diff --git a/ChangeLog.txt b/ChangeLog.txt new file mode 100644 index 000000000..5c6c0ad6f --- /dev/null +++ b/ChangeLog.txt @@ -0,0 +1,220 @@ +Bullet Continuous Collision Detection and Physics Library +Erwin Coumans + +2006 Dec 14 + - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions + - added first draft for hingeConstraint motor + +2006 Dec 8, Erwin Coumans + - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment + - cleaned up dependencies in autogenerated msvc projectfiles + - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems + +2006 Dec 04, Erwin Coumans + Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences: + - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management) + - continuous collision detection, time of impact + Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class + Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied) + + +2006 Nov 28 + Moved StackAlloc from EPA into LinearMath/btStackAlloc + renamed internal class ConcaveShape into btConcaveShape + added btHeightfieldTerrainShape (not completed yet) + +2006 Nov 15 Nathanael Presson + Added EPA penetration depth algorithm, Expanding Polytope Algorithm + Added Pierre Terdiman penetration depth comparison/test DEMO + Fixed Bullet's Minkowski sampling penetration depth solver + Contributed by Nathanael Presson + +2006 Nov 11 Francisco León Nájera + Added GIMPACT trimesh collision detection: concave versus concave, + Contributed by Francisco León Nájera + +2006 Nov 2 + Minor refactoring: btCollisionObject changes from struct into class, added accessor methods + Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform + Renamed treshold into threshold throughout the code + +2006 Oct 30 + Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState + Enabled raycast vehicle demo (still needs tuning) + Refresh contact points, even when they are already persistent. + Fixed debugDraw colors (thanks pc0de for reporting) + Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave) + Improved performance of constraint solver by precalculating the cross product/impulse arm + Added collision comparison code: ODE box-box, also sphere-triangle + Added safety check into GJK, and an assert for AABB's that are very large + Fixed kinematic support (deriving velocities for animated objects) + Updated comparison/optional quickstep solver in Extras + UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version) + Removed scaling from btTransform (we only want to deal with rigid transforms) + +2006 Oct 4 + Fixed minor leak in btOptimizeBVH + Cleanup of btRigidBody construction + added getW() in btQuaternion + assert when setLinearVelocity is called on btRigidBody + renamed projectfile library from collada-dom to colladadom (to make VC6 happy) + +2006 Sept 27 + Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController. + All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase. + Moved classes into src folder, which is the only include folder needed. + Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h + +2006 Sept 23 + Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved. + +2006 Sept 19 + Allow programmable friction and contact solver model. User can register their own functions for several interaction types. + Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set) + +2006 Sept 16 + Added Bullet 2.0 User Manual + Allow registration of custom user collision algorithms + +2006 Sept 10 + Started cleaning up demos + +2006 Sept 4 + Fixed concave collision bug (caused instability/missing collisions in meshes/compounds) + Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld + Prepared for VehicleDemo + Increased Performance (island generation for sleeping objects took too much time) + Better COLLADA 1.4.1 physics conformance in ColladaDemo + +2006 August 11 + Added Quake BspDemo + Improved CCD for compound and non-convex objects + +2006 August 10 + Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage. + +2006 August 9 + Added CMake support (see http://cmake.org) + This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode ) + Just run cmake . in the root folder and it will autogenerate build files + +2006 July 26 Erwin Coumans + Upgraded to COLLADA-DOM 1.4.1, latest SVN version + ColladaDemo can export snapshots to .dae + +2006 July 24 Erwin Coumans + Added Compound CollisionShape support + (this is still low performance -> requires stackless tree-versus-tree traversal for better performance) + +2006 July 15 Erwin Coumans + Added initial support for Parallel execution (collision detection, constraint solving) + See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics + +2006 July 10 Erwin Coumans + Added MacOS X support (some build issues mainly) + +2006 July 5 Erwin Coumans + Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada + +2006 June 29 Erwin Coumans + Refactoring of the broadphase + Moved some optional files to Extras: Algebraic ccd and EPA, quickstep + Moved the limits on bodies/overlap to 32k and 65k + +2006 June 25 Erwin Coumans + Added basic Collision Filtering, during broadphase + Allow adding meshes to the TriangleIndexVertexArray, + (input for TriangleMeshShape) + Preparation for CompoundShape + +2006 June 19 Erwin Coumans + Added support for COLLADA Physics Import. + Both jam and Visual Studio can compile ColladaDemo + +2006 June 18 Dirk Gregorius + Started implementing Generic6DOF joint and setup basic interface + + +2006 June 17 Frank Richter + Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is + the next version released). + Updated files in mk/autoconf and mk/jam with copies from CS; fixes a + GLU detection issue on MinGW. + Set msvc/bullet_ico.ico as the default application icon. + Disabled exceptions for gcc builds. + Applied a patch from Michael D. Adams to fix a warning with gcc. +2006 jUNE 16 Erwin Coumans + Constraints now merge simulation islands. + +2006 May 24 + Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting + +2006 May 19 + Added restitution support + Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency) + Added a void* m_userPersistentData in ManifoldPoint. + Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData + +2006 May 13 + Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks! + +2006 May 9 + Fixed raycasting filtering + Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet + +2006 April 27 + Moved raycasting to CollisionWorld, to make it more generic + Added basic CCD option in the CcdCollisionDemo + Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries) + Improved Bullet/ODE sample (in Extras) + +2006 April 10 + Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs + Added SIMD SSE Math classes (for above SAT) + Added Mouse picking in CcdPhysicsDemo + Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance + Added Hinge constraint + Added quickprof profiling (see http://sourceforge.net/projects/quickprof ) + +2006 March 21 Frank Richter + Removed VC manifest files. + Removed superfluous "grpplugins" projects. + +2006 March 20 Erwin Coumans + Clamped the acculumated impulse rather then intermediate impulse (within the iteration) + Use the persistent contacts for reusing the impulse + Separated friction and normal solving for better stability + Decreased the default number of iterations of the constraint solver from 10 to 4 + +2006 March 19 Frank Richter + Removed a couple of CSisms from the VC projects. + Fixed VC include & lib paths to go to the Addtional* options + instead the command line arguments. + Added pkgconfig support. + +2006 March 14 Frank Richter + Added support for shipped GLUT on MinGW. + Fixed GLUT support on MinGW. + +2006 March 13 Frank Richter + Bolted on Jam-based build system. + Generated VC project files. + Fixed GCC warnings. + Fixed Linux build issues. + +2006 March 13 +Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs. + +2006 March 2 + Minor change in license to ZLib/LibPNG + This makes it legally a bit easier to deploy on Playstation 3 + Prepared for more generic constraints, added ConstraintsDemo + +2006 Feb 23 + Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics. + See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use. + + +... todo: add history + +2003 Initial version (continuous collision detection)