- fixing various race conditions throughout (usage of static vars, etc)
- addition of a few lightweight mutexes (which are compiled out by default)
- slight code rearrangement in discreteDynamicsWorld to facilitate multithreading
- PoolAllocator::allocate() can now be called when pool is full without
crashing (null pointer returned)
- PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe
(default is un-threadsafe)
- CollisionDispatcher no longer checks if the pool allocator is full
before calling allocate(), instead it just calls allocate() and
checks if the return is null -- this avoids a race condition
- SequentialImpulseConstraintSolver OPTIONALLY uses different logic in
getOrInitSolverBody() to avoid a race condition with kinematic bodies
- addition of 2 classes which together allow simulation islands to be run
in parallel:
- btSimulationIslandManagerMt
- btDiscreteDynamicsWorldMt
- MultiThreadedDemo example in the example browser demonstrating use of
OpenMP, Microsoft PPL, and Intel TBB
- use multithreading for other demos
- benchmark demo: add parallel raycasting
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
it works without OpenGL dependency now, so it runs in the cloud :-)
Add scaling support for TinyRenderer, remove some un-used normal mapping in TinyRenderer shader, expose light_dir_world,
remove accidental hard-coded path in tga write_tga_file,
Fix InverseDynamicsExampleCreateFunc, enum has to start at 0
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
