~ubuntu-branches/ubuntu/vivid/emscripten/vivid

- Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned

110

- Moved BulletMultiThreaded from Extras to /src/BulletMultiThreaded for better integration

111

112

113

2008 October 3

114

- Add support for autoconf automake

115

./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.

116

- Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory

117

118

2008 Sept 30

119

- Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes

120

- Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA

121

122

2008 Sept 28

123

- Fixed rotation issues in Dynamic Maya Plugin

124

125

2008 Sept 11

126

- Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.

127

128

2008 Sept 7

129

- Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.

130

131

2008 Sept 5

132

- Enabled Demos/ForkLiftDemo

133

Thanks Roman Ponomarev.

134

135

2008 Sept 4

136

- Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.

137

Thanks to the particle demo from the NVidia CUDA SDK.

138

139

2008 Sept 3

140

- Several bug fixes and contributions related to inertia tensor, memory leaks etc.

141

Thanks to Ole K.

142

143

2008 Sept 1

144

- Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework

145

Thanks to Pierre Terdiman for the update

146

147

2008 August 25

148

- Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.

149

Thanks to Nicola Candussi and Arthur Shek

150

151

2008 August 14

152

- Improved performance for btDbvtBroadphase, based on dual dynamic AABB trees (one for static, one for dynamic objects, where objects can move from one to the other tree)

153

Thanks to Nathanael Presson again, for all his work.

154

155

2008 July 31

156

- Added Havok .hkx to COLLADA Physics .dae converter patch+information

157

- Fix btSubsimplexConvexCast

158

Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)

159

- Fix in rendering, GL_STENCIL

160

- btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,

161

- Made InternalProcessAllTriangles virtual, thanks to

162

Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401

163

- clamp impulse for btPoint2PointConstraint

164

Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418

165

- Free memory of bvh, pass in scaling factor (optional)

166

Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375

167

168

2008 July 27

169

170

btDbvtBroadphase:

171

- Fixed a performance issues reported by 'reltham'

172

- Added btDbvtBroadphase::optimize() for people who want good performances right

173

away or don't do dynamics.

174

- fixed compilation issues when DBVT_BP_PROFILE was set.

175

btSoftBody:

176

- Fixed singular matrix issues related to polar decomposition (flat meshes).

177

DemoApplication:

178

- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).

179

- Texture can be enable/disable through 'u'

180

CDFramework:

181

- fixed compilation issues.

182

All thanks to Nathanael Presson

183

184

2008 July 10

185

- Added btMultimaterialTriangleMeshShape and MultiMaterialDemo

186

Thanks to Alex Silverman for the contribution

187

188

2008 June 30

189

- Added initial support for kinematic character controller

190

Thanks to John McCutchan

191

192

2008 April 14

193

- Added ray cast support for Soft Bodies

194

Thanks to Nathanael Presson for the contribution

195

196

2008 April 9

197

- Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision

198

199

2008 April 4

200

- Added btSliderConstraint and demo

201

Thanks Roman Ponomarev

202

203

2008 April 3

204

- Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast

205

206

2008 April 2

207

- Added Extras/CdTestFrameWork

208

Thanks Pierre Terdiman

209

210

2008 April 1

211

- Added posix thread (pthread) support

212

Thanks Enrico

213

214

2008 March 30

215

- Added Soft Body, cloth, rope and deformable volumes, including demos and interaction

216

Thanks Nathanael Presson for this great contribution

217

218

2008 March 17

219

- Improved BulletColladaConverter

220

Thanks John McCutchan

221

222

2008 March 15

223

- btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.

224

- Allow btOptimizedBvh to be used for arbitrary objects, not just triangles

225

- added quicksort to btAlignedObjectArray

226

- removed btTypedUserInfo, added btHashMap

227

228

2008 March 30

229

- Moved quickstep solver and boxbox into Bullet/src folder

230

Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license

231

232

2008 Feb 27

233

- Added initial version for Character Control Demo

234

- Applied fixes to IBM Cell SDK 3.0 build makefiles

235

Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922

236

237

2008 Feb 8

238

- Bugfixes in ConvexCast support against the world.

239

Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823

240

241

2008 Feb 6

242

- Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)

243

244

2008 Feb 3

245

- Added btTypedUserInfo, useful for serialization

246

247

2008 Jan 31

248

- Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.

249

250

2008 Jan 29

251

- Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.

252

253

2008 Jan 23

254

- Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.

255

256

2008 Jan 14

257

- Add support for batch raycasting on SPU / BulletMultiThreaded

258

259

2007 Dec 16

260

- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.

261

Thanks Vangelis Kokkevis for pointing this out.

262

- Fixed memoryleak in the ConstraintDemo and Raytracer demo.

263

- Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.

264

Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780

265

- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.

266

- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).

267

User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.

268

269

2007 Dec 14

270

- Added Hello World and BulletMultiThreaded demos

271

- Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)

272

- Add Cmake support for AllBulletDemos

273

274

275

2007 Dec 11

276

- Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.

277

See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601

278

- Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling

279

Thanks Andy O'Neil for reporting the performance/functionality issue

280

- Fixes for IBM Cell SDK 3.0

281

Thanks to Jochen Roth for the patch.

282

283

2007 Dec 10

284

- Fixes in btHeightfieldTerrainShape

285

Thanks to Jay Lee for the patch.

286

287

2007 Dec 9

288

- Only update aabb of active objects

289

Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )

290

- Added workaround to compile libxml under Visual Studio 2008 Beta 2

291

- Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)

292

293

2007 Dec 6

294

- Added DynamicControlDemo, showing dynamic control through constraint motors

295

Thanks to Eddy Boxerman

296

- Add support for generic concave shapes for convex cast.

297

- Added convex cast query to collision world.

298

- Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)

299

- Added concave raycast demo

300

All above thanks to John McCutchan (JMC)

301

- Fixed issues that prevent Linux version to compile.

302

Thanks to Enrico for reporting and patch, see

303

- Fixed misleading name 'numTriangleIndices' into 'numTriangles'

304

Thanks Sean Tasker for reporting:

305

306

2007 Nov 28:

307

- Added raycast against trianglemesh. Will be extended to object cast soon.

308

Thanks John McCutchan (JMC)

309

- make getNumPoints const correct, add const getPoints().

310

Thanks Dirk Gregorius

311

- Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.

312

Thanks Andy O'Neil for pointing this out.

313

- Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)

314

Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681

315

316

317

2007, November 20

318

- Added hierarchical profiling

319

- Fixed memory leak in btMultiSapBroadphase,

320

- Fixed hash function (typo, should use 2 proxies)

321

Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696

322

323

2007 Nov 11

324

- Fixed parallel solver (BulletMultiThreaded) friction issue

325

- Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)

326

327

2007 Nov 6

328

- Added support for 16-bit indices for triangle meshes

329

- Added support for multiple mesh parts using btBvhTriangleMeshShape.

330

Thanks to Tim Johansson

331

332

2007 Oct 22

333

- All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks

334

- added a few more demos to AllBulletDemos

335

- fix for one of the constructors of btHingeConstraint

336

Thanks Marcus Hennix

337

338

2007 Oct 20

339

- included glui, a GLUT/OpenGL based toolkit for some graphical user elements

340

Removed dynamic_cast from glui, to allow linkage without rtti

341

- added Box2D framework using glui, allowing all demos to run within one executable

342

Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)

343

344

2007 Ocy 17

345

- Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this

346

347

2007 Oct 14

348

- Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.

349

This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions

350

(Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)

351

Thanks to IBM 'Extreme Blue' project for the contribution

352

http://www-913.ibm.com/employment/us/extremeblue/

353

Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann

354

for various contributions to get this initial Libspe2 parallel version up and running.

355

356

2007 Oct 13

357

- made 'btCollisionShape::calculateLocalInertia' const

358

Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514

359

- applied a large patch to remove warnings

360

Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568

361

- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight

362

363

2007 Oct 11

364

- added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)

365

- modified some margins inside btBoxShape, btCylinderShape and btSphereShape

366

- added cone debug rendering (for cones with x, y and z up-axis)

367

- added improvements for optional Extra/quickstep, thanks to Remotion

368

- some performance improvements for Bullet constraint solver

369

370

2007 Sept 28

371

- upgraded GIMPACT to version 0.3

372

Thanks to Francisco Leon

373

374

2007 Sept 27

375

- added contribution from IBM Extreme Blue project for Libspe2 support. This allow to execute BulletMultiThreaded on Cell SPU under PS3 Linux and Cell Blade. See http://www-913.ibm.com/employment/us/extremeblue

376

Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.

377

378

2007 Sept 13

379

- Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo

380

- Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.

381

For both patches/improvements thanks Francisco Leon/projectileman

382

383

2007 Sept 10

384

- removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux

385

386

2007 Sept 10

387

- Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.

388

- Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values

389

- 16 byte memory alignment for BVH serialization

390

- memory cleanup for btPoolAllocator

391

392

2007 Sept 9

393

- Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.

394

Thanks to Phil Knight for the contribution.

395

- Fixed issues related to stack allocator/compound collision algorithm

396

Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460

397

- Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory

398

- Removed accidential testing code in btScalar.h related to operator new.

399

- Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template

400

401

2007 Sept 7

402

- Replaced several dynamic memory allocations by stack allocation and pool allocations

403

- Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360

404

Thanks to Phil Knight. Also see www.cellperformance.com for related articles

405

- Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration

406

This is an API change. See demos how to modify existing implementations with a one-liner.

407

- Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)

408

- Use other traveral method for BVH by default, this improves triangle mesh collision performance.

409

410

2007 Aug 31

411

- fixed MSVC 6 build

412

Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375

413

- fixed double precision build issues

414

Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434

415

416

2007 Aug 24

417

- fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).

418

Thanks to Jay Lee

419

420

2007 Aug 15

421

- fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes

422

Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368

423

424

2007 Aug 14

425

- added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).

426

See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp

427

Thanks Marten Svanfeldt (Starbreeze Studios)

428

- fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)

429

Thanks Marten Svanfeldt (Starbreeze Studios)

430

431

2007 Aug 2

432

- added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt

433

- refactored broadphase and overlapping pair cache. This allows performance improvement by combining multiple broadphases. This helps add/remove of large batches of objects and large worlds. See also Pierre Terdiman forum topic:

434

http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329

435

436

437

2007 July 27

438

- added Ragdoll Demo

439

Thanks to Marten Svanfeldt (Starbreeze Studios)

440

441

- added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)

442

See Bullet/Extras/vectormathlibrary

443

Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version

444

Will be used to improve BulletMultiThreaded performance

445

Open Sourced by Sony Computer Entertainment Inc. under the new BSD license

446

- added SIMD math library

447

4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.

448

Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.

449

See Bullet/Extras/simdmathlibrary

450

Open sourced by Sony Computer Entertainment Inc. under the new BSD license

451

452

453

2007 July 25

454

- added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it

455

Thanks to Marten Svanfeldt (Starbreeze Studios)

456

457

2007 July 13

458

- fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)

459

Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"

460

461

2007 July 10

462

- Updated Bullet User Manual

463

464

2007 July 5

465

- added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo

466

Thanks to Marten Svanfeldt (Starbreeze Studios)

467

468

2007 June 29

469

- btHeightfieldTerrainShape: Added heightfield support, with customizations

470

- Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo

471

- Several patches from Marten Svanfeldt (Starbreeze Studios)

472

Improved collision filtering (in broadphase and rigidbody)

473

Improved debug rendering

474

Allow to set collision filter group/mask in addRigidBody

475

476

477

2007 June 15

478

- Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).

479

480

2007 June 11

481

- Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)

482

Libspe2 support for Cell Blade / PS3 Linux is upcoming

483

See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher

484

485

- Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA

486

See Extras/BulletX

487

Thanks to KleMiX, aka Vsevolod Klementjev

488

489

2007 May 31

490

- sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.

491

Thanks DevO for reporting.

492

493

2007 May 23

494

- Fixed quantization problem for planar triangle meshes in btOptimizedBvh

495

Thanks Phil Knight for reporting and helping to fix this bug.

496

497

2007 May 20

498

- btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.

499

Thanks tbp for more details on reproducing case.

500

- btAxisSweep3: Fixed issue with full 32bit precision btAxisSweep3 (define BP_USE_FIXEDPOINT_INT_32), it used only 0xffff/65536 for quantization instead of full integer space (0xffffffff)

501

- btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions

502

- Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).

503

Thanks Volker for reporting!

504

- Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works

505

506

2007 April 22

507

- Added braking functionality to btRaycastVehicle

508

- Removed tons of warnings, under MSVC 2005 compilation in -W4

509

510

2007 March 21

511

- Fixed issues: comma at end of enum causes errors for some compilers

512

- Fixed initialization bug in LocalRayResult ( m_localShapeInfo(localShapeInfo) )

513

514

2007 March 20

515

- Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.

516

517

2007 March 17

518

- Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)

519

- These optimizations don't give large benefit yet, but it has good potential. Turned on by default. Can be switched off using solver->setSolverMode(SOLVER_RANDMIZE_ORDER).

520

- Enabled anti-jitter for rigid bodies. This is experimental, and can be switched off by setting a global (it is experimental so no proper interface) gJitterVelocityDampingFactor = 1.0;

521

- Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)

522

523

2007 March 12

524

- Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.

525

This allows the number of bodies to exceed 32767

526

- Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo

527

528

2007 March 8

529

- Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)

530

Thanks Clemens Unterkofler for pointing this out!

531

532

2007 March 6

533

- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).

534

- added heap sort and binary search/linear search to btAlignedObjectArray

535

- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015

536

537

538

2007 Feb 25

539

- Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels

540

541

2007 Feb 24

542

- Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.

543

Should be faster and smaller then original version (quantized aabb check is done in integer space)

544

Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.

545

- added meter-unit scaling support in ColladaConverter.cpp

546

547

2007 Feb 21

548

- Build system: updated bullet.pc.in library names

549

- Updated EPA comparison integration (missing parameter)

550

551

2007 Jan 04

552

- fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow

553

554

2006 Dec 15

555

- added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet

556

557

2006 Dec 14

558

- merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions

559

- added first draft for hingeConstraint motor

560

561

2006 Dec 8, Erwin Coumans

562

- preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment

563

- cleaned up dependencies in autogenerated msvc projectfiles

564

- aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems

565

566

2006 Dec 04, Erwin Coumans

567

Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:

568

- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)

569

- continuous collision detection, time of impact

570

Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class

571

Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)

572

573

574

2006 Nov 28

575

Moved StackAlloc from EPA into LinearMath/btStackAlloc

576

renamed internal class ConcaveShape into btConcaveShape

577

added btHeightfieldTerrainShape (not completed yet)

578

579

2006 Nov 15 Nathanael Presson

580

Added EPA penetration depth algorithm, Expanding Polytope Algorithm

581

Added Pierre Terdiman penetration depth comparison/test DEMO

582

Fixed Bullet's Minkowski sampling penetration depth solver

583

Contributed by Nathanael Presson

584

585

2006 Nov 11 Francisco Le�n N�jera

586

Added GIMPACT trimesh collision detection: concave versus concave,

587

Contributed by Francisco Le�n N�jera

588

589

2006 Nov 2

590

Minor refactoring: btCollisionObject changes from struct into class, added accessor methods

591

Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform

592

Renamed treshold into threshold throughout the code

593

594

2006 Oct 30

595

Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState

596

Enabled raycast vehicle demo (still needs tuning)

597

Refresh contact points, even when they are already persistent.

598

Fixed debugDraw colors (thanks pc0de for reporting)

599

Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

600

Improved performance of constraint solver by precalculating the cross product/impulse arm

601

Added collision comparison code: ODE box-box, also sphere-triangle

602

Added safety check into GJK, and an assert for AABB's that are very large

603

Fixed kinematic support (deriving velocities for animated objects)

604

Updated comparison/optional quickstep solver in Extras

605

UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)

606

Removed scaling from btTransform (we only want to deal with rigid transforms)

607

608

2006 Oct 4

609

Fixed minor leak in btOptimizeBVH

610

Cleanup of btRigidBody construction

611

added getW() in btQuaternion

612

assert when setLinearVelocity is called on btRigidBody

613

renamed projectfile library from collada-dom to colladadom (to make VC6 happy)

614

615

2006 Sept 27

616

Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.

617

All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.

618

Moved classes into src folder, which is the only include folder needed.

619

Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h

620

621

2006 Sept 23

622

Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.

623

624

2006 Sept 19

625

Allow programmable friction and contact solver model. User can register their own functions for several interaction types.

626

Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)

627

628

2006 Sept 16

629

Added Bullet 2.0 User Manual

630

Allow registration of custom user collision algorithms

631

632

2006 Sept 10

633

Started cleaning up demos

634

635

2006 Sept 4

636

Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)

637

Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld

638

Prepared for VehicleDemo

639

Increased Performance (island generation for sleeping objects took too much time)

640

Better COLLADA 1.4.1 physics conformance in ColladaDemo

641

642

2006 August 11

643

Added Quake BspDemo

644

Improved CCD for compound and non-convex objects

645

646

2006 August 10

647

Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.

648

649

2006 August 9

650

Added CMake support (see http://cmake.org)

651

This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )

652

Just run cmake . in the root folder and it will autogenerate build files

653

654

2006 July 26 Erwin Coumans

655

Upgraded to COLLADA-DOM 1.4.1, latest SVN version

656

ColladaDemo can export snapshots to .dae

657

658

2006 July 24 Erwin Coumans

659

Added Compound CollisionShape support

660

(this is still low performance -> requires stackless tree-versus-tree traversal for better performance)

661

662

2006 July 15 Erwin Coumans

663

Added initial support for Parallel execution (collision detection, constraint solving)

664

See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics

665

666

2006 July 10 Erwin Coumans

667

Added MacOS X support (some build issues mainly)

668

669

2006 July 5 Erwin Coumans

670

Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada

671

672

2006 June 29 Erwin Coumans

673

Refactoring of the broadphase

674

Moved some optional files to Extras: Algebraic ccd and EPA, quickstep

675

Moved the limits on bodies/overlap to 32k and 65k

676

677

2006 June 25 Erwin Coumans

678

Added basic Collision Filtering, during broadphase

679

Allow adding meshes to the TriangleIndexVertexArray,

680

(input for TriangleMeshShape)

681

Preparation for CompoundShape

682

683

2006 June 19 Erwin Coumans

684

Added support for COLLADA Physics Import.

685

Both jam and Visual Studio can compile ColladaDemo

686

687

2006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>

688

Started implementing Generic6DOF joint and setup basic interface

689

690

691

2006 June 17 Frank Richter <resqu@gmx.ch>

692

Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is

693

the next version released).

694

Updated files in mk/autoconf and mk/jam with copies from CS; fixes a

695

GLU detection issue on MinGW.

696

Set msvc/bullet_ico.ico as the default application icon.

697

Disabled exceptions for gcc builds.

698

Applied a patch from Michael D. Adams to fix a warning with gcc.

699

2006 jUNE 16 Erwin Coumans

700

Constraints now merge simulation islands.

701

702

2006 May 24

703

Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting

704

705

2006 May 19

706

Added restitution support

707

Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)

708

Added a void* m_userPersistentData in ManifoldPoint.

709

Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData

710

711

2006 May 13

712

Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!

713

714

2006 May 9

715

Fixed raycasting filtering

716

Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet

717

718

2006 April 27

719

Moved raycasting to CollisionWorld, to make it more generic

720

Added basic CCD option in the CcdCollisionDemo

721

Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)

722

Improved Bullet/ODE sample (in Extras)

723

724

2006 April 10

725

Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs

726

Added SIMD SSE Math classes (for above SAT)

727

Added Mouse picking in CcdPhysicsDemo

728

Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance

729

Added Hinge constraint

730

Added quickprof profiling (see http://sourceforge.net/projects/quickprof )

731

732

2006 March 21 Frank Richter <resqu@gmx.ch>

733

Removed VC manifest files.

734

Removed superfluous "grpplugins" projects.

735

736

2006 March 20 Erwin Coumans

737

Clamped the acculumated impulse rather then intermediate impulse (within the iteration)

738

Use the persistent contacts for reusing the impulse

739

Separated friction and normal solving for better stability

740

Decreased the default number of iterations of the constraint solver from 10 to 4

741

742

2006 March 19 Frank Richter <resqu@gmx.ch>

743

Removed a couple of CSisms from the VC projects.

744

Fixed VC include & lib paths to go to the Addtional* options

745

instead the command line arguments.

746

Added pkgconfig support.

747

748

2006 March 14 Frank Richter <resqu@gmx.ch>

749

Added support for shipped GLUT on MinGW.

750

Fixed GLUT support on MinGW.

751

752

2006 March 13 Frank Richter <resqu@gmx.ch>

753

Bolted on Jam-based build system.

754

Generated VC project files.

755

Fixed GCC warnings.

756

Fixed Linux build issues.

757

758

2006 March 13

759

Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.

760

761

2006 March 2

762

Minor change in license to ZLib/LibPNG

763

This makes it legally a bit easier to deploy on Playstation 3

764

Prepared for more generic constraints, added ConstraintsDemo

765

766

2006 Feb 23

767

Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.

768

See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.

769

770

2005 August 6

771

Bullet 0.2 release with demos, sources, doxygen, draft manual

772

773

2005 June 1

774

First public release of Bullet

775

776

777

... todo: add history

778

779

2003 Initial version (continuous collision detection)

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