The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver.
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody.
Next on the list will be adding support for joint limit constraint for btMultiBody.
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
fix vehicle demo (heightfield is broken, when using very large scaling factor)
add btConeShape serialization, see Issue 725
add btGearConstraint get/set, see Issue 685 and Issue 671
rayResult.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
See Demos/RaytestDemo/RaytestDemo.cpp for usage
This fixes issue 146, longest outstanding from 2008.
with hash pair caching and tandem tree traversal. It should be much faster, when using many child shapes for both compounds.
Fix iOS compilation, added header.
Enable btGImpact raycast optimization, thanks to C0DEFACE, see Issue 664
Cull triangle/AABB for concave/heightfield shapes, thanks to Danny Chapman
fix btGetCpuCapabilities, thanks to Ian Ollman! See https://code.google.com/p/bullet/issues/detail?id=738
(converted raw data to .cpp so it doesn't need to be loaded from disk)
Some optimizations for btHeightfieldShape, thanks to Danny Chapman
Quick check on AABB (was not done) and reduce calls to 'getVertex'
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
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(that file was out-of-date and needs manual patching)
Recompute the quantization values in case the maximum/minimum extends roundtrip using quantize/unQuantize are out-of-range
(alternatively, pass in a larger quantizationMargin)
Add speculative contact restitution, but disabled by default, not well tested (btDiscreteDynamicsWorld::setApplySpeculativeContactRestitution)
Add --with-double-precision option to premake build system
add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in findSeparatingAxis (similar to the default GJK case)
See http://www.youtube.com/watch?v=RV7sBAsKu4M and Bullet/Demos/RollingFrictionDemo
Fixes in FractureDemo (mouse picking constraint needs to be removed, otherwise constraint solver crashes/asserts)
This should improve 'ccd' handling when using world->getDispatchInfo().m_useContinuous = true;body->setCcdSquareMotionThreshold(...); body->setCcdSquareMotionThreshold(...)
shoot smaller boxes (test)
use yellow instead of orange for contact point normals
tweak default erp and erp2 values, now split impulse is on by default (need to check it)
Applied picking cloth patch. Fixes Issue 646. Thanks to Dongsoo.
Applied patch Softbody updateConstraints. Fixes Issue 503. Thanks to Dave Bruce Phillips and Dongsoo.
Fix various warnigns under Mac OSX.
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.
in VoronoiFractureDemo (store intermediate values in memory to avoid problems)
@todo: rewrite the island management to avoid sort for better performance
Thanks to Peter Kyme for the report, fixes Issue 607
