erwin coumans
9379c7fb8c
enable mouse picking for BasicDemo (will move it to a shared code part soon)
2013-12-07 11:19:57 -08:00
erwincoumans
30a6fe705f
remove obsolete executables, prettify Bullet 2.x CPU BasicDemo a little bit.
2013-12-06 18:11:04 -08:00
erwincoumans
fca6d11381
created new Bullet 2 CPU BasicDemo, using the OpenGL 3 rendering. I will add picking soon. Hold ctrl/alt + mouse to move/zoom camera
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remove reference to btGImpact (it is removed now)
2013-12-06 17:48:58 -08:00
Erwin Coumans
bbb2c8a6f1
Merge branch 'bullet2stripped-master'
2013-12-06 15:32:59 -07:00
Erwin Coumans
f06312c632
remove most clutter (todo)
2013-12-06 15:29:13 -07:00
Erwin Coumans
9e9b172b23
Merge branch 'bullet2-master'
2013-12-06 15:09:34 -07:00
Erwin Coumans
ffbef54c4f
test
2013-12-06 15:06:54 -07:00
erwin.coumans@gmail.com
d48e2c717c
fix rotation correction in btFixedConstraint, see Issue 769
2013-12-04 19:06:28 +00:00
erwin.coumans@gmail.com
1362b6ab48
Fix convex cast normals for btScaledBvhTriangleShape: normals were already in world space
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See Issue 371 THere seems to be some other issues, need to get a reproduction case.
2013-11-26 18:44:06 +00:00
erwin.coumans@gmail.com
5910b42d8d
fix SIMD_2_PI macro, see Issue 773
2013-11-26 17:15:05 +00:00
erwin coumans
ec39c2f210
Removed to bitonic sort and ios, they were not used and confuse Bram :)
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http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=9570
2013-11-25 21:38:44 -08:00
erwin coumans
beb9e98cd3
expose the gUseLargeBatches as command-line argument --use_large_batches
2013-11-21 09:15:52 -08:00
erwin coumans
8a7ad65177
added a variation of the constraint solver, that works on CPU OpenCL (oneBigBatch), one stage (batching) happens on CPU for this mode
2013-11-21 09:15:42 -08:00
erwincoumans
1d5c651753
Use more shared data structures in src\Bullet3OpenCL\NarrowphaseCollision\kernels\satClipHullContacts.cl
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Revert default error func (was broken)
2013-11-19 17:52:59 -08:00
erwin coumans
26dfaa441e
add some command-line options
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--use_jacobi
--allow_opencl_cpu
b3LauncherCL constructor takes string, to make it easier to determine failing OpenCL kernel
b3SetCustomErrorMessageFunc, printf error and exit(0)
2013-11-19 13:42:53 -08:00
erwin.coumans
bda1fb7dd2
fix 64bit iOS,see also Issue 739
2013-11-18 22:17:00 +00:00
erwin.coumans@gmail.com
9aad92315b
Avoid crash in btCompoundCompoundCollisionAlgorithm if there is no tree for one of the btCompoundShapes
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Update the revision, to avoid clearing the child cache each frame
2013-11-17 20:35:35 +00:00
erwin.coumans@gmail.com
886650a038
fix 'unused' warning. Fixes Issue 770
2013-11-17 20:13:50 +00:00
erwin.coumans@gmail.com
673e74146e
only build demos using extras if BUILD_EXTRAS is on
2013-11-17 20:03:42 +00:00
erwincoumans
54909160a7
Update readme.txt
2013-11-12 09:46:44 -08:00
erwincoumans
1efecf9dba
Update readme.txt
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add explanation of a few new command-line parameters
2013-11-12 09:39:09 -08:00
erwincoumans
47d543f72b
update Win32 executable to start with the Samurai trimesh scene
2013-11-12 09:33:50 -08:00
erwincoumans
a78cbcf354
Accidently left some very slow copyToHost in the batching code, removing it makes it faster :-)
2013-11-12 09:03:30 -08:00
erwincoumans
f7abea1b2c
remove precompiled Windows binaries, they were just for the alpha pre-release download
2013-11-11 22:47:06 -08:00
erwincoumans
7796ca1de7
add Windows binaries for a release/tag
2013-11-11 22:23:19 -08:00
erwincoumans
472614772f
expose some more settings as command-line parameters:
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[--disable_shadowmap] [--shadowmap_size=int] [--shadowmap_resolution=<int>] [--use_jacobi] [--use_uniform_grid]
2013-11-11 22:20:21 -08:00
erwincoumans
5ce0b3938f
Re-introduce GPU parallel Jacobi solver, called btGpuJacobiContactSolver. There are still some issues, but for basic scene's it works.
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To avoid confusion, rename GPU contact solver to btGpuContactSolver, and constraint (non-contact) solver to btPgsConstraintSolver.
2013-11-11 21:15:06 -08:00
erwincoumans
ef6be5370d
more work towards hybrid of GPU grid and sap broadphase, separating small, large (moving) and static objects
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re-enable 'useNewBatchingKernel', it is slower but more robust
2013-11-11 02:19:04 -08:00
erwin coumans
d13de109a5
work towards re-enabling GPU grid broadphase (in addition to GPU sap bp)
2013-11-10 23:19:51 -08:00
erwincoumans
b0c43520e3
more work towards re-enabling grid broadphase.
2013-11-10 22:00:35 -08:00
erwincoumans
ad8585f184
prepare for btGpuGridBroadphase
2013-11-10 14:15:23 -08:00
erwincoumans
6b5921b1b3
added a basic test for SimpleOpenGL3
2013-11-09 13:09:11 -08:00
erwincoumans
8f3051fdf1
add ImplicitCloth demo, by Stan Melax
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add SimpleOpenGL3App, used in ImplicitCloth demo. The Bullet 3.x demos should use this as a template, it will clean up some of the mess.
2013-11-09 12:12:33 -08:00
erwincoumans
a6bc61ad1a
tweaked the particle demo a little bit
2013-11-08 23:21:01 -08:00
erwincoumans
768ea211a6
add a waiting message, during startup of a demo.
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fix an OpenCL kernel, broken in previous commit.
2013-11-07 16:47:18 -08:00
erwin coumans
e85bae5fe3
share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL)
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integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
2013-11-07 15:49:57 -08:00
erwin coumans
e20cb22832
share more data structures and code between OpenCL and C/C++ on CPU:
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move the setConstraint4/b3ConvertConstraint4 to shared code.
2013-11-07 12:46:01 -08:00
erwin coumans
a9a758dd54
share more code between OpenCL kernels and C++ by moving kernel data structures/code to the 'shared' folders
2013-11-06 19:57:36 -08:00
erwincoumans
82a6855f9e
fix OSX build
2013-11-05 14:09:35 -08:00
erwin coumans
9d96c24bee
fix a compile error in the debug/testing particles kernel
2013-11-04 23:46:03 -08:00
erwin.coumans@gmail.com
0536f986a6
apply patch: soft bodies should not collide with ghost objects.
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Thanks to Sergej Reich for the patch, fixes Issue 757
2013-11-04 01:12:52 +00:00
erwin.coumans@gmail.com
439ab03940
fix Mac OSX build (there is no such member called e.m128_f32[0]
2013-11-03 19:55:08 +00:00
erwin.coumans@gmail.com
218d4d1394
use a separate default cfm for the MLCP solver, it is a very sensitive value for Dantzig (and Lemke)
2013-10-31 16:52:32 +00:00
erwin.coumans@gmail.com
644d01d231
added the btNNCGConstraintSolver, based on the paper "Nonsmooth Nonlinear Conjugate Gradient Method for interactive
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contact force problems". The solver needs a lot of iterations, before the quality goes up (~ 1000)
Thanks to Gabor PUHR for the contribution!
Improved the btLemkeSolver.
Remove the sparse optimizations from the btMatrixX.h, replace it with explicit call to rowComputeNonZeroElements (only used in the btSolveProjectedGaussSeidel), it was likely slowing things down, without being useful.
Re-enable SIMD in the solver (was accidently disabled in Bullet 2.82 release)
2013-10-31 06:17:08 +00:00
erwin.coumans@gmail.com
6ca948e22f
make Lemke work with lower/upper bounds, using the BLCP to LCP conversion (using a dog-slow matrix inversion etc)
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for this conversion, see also https://github.com/erwincoumans/num4lcp/blob/master/matlab/test_lcp_bounds.m and
appendix A1 in http://www.cs.duke.edu/~parr/nips10.pdf , thanks to Kenny Erleben and Evan Drumwright for the tips!
(friction is not coupled to normal forces yet)
2013-10-30 00:02:13 +00:00
erwin.coumans@gmail.com
13936eb9a5
use square epsilon in btVector3::fuzzyZero (length2)
2013-10-29 22:53:01 +00:00
erwin.coumans
1a2c3c0ee9
Added a Lemke MLCP solver, extracted from the MBSim project, and re-licensed under the zlib license
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with permission of the original author.
The Lemke implementation is not fully working yet:
1) we need to convert the lo-high LCP problem into a problem without the lo/high
2) we need to sort out the remaining instabilities, and report a failure if the max loopcount is reached etc.
We replaced the fmatvec library with our own LinearMath/btMatrixX.h, and STL std::vector with btAlignedObjectArray
Removed some warnings/potential issues: use fuzzyZero instead of isZero, and some warnings,
related to this issue 756
2013-10-26 18:45:25 +00:00
erwin.coumans@gmail.com
19f999ac08
fix double precision, and remove alloca
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increase mass of the load, to show benefits of direct MLCP solver
move damping back to original location
2013-10-24 18:31:27 +00:00
erwin.coumans@gmail.com
5ca137cb54
fix autotools build, add MLCPSolvers and ForkLiftDemo
2013-10-24 02:27:37 +00:00
erwin.coumans@gmail.com
f5320e4106
add "latency motion state interpolation", using previous frame/current, instead of current->next
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See Demos/ForkLiftDemo for example (F7 to toggle, use single-frame stepping, press 'i' and 's' to see the effect)
2013-10-24 00:13:43 +00:00
