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f7092c076775ff9dc63e7d5b45ff37a3a93c11c0
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262 Commits

Author SHA1 Message Date
erwin.coumans
f7092c0767 version update to 2.74 2009-02-06 05:02:33 +00:00
erwin.coumans
2162f6663d disable help text by default in AllBulletDemos (text slows down many graphics cards) 
improve CollisionDemo.cpp, show multi-contact generation using perturbation
improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support
Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive
Added missing projectfiles
Fixed single-shot contact generation. it is disabled by default to improve performance
Bugfixes for character controller, thanks to John McCutchan for reporting
Constraint solver: better default settings
btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free)
disable memalign by default, use Bullet's aligned allocator
 2009-02-06 03:20:43 +00:00
rponom
2766d19d65 Bug in 6DOF constraint fixed 
Twist is now locked when twistSpan == 0 for btConeTwistConstraint
Hinge axis for rigidBodyB is no longer flipped
 2009-02-06 00:04:32 +00:00
erwin.coumans
f4ad4b9d00 add generic btConeTwistConstraint::setLimit, and change defaults for limit drawing 2009-02-04 02:41:16 +00:00
rponom
2f23237185 Improved and more stable btConeTwistConstraint (thanks to Edy Boxerman) 2009-02-04 02:11:45 +00:00
erwin.coumans
0754876d77 Calculate multiple contact points (for convex-convex and convex-plane) when less then 3 points exist in the persistent manifold. 
Uses the normal pertubation method, described by Gino van den Bergen:  http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
Made btRigidBody::getInvInertiaDiagLocal const, thanks to abhikp (http://code.google.com/p/bullet/issues/detail?id=183 )
 2009-02-03 00:54:01 +00:00
erwin.coumans
57fb21879b Expose various advanced friction options to the developer, and use a higher-quality friction model by default, to match ODE quickstep constraint solver. 
Thanks to Martijn Reuvers for bringing this up, and reproduction case.
See issue here: http://code.google.com/p/bullet/issues/detail?id=177
 2009-01-20 01:21:48 +00:00
erwin.coumans
d1263be23f Fix compile error: invalid initialization of non-const reference of type ‘btVector3&’ from a temporary of type ‘btVector3’ 2009-01-16 05:21:54 +00:00
rponom
e7ca0e6a9c Bug in Generic 6DOF joint fixed 
Debug visualization of joint constraints was added
 2009-01-16 03:04:07 +00:00
rponom
33fe793bcd a bug in the btHingeConstraint motor for SIMD solver fixed 2009-01-13 20:23:29 +00:00
john.mccutchan
ff274a2e77 Allow setting up axis on kinematic character controller 2009-01-12 17:11:35 +00:00
rponom
682dd3262b Bug in the sign of linear motor force for btSliderConstraint fixed 2009-01-09 00:32:06 +00:00
john.mccutchan
a8ec916af0 Added Height Field Fluid Demo to Bullet. All code stored in the Demos/HeightFieldFluidDemo directory for now. 
Please see HfFluidDemo.cpp for examples of how to use the height field fluid along with buoyant collision shapes.

The implementation is still lacking in my ways:
1) Need to complete more collision algorithms for buoyant collision shapes
2) Support compound buoyant shapes
3) The buoyancy model isn't that great
4) Fluid volume can be lost over time
 2009-01-08 22:53:23 +00:00
rponom
1991bf3013 Added getInfo1()/ getInfo2() code for joints to support the new SIMD constraint solver 2008-12-25 02:13:46 +00:00
erwin.coumans
8ed2db9b42 finally applied this 'getGravity' patch, so getGravity matches setGravity. 
Thanks to Evgeny for the report/patch:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1852
http://code.google.com/p/bullet/issues/detail?id=23
 2008-12-09 02:16:05 +00:00
erwin.coumans
b89b71b38d improving the SSE constraint solver performance: avoid a FPU/minus operation, by replacing a _mm_add_ps(-normal,X) by _mm_sub_ps(X,normal) 2008-12-03 17:40:01 +00:00
erwin.coumans
452fd24501 use 0.2 for erp, 0.4 makes stacks very spungy 2008-12-03 06:09:25 +00:00
erwin.coumans
a064fd2052 Use the opposite constraint axis inside the constraint solver for the second object (-normal). 
This makes it easier to port existing constraints and makes it 100% compatible with ODE quickstep constraint layout (getInfo2)
 2008-12-03 04:52:23 +00:00
erwin.coumans
76b3e44117 Enable contact constraint in the obsolete/experimental SpuParallellSolverTask. It will be replaced by a better parallel constraint solver. 2008-12-02 07:39:13 +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
bfa8ebfbd8 fixes to keep compiler and unix/libspe developers happy 2008-12-01 16:22:43 +00:00
erwin.coumans
dd21959709 Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 07:24:39 +00:00
erwin.coumans
7341c6ee7e Minor fixes to keep trunk compiling, while doing the refactoring. 2008-12-01 06:55:27 +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
82047e601e updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables... 2008-11-26 00:27:35 +00:00
erwin.coumans
7dda192bfc duplicate class name causes crashes, thanks to Nado and mickey for the report 
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?t=2884
 2008-11-20 19:18:48 +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
686accab16 + repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE 
+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
 2008-11-16 05:48:42 +00:00
erwin.coumans
29bfd06af7 Disable friction warmstarting by default, removing second friction direction. This gives a large performance increase. 
friction warmstarting can be turned on using:
dynamicsWorld ->getSolverInfo().m_solverMode |= SOLVER_USE_FRICTION_WARMSTARTING;
 2008-11-15 22:20:55 +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
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
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
85341fee2a fix more places in btSoftBody that assume btRigidBody (it wasn't designed to support btCollisionObject/btGhostObject). 
Add another 'findActiveObject'
 2008-11-10 21:33:11 +00:00
erwin.coumans
049270bb29 add Character to Jamfile 2008-11-08 22:49:16 +00:00
erwin.coumans
556241c92f updated build system for BulletDynamics/Character files 2008-11-08 21:46:21 +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
f9aa7f3b53 Add Character control to btDiscreteDynamicsWorld (moved btCharacterControllerInterface/btKinematicCharacterController functionality from demo) 
Remove ibmsdk from CcdPhysicsDemo and CollisionDemo
 2008-11-08 21:01:20 +00:00
erwin.coumans
ce0bdd891d added synchronizeSingleMotionState, thanks Chunky. 2008-11-08 19:34:05 +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
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
1996004b01 removed a few unused variables 2008-11-08 05:29:19 +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
e9df33a6c5 fix issue, related to hard-coded rollaxis index, should use m_indexForwardAxis 
Thanks Joerg, luding.org
 2008-11-06 07:07:56 +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
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
8e0ee0ad74 Removed assert from rigidbody::setLinearVelocity/rigidbody::setAngularVelocity -> it can be useful for special effects. 2008-11-04 21:18:43 +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