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262 Commits

Author SHA1 Message Date
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
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
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
erwin.coumans
003b6fa669 removed some warnings, as reported here: 
http://code.google.com/p/bullet/issues/detail?id=123
Thanks sparkprime
 2008-10-27 20:20:28 +00:00
erwin.coumans
6f28170422 Removed obsolete btPoint3: use btVector3 instead 2008-10-27 19:56:48 +00:00
erwin.coumans
6fcd824524 Applied filtering flags for CCD Motion Clamping, thanks to Bbilz, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2736 2008-10-16 20:17:56 +00:00
erwin.coumans
e6c850f13b Fix/improve raycast performance for btBvhTriangleMeshShape (btQuantizedBvh, btOptimizedBvh) 
Add raycast acceleration for btAxisSweep3, using btDbvtBroadphase, providing large speedup. Can be disabled in constructor to safe memory.
 2008-10-14 20:24:28 +00:00
erwin.coumans
780350a9e1 Fix copy/paste bug, resulting in wrong friction warmstarting, 
thanks to sandeep_slash, http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2724
 2008-10-14 04:44:24 +00:00
erwin.coumans
a42b7d93f1 Stop resitution for resting contact, after n frames (can be controlled by btContactSolverInfo.m_restingContactRestitutionThreshold 
Thanks Jan Bender for bringing this up
 2008-10-09 16:24:00 +00:00
erwin.coumans
9f28b2bc12 Improve damping formula in btRigidBody::applyDamping 
Thanks to sparkprime, see http://code.google.com/p/bullet/issues/detail?id=74
Fixed btCompoundShape/btCapsuleShape/btGImpactShape for missing m_shapeType, and added an assert in DemoApplication::localCreateRigidBody for invalid shape types.
 2008-09-30 00:34:58 +00:00
erwin.coumans
d7b635cabf logic bug in (de)activation/island management: deactivated 'fantom' objects do merge islands, in particular when connected by constraints. (fantom = object with collision detection but no collision response). 2008-09-23 04:57:20 +00:00
rponom
486b172f58 Bug in constructor btHingeConstraint(body, pivot, axis) fixed. Build under MSVC 7.1 fixed 2008-09-19 21:10:01 +00:00
erwin.coumans
d1318a05b3 Add plNearestPoints, contribution from Blender 
Thanks!
 2008-09-13 06:55:34 +00:00
rponom
ddccc2797a More stable btConeTwistConstraint to fix the RagdollDemo 2008-09-12 02:55:03 +00:00
erwin.coumans
fae48b5c25 some more improvements to support basic CCD motion clamping 2008-09-11 23:50:50 +00:00
rponom
b0d6ba845e btHingeConstraint solver changed to improve stability and allow to fix joint 2008-09-11 20:28:05 +00:00
erwin.coumans
569946a96f added some debugging variable for CCD motion clamping 2008-09-11 18:44:30 +00:00
erwin.coumans
60fa900995 Added CCD motion camping, to avoid tunneling. 
Not as versatile compared to btContinuousDynamicsWorld but still useful.
 2008-09-11 18:13:56 +00:00
rponom
65f8a7e70e Current slider position member and access function added 2008-09-06 00:55:26 +00:00
erwin.coumans
cef07cfa20 Revert to max 1 substep by default: increased maxSubSteps to 10 make debug version way too slow. 
Use btDbvtBroadphase in BasicDemo and CcdPhysicsDemo.
 2008-09-05 01:41:32 +00:00
erwin.coumans
d8a5bf2c9c Calculation of bounding box: margins should be added before basis transform. 
Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
 2008-09-04 22:53:24 +00:00
erwin.coumans
80f80df7e3 set linear/angular velocity to zero when objects are asleep 
Thanks to  http://code.google.com/p/bullet/issues/detail?id=73
improve performance of btConvexTriangleMeshShape::recalcLocalAabb
Thanks to fullmetalcoder, http://code.google.com/p/bullet/issues/detail?id=67#makechanges
 2008-08-29 05:30:50 +00:00
erwin.coumans
6be5d00c95 Don't collide wheels with no-contact rigid bodies (sensors/triggers), 
Thanks Murphy for the report and bugfix,
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2510
 2008-08-29 04:35:26 +00:00
erwin.coumans
5fd1a69f32 Added some comments for stepSimulation and fixed bug: uninitialized variable m_shapeDrawer(drawer) in DebugCastResult.h 2008-08-28 02:01:23 +00:00
erwin.coumans
07b577fd86 make debugDrawWorld virtual for btSoftRigidDynamicsWorld 
Move btSoftBodyWorldInfo to public, instead of nested, so it can be easier forward declared.
See http://code.google.com/p/bullet/issues/detail?id=78

Add get methods for damping/thresholds, see http://code.google.com/p/bullet/issues/detail?id=77
 2008-08-19 16:09:04 +00:00
erwin.coumans
7838a5c980 provide interface for setting the number of tasks (unused in the btDiscreteDynamicsWorld). 2008-08-07 00:02:37 +00:00
erwin.coumans
af4520801b + Fix btSubsimplexConvexCast 
Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
 2008-07-31 19:44:28 +00:00
erwin.coumans
9cd83c004b + add dummy getcwd/getenv for PS3 compatibility 
+ disable HAVE_SIGNAL_H 0 for LibXML
+ removed unused variable in btCollisionWorld
+ removed unused variable in btSequentialImpulseConstraintSolver
 2008-07-28 23:15:43 +00:00
erwin.coumans
3483e2dfc8 Fix btSoftBody so it compiles with older compilers, such as MSVC 6.0 
Add support for angularFactor for applyForce, see http://code.google.com/p/bullet/issues/detail?id=59&can=1
 2008-07-22 15:00:25 +00:00
erwin.coumans
fe5033119b Add some accessor methods to btHingeConstraint and btSliderConstraint, to allow conversion. 
Thanks to Roman Ponomarev.
 2008-07-22 02:15:17 +00:00
erwin.coumans
884a494412 make the source code compile with older compilers again (Visual Studio 2006 in particular) 
renamed btDbvt::Volume to btDbvtVolume and btDbvt::Node to btDbvtNode to distinguish from btSoftBody::Node
 2008-07-15 23:27:18 +00:00
erwin.coumans
1c0fa00bc7 + provide access to 'root' collision shape, in case the original collision shape is temporarily replaced by a child collision shape. 
+ added MultiMaterialDemo showing how to use the new btTriangleIndexVertexMaterialArray.
Thanks to Alex Silverman for this contribution!
 2008-07-10 22:19:30 +00:00
erwin.coumans
b66e5350d0 rename HasHit method to hasHit 
rename AddSingleResult to addSingleResult
moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
 2008-07-09 23:30:21 +00:00
erwin.coumans
dcd57f333b + improved KinematicCharacterController 
+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)
 2008-07-09 00:08:49 +00:00
erwin.coumans
db146019f1 Fixed debug drawing for btCapsuleShapeX and btCapsuleShapeZ 2008-07-02 23:07:27 +00:00
erwin.coumans
8028fa4999 debug draw contact numbers in black, not green (hurts the eyes) 2008-05-29 05:37:50 +00:00
erwin.coumans
d49aeb9dff + improved split impulse constraint solver option 
+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
 2008-05-29 03:33:32 +00:00
erwin.coumans
88ee734bfb added custom memory allocator registration, thanks to Sly. 
call CProfileManager::CleanupMemory(), to cleanup btQuickprof memory.
changed include from #include <new.h> to #include <new> in btOdeQuickstepConstraintSolver.cpp
 2008-05-24 06:10:09 +00:00
erwin.coumans
f8e5481612 Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm) 
virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
 2008-05-24 04:23:00 +00:00
rponom
6141a55f09 Added linear and angular motors for the slider constraint 2008-05-23 22:52:51 +00:00
erwin.coumans
561066af75 + make compound versus soft body work (soft body uses interpolated transform) 
+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
 2008-05-23 09:05:37 +00:00
erwin.coumans
bd97c5e569 Fixed warnings in Bullet/src core library 
Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch

To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
 2008-05-10 18:00:21 +00:00
erwin.coumans
621be07178 move the SoftBody work into its own library, BulletSoftBody (work in progress) 2008-04-11 18:41:07 +00:00
erwin.coumans
fd5057ec5a fixed build/project files 2008-04-10 21:28:37 +00:00
erwin.coumans
1139c06a4d more soft body preparations, moved some parts from Demo/SoftBody to src/BulletDynamics/SoftBody 
moved Extras/ConvexHull/btConvexHull.* to src/LinearMath/btConvexHull.*
removed btCollisionObject::m_internalOwner, replaced it by m_internalType. This should not affect external API (it was clearly marked as internal)
 2008-04-10 20:00:41 +00:00
erwin.coumans
b32d6f790f added btInternalTickCallback, see btDynamicsWorld::setInternalTickCallback 
Thanks chunky!

http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1991
 2008-04-08 02:51:49 +00:00
erwin.coumans
06bae58536 patch for the constructor of the btHingeConstraint. Thanks LvR and eddybox! 
http://code.google.com/p/bullet/issues/detail?id=47
 2008-04-07 23:27:03 +00:00
erwin.coumans
569a949ae3 fixes in btQuaternion::inverse, fixed in btConeTwistConstraint, RagdollDemo and BenchmarkDemo. 
Some constraint limits for btConeTwistConstraint might need to flip sign now.
 2008-04-07 21:58:36 +00:00