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f3a70b65ebfd8a1a11106c0121bd904fab96e9d1
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439 Commits

Author SHA1 Message Date
erwin.coumans
f3a70b65eb Fix issues with btCompoundShape when adding/removing child shapes after construction of a btRigidBody. 
Thanks tp for the report:
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2925&p=11700#p11700
 2008-12-07 20:57:38 +00:00
erwin.coumans
635e1a6aa0 set broadphase handle to zero when destructing a btCollisionWorld, just in case a collision object/ rigid body is re-used. 
Thanks to Ole for reporting

Fix a bug , causing some deep penetrations to be missed. Not likely to have impacted many users, as such deep penetrations should have prevented in the first place.
Thanks a lot to Andy O'Neil for reporting and reproduction case.
 2008-12-05 22:40:13 +00:00
erwin.coumans
5383ed4930 + need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor 
+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
 2008-12-02 04:01:56 +00:00
erwin.coumans
e80feca36b Big work-in-progress refactoring of the constraint solver: 
1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.

2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.

3) Some minor refactoring to reduce huge constructor overhead in math classes.
 2008-12-01 06:41:25 +00:00
erwin.coumans
e26b11ea5a fixed IBM Cell sdk build + demo (need to review related patch), thanks Jochen for reporting the issues. 2008-11-26 19:34:20 +00:00
erwin.coumans
decf91a34d Made btCollisionWorld::convexSweepTest and btGhostObject::convexSweepTest consistent. Both have an optional last argument for allowedCcdPenetration. 
Bugfix due to recent change in friction in constraint solver.
 2008-11-19 19:55:14 +00:00
erwin.coumans
50344c4a23 Add support for broadphase acceleration of convex cast (re-use rayTest implementation with an added aabb min/max, zero for rays) 
Add Concave Convexcast demo back in AllBulletDemos, and tweaked it a bit.
Fix view frustum of ForkLiftDemo (caused picking to fail)
Removed innerloop profiling for ray and convex casts, it hurts performance.
Set default #aabb's in CDTestFramework to 8192
 2008-11-19 00:38:29 +00:00
erwin.coumans
fe461296c6 Fix issue with un-initialized broadphase proxy during broadphase insert. It was an chicken-egg problem: 
1) creating a broadphase proxy -> adding pairs during insertion. But during this pair insertion, the btGhostObject broadphase handle isn't set yet (it is done in step 2)
2) assign the broadphase proxy to btGhostObject
Thanks to ihar3d for the report http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2864
 2008-11-17 18:40:21 +00:00
erwin.coumans
0deffb7495 mutable wasn't needed for this anonymous union (btBroadphasePair) 2008-11-16 08:06:07 +00:00
erwin.coumans
a5c18db854 fix CMake install for CMAke 2.6 -> version GREATER then 2.5 2008-11-15 03:48:24 +00:00
rponom
8abddb2400 Fixed deleting objects procedure for btSimpleBroadphase 2008-11-15 00:17:59 +00:00
erwin.coumans
cc43193b25 Fixes to allow compilation of BulletMultiThreaded under 64bit linux 2008-11-14 23:51:49 +00:00
erwin.coumans
9516e505a7 fix broken build 
Add btCompoundShape export support for BulletColladaConverter. 
Thanks to JamesH for the report/request:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
 2008-11-12 22:25:23 +00:00
erwin.coumans
5feea39803 Fix compilation for MSVC 6.0 for Bullet and COLLADA DOM. 
Fix issues with btDbvt: use ATTRIBUTE_ALIGNED16
Removed several places where variable was declared within for statement: for (int i=0; should be int i; for (i=0
 2008-11-12 18:37:05 +00:00
erwin.coumans
444fbfeb40 add obsolete 'getPoints' to be backwards compatible (breaks MayaPlugin) 2008-11-12 16:53:06 +00:00
erwin.coumans
1381394dd8 reverted 'getActiveObjects', island management will be improved for Bullet 2.74 release. 
The implementation was error-prone and could lead to crashes.

See http://code.google.com/p/bullet/issues/detail?id=128
 2008-11-11 16:19:20 +00:00
erwin.coumans
8865e38e5b bugfix: for btCompoundShape::getChildTransform: return (const) reference to btTransform, not a copy. 
added btCompoundShape::updateChildTransform
Thanks to ejtttje, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2831
 2008-11-10 09:04:04 +00:00
erwin.coumans
5dac27e694 fix in GIMPACT, reported here: http://code.google.com/p/bullet/issues/detail?id=118 
tweak character margin for smoother sliding (needs to be fixed properly)
 2008-11-08 21:33:37 +00:00
erwin.coumans
075ba0b9d9 Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation, but there are issues with large size rations. todo: fix this 
Make synchronizeMotionStates() pure virtual in btDynamicsWorld and public in btDiscreteDynamicsWorld. Thanks Chunky.
 2008-11-08 19:27:53 +00:00
erwin.coumans
3e9af21cec disable btActivatingCollisionAlgorithm 2008-11-08 17:14:13 +00:00
erwin.coumans
f6dcf94f25 Reduce default memory pool sizes (will use heap on overflow anyway), fits better with iPhone and consoles 
Debug drawer needs to iterate over all objects, not just active
 2008-11-08 06:37:48 +00:00
erwin.coumans
cef40e5cce no 'const int' but inline for a few methods 
remove redundant/unreachable 'breaks'
 2008-11-08 05:27:26 +00:00
erwin.coumans
88ac9e8bfe added btActivatingCollisionAlgorithm.* to build systems 2008-11-07 04:27:59 +00:00
erwin.coumans
345da029b9 minor issues, don't inline a out-of-line method, reorder members 2008-11-07 04:02:32 +00:00
erwin.coumans
86353f0ad8 add btActivationCollisionAlgoritm to fix deactivation problems, reported here: 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2616

provide access to active objects, requested here:
http://code.google.com/p/bullet/issues/detail?id=128
 2008-11-07 03:37:14 +00:00
erwin.coumans
9aadc53322 Add VERSION to CMake build. 
http://code.google.com/p/bullet/issues/detail?id=137
Removed TerrainDemo from AllBulletDemos, it isn't properly tested (has grinds to a halt after running it for a while, shooting some objects on it).
 2008-11-07 00:10:29 +00:00
erwin.coumans
a4c205afc0 enable convex separation util, potentially improves performance. set threshold to zero (docs follow) 
fix scaling issue with btConvexHullShape
use virtual getSupportingVertex on non-SPU platform
 2008-11-06 23:38:18 +00:00
john.mccutchan
9b5df088de Committing height field terrain work from tomva1@yahoo.com 2008-11-06 19:41:31 +00:00
erwin.coumans
2daf428386 updated CMake support: remove Lib prefix, to facilitate Apple Framework support, add App prefix for demos 
See discussion here: http://code.google.com/p/bullet/issues/detail?id=129
 2008-11-06 06:54:35 +00:00
erwin.coumans
108c88af41 Applied Cmakelist patch, adding Apple Framework support 
Disable libxml LIBXML_MODULE_EXTENSION
Fixed include path in btConeTwistConstraint (it should be relative to src folder, not using ../../ )
Thanks to ejtttje, http://code.google.com/p/bullet/issues/detail?id=129
 2008-11-06 06:02:38 +00:00
erwin.coumans
d25d264e77 Improved CharacterDemo/KinematicCharacterController, dynamic objects will bounce off. 
Don't create a todo list for doxygen by default (the chaotic todo's would confuse most developers)
Improve support for small objects, by having dynamic contact breaking thresholds. Still needs small internal timestep and some GJK improvements.
 2008-11-05 03:28:10 +00:00
erwin.coumans
f964c2f644 fix Cmake build files (CMakeList.txt) so it works with Cmake 2.4 again (only INSTALL feature requires Cmake 2.6) 2008-11-05 02:34:01 +00:00
erwin.coumans
ff29cb5008 reduce the number of dynamic memory allocations again (using a persistentStack version in btDbvt) 2008-11-04 18:02:41 +00:00
erwin.coumans
807e979597 missed a local stack in btDbvt 2008-11-04 17:54:41 +00:00
erwin.coumans
ef7d5e462d added TARGET_LINK_LIBRARIES, although commented-out (it might help others who want to enable shared libraries) 
http://code.google.com/p/bullet/issues/detail?id=97&can=1
 2008-11-04 10:49:02 +00:00
erwin.coumans
325fc0bab0 Improve CMake support: 
Add CMake install support for libbulletmath,libbulletcollision,libbulletdynamics,libbulletsoftbody,and toplevel include files
Options to enable/disable BUILD_DEMOS and BUILD_ETRAS

Fixed compile issue in BulletMultiThreaded
Fixed double-precision issues with btMatrix3x3::getEulerZYX
 2008-11-04 10:36:27 +00:00
erwin.coumans
ee380bcd09 Added CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE to be used to extend Bullet by custom shapes without modifying source code. 
Thanks to Ole K. for the suggestion:
http://code.google.com/p/bullet/issues/detail?id=125
 2008-11-04 09:43:34 +00:00
erwin.coumans
8e51049359 Added btAxisSweep3::resetPool, to avoid non-determinism due to unsorted linked-list, thanks to Ole K., See http://code.google.com/p/bullet/issues/detail?id=126 
Fixed recently introduced issue: can't re-use stack as member variable (to reduce memory allocs) in btDbvt, due to recursion.
remove btGjkEpa.* from Makefile.am, Makefile and CMakeLists.txt
avoid division-by-zero in ODE boxbox contact reduction
 2008-11-04 09:37:31 +00:00
erwin.coumans
bcd0f48c28 some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB), 
removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)
 2008-11-04 04:01:31 +00:00
erwin.coumans
8f181b5604 more work on IBM Cell SDK 3.1 build 2008-11-02 10:34:24 +00:00
erwin.coumans
a637a8c231 test10 
http://groups.google.com/group/tortoisesvn/browse_thread/thread/8f6c2c999cce861f
 2008-10-31 21:17:39 +00:00
erwin.coumans
6449438ef2 test9 2008-10-31 21:02:48 +00:00
erwin.coumans
632c3ca11f test3 2008-10-31 20:56:07 +00:00
erwin.coumans
da35b69e6d test2 2008-10-31 20:54:57 +00:00
erwin.coumans
ed8f568721 test commit following this discussion 
http://groups.google.com/group/tortoisesvn/browse_thread/thread/8f6c2c999cce861f
 2008-10-31 20:21:55 +00:00
erwin.coumans
f49e44b13c Don't search for duplicate vertices by default in btTriangleMesh, it is just too slow. 
See http://code.google.com/p/bullet/issues/detail?id=122
 2008-10-30 22:09:04 +00:00
erwin.coumans
2a871176d4 fix broken OS X build 2008-10-29 07:01:56 +00:00
erwin.coumans
487cc1cdf1 avoid a lot of dynamic allocations in btDbvt/btSoftBody (re-use stack) 
add Maya 2009 to Dynamica msvc projectfiles
 2008-10-29 06:27:40 +00:00
erwin.coumans
50930cec5c Some performance improvements and fixes related to btVector3 being aligned on SPU. 
btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
 2008-10-29 02:45:43 +00:00
erwin.coumans
28e580c203 removed STL usage of Extras/ConvexBuilder and replaced by btAlignedObjectArray 
fixed several warnings, thanks to sparkprime
added comments patch for linear math, thanks to Tully Foote
 2008-10-28 18:52:46 +00:00