ejcoumans
b07bb88a2d
Added new EPA penetration depth solver
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improved gjk/minkowski sampling pd method
added original solver variant, use btSequentialImpulseConstraintSolver2
Added Pierre Terdimans PD testbed
2006-11-16 06:14:12 +00:00
ejcoumans
dcdfbe1680
more tweaking to get GJK more reliable
2006-11-15 02:23:45 +00:00
ejcoumans
b5afb11282
Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert.
2006-11-14 21:53:59 +00:00
ejcoumans
be175e888e
2006-11-14 05:09:11 +00:00
ejcoumans
711b737293
Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)
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Thanks a lot to Francisco León Nájera for the contribution!
2006-11-12 07:54:27 +00:00
ejcoumans
125a9c673d
Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)
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Thanks a lot to Francisco León Nájera for the contribution!
2006-11-12 07:46:30 +00:00
ejcoumans
5f91cc237d
updated demo, can't stepFront
2006-11-12 07:30:09 +00:00
ejcoumans
06a1de2574
updated build files for GIMPACT
2006-11-12 07:05:37 +00:00
ejcoumans
a9172d8684
Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)
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Thanks a lot to Francisco León Nájera for the contribution!
2006-11-12 06:15:19 +00:00
ejcoumans
86c27a7c9d
Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)
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Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
2006-11-11 23:59:51 +00:00
ejcoumans
18b0603c69
2006-11-11 19:33:19 +00:00
ejcoumans
aaa6b687a9
disable EPA demo
2006-11-11 06:49:17 +00:00
ejcoumans
98fa2a38e8
updated some jamfiles, for Extra folder
2006-11-11 06:40:55 +00:00
ejcoumans
8cbd721a1f
added some brute-force way to shrink convex polyhedra (to compensate collision margin)
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made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
2006-11-11 03:22:15 +00:00
ejcoumans
56e135874b
added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion.
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Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
2006-11-10 04:00:16 +00:00
ejcoumans
442ce2ec09
updated VehicleDemo to show Z as up-axis, rather then Y.
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proper gravity for BspDemo
2006-11-09 19:55:14 +00:00
ejcoumans
4ab4fc8bb1
Integrated fixes for Solaris from Noerghel, http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=673
2006-11-09 15:27:02 +00:00
ejcoumans
5102b7ac60
added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb
2006-11-09 04:43:18 +00:00
ejcoumans
6d47d9492e
added non-uniform scaling to btMultiSphereShape
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added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
2006-11-09 01:58:33 +00:00
ejcoumans
c3ed55057c
- added linear limits to btGeneric6DofConstraint and made sure the linear axis are in local space of objectA
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- use microseconds instead of milliseconds for deltatime
2006-11-07 02:32:52 +00:00
ejcoumans
074e2b2d3b
improved robustness of penetrations involving triangles and boxes, by adding their 'preferred' penetration directions.
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added wireframe/solid mode for meshes
updated solid penetration depth solver (comparison in Extras)
2006-11-05 05:12:10 +00:00
sjbaker
6c61060339
Cleaned up some compile-time warnings.
2006-11-04 15:34:56 +00:00
ejcoumans
23c64fb0db
more solver experiments, randomize the order of contact points, not just manifolds
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use #defines for constants, rather then const btScalar
2006-11-04 05:22:36 +00:00
ejcoumans
07873854a4
more small refactoring: some methods were still upper-case.
2006-11-03 04:32:48 +00:00
ejcoumans
4050da0e2f
One of the last parts of the refactoring (hopefully), made most members of btCollisionObject protected.
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Also did some work on improving the constraint solver.
2006-11-02 03:42:53 +00:00
ejcoumans
82ba30caa6
fixed 2 issues, one related to wrong 'safety' catch for large objects
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and COLLADA constaints didn't recognize rigid body names
2006-10-31 02:11:29 +00:00
ejcoumans
b14ccdaa57
rename treshold into thresold (spelling mistake)
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added cr/linefeed at end of btDefaultMotionState.h
2006-10-30 05:06:46 +00:00
ejcoumans
6232763f9e
fixed debugDraw colors (thanks pcOde http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=642 )
2006-10-29 18:54:09 +00:00
ejcoumans
733e135753
made the BulletDino a c-demo, to demonstrate future Bullet C-API
2006-10-29 16:26:19 +00:00
ejcoumans
507a06bc06
fixed Dino demo for Mac OS X
2006-10-29 14:48:55 +00:00
ejcoumans
82b310c9cd
prepared to add BulletDino, and made ForkLiftDemo compile (no functionality yet)
2006-10-29 06:34:58 +00:00
ejcoumans
d6c6cbaee6
enabled the vehicle demo again (still needs lots of tuning before it drives well)
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fixed some warnings
2006-10-29 03:36:16 +00:00
ejcoumans
caca3a1ca2
commented out some unused headerfile in the demo
2006-10-28 02:17:54 +00:00
ejcoumans
3fe3b11924
use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
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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
write partid/triangle index outside of GJK
2006-10-28 02:06:19 +00:00
ejcoumans
7987be45c5
added Pierre's PenetrationTestBullet.cpp
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See http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=638
2006-10-27 21:22:29 +00:00
ejcoumans
289c5ca7fe
improvements/bugfixes related to kinematic(animated) objects, synchronizeMotionStates
2006-10-19 15:20:38 +00:00
ejcoumans
d11572a4d7
case-issue, QuickProf->Quickprof
2006-10-19 05:33:36 +00:00
ejcoumans
940e753086
made demos working for realtime
2006-10-18 04:32:00 +00:00
ejcoumans
33b3ec94f1
more fixes, related to introduction of btMotionState, and using realtime timestep
2006-10-18 04:01:07 +00:00
ejcoumans
3a6942fb91
processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.
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renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
2006-10-18 03:28:42 +00:00
sjbaker
ef993557fe
Fixed elevation wrap-around problem in Demo's.
2006-10-15 19:10:30 +00:00
ejcoumans
b476223c45
added/documented some options
2006-10-14 00:16:55 +00:00
ejcoumans
3db4afa4ec
disable comparison by default
2006-10-14 00:06:46 +00:00
ejcoumans
d878885db4
updated quickstep solver (for comparison), enabled GPU physics again (but WIN32 doesn't have the VertexTextureSupport enabled)
2006-10-13 23:58:52 +00:00
ejcoumans
2c66be25fc
added cleanup memory for BasicDemo, and another pragma warning ignore
2006-10-13 23:24:09 +00:00
ejcoumans
f3b9dcd714
modified triangle mesh generation, to use btTriangleMesh, which is easier to build then the striding index/vertex arrays alternative.
2006-10-11 20:45:11 +00:00
ejcoumans
a337372905
added first draft of C-API, btConvexHullShape takes float* instead of btPoint*, added getGravity to btRigidBody
2006-10-11 06:07:14 +00:00
ejcoumans
f3eb3cfa37
Added a very basic dynamics demo, only using spheres (and optionally boxes)
2006-10-09 20:41:18 +00:00
ejcoumans
bf847b839a
another large series of changes, related to the refactoring.
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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
2006-10-06 05:22:13 +00:00
ejcoumans
97b287a6bc
updated Jam buildsystem to link properly under systems that rely on strict ordering of the link libraries
2006-10-05 14:05:09 +00:00
