08:00
erwin coumans 7964f2d8c1 split OpenCL kernels: fatal error C1091: compiler limit: string exceeds 65535 bytes in length 2013-12-17 12:33:38 -08:00
Erwin Coumans 7e86932edf avoid out-of-bounds issue for some OpenCL kernel, hanging Mac OSX (should not happen, need to check why) 
split kernel for debugging
 2013-12-17 10:44:41 -08:00
erwin coumans 7b55ffd237 more rewriting to get this #@!#@!&*( Mac OSX GPU to work 2013-12-16 15:23:43 -08:00
erwin coumans 1dce953d76 one more debug option for a kernel, to fix a Mac OSX issue (one more to go...) 2013-12-16 12:36:22 -08:00
erwincoumans fc474a0e62 more debugging to fix Mac OSX OpenCL issue on certain GPUs. 2013-12-16 10:53:38 -08:00
erwincoumans dca5bbb744 Update readme.txt 
add a few more (experimental) command line arguments to readme.txt
 2013-12-14 11:21:57 -08:00
erwin coumans 9ebef9552b implement 'new contact reduction' kernel on CPU , for debugging 2013-12-14 10:54:25 -08:00
erwin coumans d24b1eaae9 better host check code, to determine failing OpenCL kernels on certain (Apple) platforms 2013-12-13 13:27:00 -08:00
erwin coumans 571b14787a implement clipFacesAndFindContactsCPU, to track down OpenCL issue on Mac OSX 2013-12-13 10:05:07 -08:00
Erwin Coumans 33889a3dc9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2013-12-13 08:40:18 -08:00
Erwin Coumans f9c22b61af fix Mac OSX build 2013-12-13 08:40:05 -08:00
erwin coumans 3fe969c4ee b3Solver -> pass pointer to source instead of 0 (was left over from a debugging session), thanks to David for the report 
Break up clipHullHullConcaveConvexKernel into multiple stages, so it might 'fit' in Apple's OpenCL implementation
Implemented bvhTraversalKernel and findConcaveSeparatingAxis on CPU (debugging, possible future CPU version)
 2013-12-13 07:52:41 -08:00
erwin coumans c155e126d0 move parts of collision pipeline to shared header files (work-in-progress) 2013-12-12 11:03:55 -08:00
erwin coumans ba2ba28a89 add Bullet 2.x CPU FeatherstoneMultiBodyDemo 2013-12-09 14:16:51 -08:00
erwin coumans 9379c7fb8c enable mouse picking for BasicDemo (will move it to a shared code part soon) 2013-12-07 11:19:57 -08:00
erwincoumans 30a6fe705f remove obsolete executables, prettify Bullet 2.x CPU BasicDemo a little bit. 2013-12-06 18:11:04 -08:00
erwincoumans fca6d11381 created new Bullet 2 CPU BasicDemo, using the OpenGL 3 rendering. I will add picking soon. Hold ctrl/alt + mouse to move/zoom camera 
remove reference to btGImpact (it is removed now)
 2013-12-06 17:48:58 -08:00
Erwin Coumans bbb2c8a6f1 Merge branch 'bullet2stripped-master' 2013-12-06 15:32:59 -07:00
Erwin Coumans f06312c632 remove most clutter (todo) 2013-12-06 15:29:13 -07:00
Erwin Coumans 9e9b172b23 Merge branch 'bullet2-master' 2013-12-06 15:09:34 -07:00
Erwin Coumans ffbef54c4f test 2013-12-06 15:06:54 -07:00
erwin.coumans@gmail.com d48e2c717c fix rotation correction in btFixedConstraint, see Issue 769 2013-12-04 19:06:28 +00:00
erwin.coumans@gmail.com 1362b6ab48 Fix convex cast normals for btScaledBvhTriangleShape: normals were already in world space 
See Issue 371 THere seems to be some other issues, need to get a reproduction case.
 2013-11-26 18:44:06 +00:00
erwin.coumans@gmail.com 5910b42d8d fix SIMD_2_PI macro, see Issue 773 2013-11-26 17:15:05 +00:00
erwin coumans ec39c2f210 Removed to bitonic sort and ios, they were not used and confuse Bram :) 
http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=9570
 2013-11-25 21:38:44 -08:00
erwin coumans beb9e98cd3 expose the gUseLargeBatches as command-line argument --use_large_batches 2013-11-21 09:15:52 -08:00
erwin coumans 8a7ad65177 added a variation of the constraint solver, that works on CPU OpenCL (oneBigBatch), one stage (batching) happens on CPU for this mode 2013-11-21 09:15:42 -08:00
erwincoumans 1d5c651753 Use more shared data structures in src\Bullet3OpenCL\NarrowphaseCollision\kernels\satClipHullContacts.cl 
Revert default error func (was broken)
 2013-11-19 17:52:59 -08:00
erwin coumans 26dfaa441e add some command-line options 
--use_jacobi
--allow_opencl_cpu

b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
 2013-11-19 13:42:53 -08:00
erwin.coumans bda1fb7dd2 fix 64bit iOS,see also Issue 739 2013-11-18 22:17:00 +00:00
erwin.coumans@gmail.com 9aad92315b Avoid crash in btCompoundCompoundCollisionAlgorithm if there is no tree for one of the btCompoundShapes 
Update the revision, to avoid clearing the child cache each frame
 2013-11-17 20:35:35 +00:00
erwin.coumans@gmail.com 886650a038 fix 'unused' warning. Fixes Issue 770 2013-11-17 20:13:50 +00:00
erwin.coumans@gmail.com 673e74146e only build demos using extras if BUILD_EXTRAS is on 2013-11-17 20:03:42 +00:00
erwincoumans 54909160a7 Update readme.txt 2013-11-12 09:46:44 -08:00
erwincoumans 1efecf9dba Update readme.txt 
add explanation of a few new command-line parameters
 2013-11-12 09:39:09 -08:00
erwincoumans 47d543f72b update Win32 executable to start with the Samurai trimesh scene 2013-11-12 09:33:50 -08:00
erwincoumans a78cbcf354 Accidently left some very slow copyToHost in the batching code, removing it makes it faster :-) 2013-11-12 09:03:30 -08:00
erwincoumans f7abea1b2c remove precompiled Windows binaries, they were just for the alpha pre-release download 2013-11-11 22:47:06 -08:00
erwincoumans 7796ca1de7 add Windows binaries for a release/tag 2013-11-11 22:23:19 -08:00
erwincoumans 472614772f expose some more settings as command-line parameters: 
[--disable_shadowmap] [--shadowmap_size=int] [--shadowmap_resolution=<int>] [--use_jacobi] [--use_uniform_grid]
 2013-11-11 22:20:21 -08:00
erwincoumans 5ce0b3938f Re-introduce GPU parallel Jacobi solver, called btGpuJacobiContactSolver. There are still some issues, but for basic scene's it works. 
To avoid confusion, rename GPU contact solver to btGpuContactSolver, and constraint (non-contact) solver to btPgsConstraintSolver.
 2013-11-11 21:15:06 -08:00
erwincoumans ef6be5370d more work towards hybrid of GPU grid and sap broadphase, separating small, large (moving) and static objects 
re-enable 'useNewBatchingKernel', it is slower but more robust
 2013-11-11 02:19:04 -08:00
erwin coumans d13de109a5 work towards re-enabling GPU grid broadphase (in addition to GPU sap bp) 2013-11-10 23:19:51 -08:00
erwincoumans b0c43520e3 more work towards re-enabling grid broadphase. 2013-11-10 22:00:35 -08:00
erwincoumans ad8585f184 prepare for btGpuGridBroadphase 2013-11-10 14:15:23 -08:00
erwincoumans 6b5921b1b3 added a basic test for SimpleOpenGL3 2013-11-09 13:09:11 -08:00
erwincoumans 8f3051fdf1 add ImplicitCloth demo, by Stan Melax 
add SimpleOpenGL3App, used in ImplicitCloth demo. The Bullet 3.x demos should use this as a template, it will clean up some of the mess.
 2013-11-09 12:12:33 -08:00
erwincoumans a6bc61ad1a tweaked the particle demo a little bit 2013-11-08 23:21:01 -08:00
erwincoumans 768ea211a6 add a waiting message, during startup of a demo. 
fix an OpenCL kernel, broken in previous commit.
 2013-11-07 16:47:18 -08:00
erwin coumans e85bae5fe3 share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL) 
integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
 2013-11-07 15:49:57 -08:00
erwin coumans e20cb22832 share more data structures and code between OpenCL and C/C++ on CPU: 
move the setConstraint4/b3ConvertConstraint4 to shared code.
 2013-11-07 12:46:01 -08:00
erwin coumans a9a758dd54 share more code between OpenCL kernels and C++ by moving kernel data structures/code to the 'shared' folders 2013-11-06 19:57:36 -08:00
erwincoumans 82a6855f9e fix OSX build 2013-11-05 14:09:35 -08:00
erwin coumans 9d96c24bee fix a compile error in the debug/testing particles kernel 2013-11-04 23:46:03 -08:00
erwin.coumans@gmail.com 0536f986a6 apply patch: soft bodies should not collide with ghost objects. 
Thanks to Sergej Reich for the patch, fixes Issue 757
 2013-11-04 01:12:52 +00:00
erwin.coumans@gmail.com 439ab03940 fix Mac OSX build (there is no such member called e.m128_f32[0] 2013-11-03 19:55:08 +00:00
erwin.coumans@gmail.com 218d4d1394 use a separate default cfm for the MLCP solver, it is a very sensitive value for Dantzig (and Lemke) 2013-10-31 16:52:32 +00:00
erwin.coumans@gmail.com 644d01d231 added the btNNCGConstraintSolver, based on the paper "Nonsmooth Nonlinear Conjugate Gradient Method for interactive 
contact force problems". The solver needs a lot of iterations, before the quality goes up (~ 1000)
Thanks to Gabor PUHR for the contribution!
Improved the btLemkeSolver.
Remove the sparse optimizations from the btMatrixX.h, replace it with explicit call to rowComputeNonZeroElements (only used in the btSolveProjectedGaussSeidel), it was likely slowing things down, without being useful.
Re-enable SIMD in the solver (was accidently disabled in Bullet 2.82 release)
 2013-10-31 06:17:08 +00:00
erwin.coumans@gmail.com 6ca948e22f make Lemke work with lower/upper bounds, using the BLCP to LCP conversion (using a dog-slow matrix inversion etc) 
for this conversion, see also https://github.com/erwincoumans/num4lcp/blob/master/matlab/test_lcp_bounds.m and
appendix A1 in http://www.cs.duke.edu/~parr/nips10.pdf, thanks to Kenny Erleben and Evan Drumwright for the tips!
(friction is not coupled to normal forces yet)
 2013-10-30 00:02:13 +00:00
erwin.coumans@gmail.com 13936eb9a5 use square epsilon in btVector3::fuzzyZero (length2) 2013-10-29 22:53:01 +00:00
erwin.coumans 1a2c3c0ee9 Added a Lemke MLCP solver, extracted from the MBSim project, and re-licensed under the zlib license 
with permission of the original author. 
The Lemke implementation is not fully working yet:
1) we need to convert the lo-high LCP problem into a problem without the lo/high
2) we need to sort out the remaining instabilities, and report a failure if the max loopcount is reached etc.
We replaced the fmatvec library with our own LinearMath/btMatrixX.h, and STL std::vector with btAlignedObjectArray

Removed some warnings/potential issues: use fuzzyZero instead of isZero, and some warnings, 
related to this issue 756
 2013-10-26 18:45:25 +00:00
erwin.coumans@gmail.com 19f999ac08 fix double precision, and remove alloca 
increase mass of the load, to show benefits of direct MLCP solver
move damping back to original location
 2013-10-24 18:31:27 +00:00
erwin.coumans@gmail.com 5ca137cb54 fix autotools build, add MLCPSolvers and ForkLiftDemo 2013-10-24 02:27:37 +00:00
erwin.coumans@gmail.com f5320e4106 add "latency motion state interpolation", using previous frame/current, instead of current->next 
See Demos/ForkLiftDemo for example (F7 to toggle, use single-frame stepping, press 'i' and 's' to see the effect)
 2013-10-24 00:13:43 +00:00
erwin.coumans@gmail.com a1c962192c Allow the ForkLiftDemo to toggle between MLCP and SI solver, using F6 key. 
Apply patch for CMake config, see Issue 754 (Issue 753)
Fix a few issue with the MLCP solver: allow split impulse, and fix offset in friction dependencies
 2013-10-23 23:35:13 +00:00
erwin.coumans e5590575a9 disable self-collision for btMultiBody with prismatic joint: the collision normals are conflicting (they assume 3d objects, but 2 bodies/links in a multi-body don't have the DOFs to resolve the collision, resulting in 'explosions' adding energy. 2013-10-23 18:00:32 +00:00
erwin.coumans 7285bd8390 update quickstart guide with 'what's new for 2.82' 2013-10-23 03:31:43 +00:00
erwin.coumans 1503c806bd fix Mac OSX build when using GNU++11 C++ language standard, make this the default in premake under OSX for easier testing 2013-10-22 23:08:43 +00:00
erwin.coumans 9b44762519 pass the settings to create a FeatherstoneMultiBody as a struct, instead of all individual parameters 2013-10-22 22:36:43 +00:00
erwin.coumans 0024c87316 move the m_maxAppliedImpulse into base class, and use it for motor strength/point to point constraint strength 2013-10-22 21:49:52 +00:00
erwin.coumans f22ceecb82 Fix Featherstone btMultiBodyPoint2Point constraint and picking: don't assume body 0 is the fixed body! 2013-10-22 21:06:47 +00:00
erwin.coumans 75260cd0d7 fix iOS compilation when the C++ Language Dialect is set to GNU++11 2013-10-22 19:13:24 +00:00
erwin.coumans 4169c52b2a use __ARM_NEON__ preprocessor check instead of __armv7__ 2013-10-22 19:01:21 +00:00
erwin.coumans@gmail.com cf7f5436e4 apply CMake patch in Issue 748 
thanks to Julien Schueller for the contribution!
 2013-10-22 18:34:17 +00:00
erwin.coumans@gmail.com 23f612bbb5 fix Linux build 
by default, only enable 64bit build when using ./premake4_linux64 and only 32bit build when using ./premake4_linux
remove some warning
 2013-10-22 18:10:45 +00:00
erwin.coumans@gmail.com a21480c8ca Attempt to fix "Regression in friction and damping behaviour" , see issue 752 
Thanks to Sergej Reich for the report and narrowing down the breaking revision!
 2013-10-22 09:26:08 +00:00
erwin.coumans@gmail.com 5e372d6ac5 fix compile errors 2013-10-21 23:33:01 +00:00
erwin.coumans@gmail.com 379f0079e0 Added Dantzig MLCP solver option from Open Dynamics Engine (trying to avoid naming/linking conflicts in case ODE and Bullet is used together) 
If an MLCP solver fails, use PGS/SI fallback, add a boolean return value for 'solve' method
 2013-10-21 23:27:09 +00:00
erwin.coumans@gmail.com 1ca0493dc4 Build full A matrix and b vector for a MLCP solver interface, to explore Lemke, Dantzig, Newton and other MLCP solvers. The A matrix contains sparsity information. 
Added a PGS solver that uses the sparsity of the A matrix, just for testing (the equivalent sequential impulse solver is much faster, not having to allocate the big matrices)
 2013-10-20 17:38:14 +00:00
erwin.coumans@gmail.com 5bd6decb2e Use the more accurate, but slightly slower, gjk ray test by default, instead of the sub-simplex convex cast. 
Set the rayCallback.m_flag  btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest to enable the previous approximate/faster ray test.
 2013-10-19 16:42:17 +00:00
erwin.coumans d998680a68 fix error in Visual Studio 2005 build, due to unsupported SSE intrinsics 2013-10-16 21:25:52 +00:00
erwin.coumans@gmail.com d4640227ce add option to disable btMultiBody self-collision (for the entire hierarchy) or to disable parent-child collision for jointed links. 2013-10-08 00:50:40 +00:00
erwin.coumans@gmail.com 34d975143e expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations 
use btScalar instead of float, to enable double precision build, fix for Issue 744
 2013-10-06 17:13:08 +00:00
erwin.coumans@gmail.com 488dd44835 Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody 
Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
 2013-10-05 01:46:32 +00:00
erwin.coumans@gmail.com 2fb686b937 change btMultiBody to allow removal/changing of links 
(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
 2013-10-03 05:13:41 +00:00