Bullet Continuous Collision Detection and Physics Library Erwin Coumans 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)