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source: code/branches/mac_osx2/src/external/bullet/ChangeLog @ 11309

Last change on this file since 11309 was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 36.3 KB
Line 
1Bullet Continuous Collision Detection and Physics Library
2Primary author and maintainer: Erwin Coumans
3
4This ChangeLog is incomplete, for an up-to-date list of all fixed issues see http://bullet.googlecode.com
5using http://tinyurl.com/yabmjjj
6
7
82010 September 21
9        - Bullet 2.77 release based on revision 2218
10        - Added Visual Studio project files for OpenCL and Direct Compute in msvc folder
11       
122010 September 7
13        - autotools now uses CamelCase naming for libraryes just like cmake:
14        libbulletdynamics -> libBulletDynamics, libbulletmath -> libLinearMath
15
162010 July 21
17        - Preparing for Bullet 2.77 release, around revision r2135
18        - Added an OpenCL particle demo, running on NVidia, AMD and MiniCL
19        Thanks to NVidia for the original particle demo from their OpenCL SDK
20        - Added GPU deformable object solvers for OpenCL and DirectCompute, and a DirectX 11 cloth demo
21        Thanks to AMD
22        - Create a separate library for MiniCL,
23        MiniCL is a rudimentary OpenCL wrapper that allows to compile OpenCL kernels for multi-core CPU, using Win32 Threads or Posix
24        - Moved vectormath into Bullet/src, and added a SSE implementation
25        - Added a btParallelConstraintSolver, mainly for PlayStation 3 Cell SPUs (although it runs fine on CPU too)
26
272010 March 6
28        - Dynamica Maya plugin (and COLLADA support) is moved to http://dynamica.googlecode.com
29
302010 February
31        - Bullet 2.76 release, revision 2010
32        - support for the .bullet binary file format
33        - btInternalEdgeUtility to adjust unwanted collisions against internal triangle edges
34        - Improved Maya Dynamica plugin with better constraint authoring and .bullet file export
35
36
372009 September 17
38        - Minor update to Bullet 2.75 release, revision 1776
39        - Support for btConvex2dShape, check out Bullet/Demos/Box2dDemo
40        - Fixes in build systems
41        - Minor fix in btGjkPairDetector
42        - Initialize world transform for btCollisionShape in constructor
43
44
452009 September 6
46        - Bullet 2.75 release
47        - Added SPH fluid simulation in Extras, not integrated with rigid body / soft body yet
48        Thanks to Rama Hoetzlein to make this contribution available under the ZLib license
49        - add special capsule-capsule collider code in btConvexConvexCollisionAlgorithm, to speed up capsule-ragdolls
50        - soft body improvement: faster building of bending constraints
51        - soft body improvement: allow to disable/enable cluster self-collision
52        - soft body fix: 'exploding' soft bodies when using cluster collision
53        - fix some degenerate cases in continuous convex cast, could impact ray cast/convex cast
54        Thanks to Jacob Langford for the report and reproduction cases, see http://code.google.com/p/bullet/issues/detail?id=250&can=1&start=200
55        - re-enabled split impulse
56        - added btHinge2Constraint, btUniversalConstraint, btGeneric6DofSpringConstraint
57        - demonstrate 2D physics with 2D/3D object interaction
58       
59
602008 December 2
61        - Fix contact refresh issues with btCompoundShape, introduced with btDbvt acceleration structure in btCompoundCollisionAlgorithm
62        - Made btSequentialImpulseConstraintSolver 100% compatible with ODE quickstep
63        constraints can use 'solveConstraint' method or 'getInfo/getInfo2'
64
652008 November 30
66        - Add highly optimized SIMD branchless PGS/SI solver innerloop
67
682008 November 12
69        - Add compound shape export to BulletColladaConverter
70        Thanks to JamesH for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
71        - Fix compiler build for Visual Studio 6
72        Thanks to JoF for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2841
73
742008 November 11
75        - Add CProfileManager::dumpAll() to dump performance statistics to console using printf.
76        - Add support for interaction between btSoftBody and btCollisionObject/btGhostObject
77
782008 November 8
79        - Fix PosixThreadSupport
80        - Add improved btHeightfieldTerrainShape support and new Demos/TerrainDemo
81        Thanks to tomva, http://code.google.com/p/bullet/issues/detail?id=63&can=1
82        - Moved kinematic character controller from Demos/CharacterDemo into src/BulletDynamics/Character/btKinematicCharacterController.cpp
83
842008 November 6
85        - reduced default memory pool allocation from 40Mb to 3Mb. This should be more suitable for all platforms, including iPhone
86        - improved CUDA broadphase
87        - IBM Cell SDK 3.x support, fix ibmsdk Makefiles
88        - improved CMake support with 'install' and 'framework option
89       
902008 November 4
91        - add btAxisSweep::resetPool to avoid non-determinism due to shuffled linked list
92        Thanks to Ole for the contribution,
93
942008 October 30
95        - disabled btTriangleMesh duplicate search by default, it is extremely slow
96        - added Extras/IFF binary chunk serialization library as preparation for in-game native platform serialization (planned COLLADA DOM -> IFF converter)
97
982008 October 20
99        - added SCE Physics Effects box-box collision detection for SPU/BulletMultiThreaded version
100        See Bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
101        Thanks to Sony Computer Entertainment Japan, SCEI for the contribution
102
1032008 October 17
104        - Added btGhostObject support, this helps character controller, explosions, triggers and other local spatial queries
105
1062008 October 10
107        - Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned
108        - Moved BulletMultiThreaded from Extras to /src/BulletMultiThreaded for better integration
109
110
1112008 October 3
112        - Add support for autoconf automake
113        ./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
114        - Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
115       
1162008 Sept 30
117        - Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
118        - Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
119
1202008 Sept 28
121        - Fixed rotation issues in Dynamic Maya Plugin
122
1232008 Sept 11
124        - Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
125
1262008 Sept 7
127        - Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
128
1292008 Sept 5
130        - Enabled Demos/ForkLiftDemo
131        Thanks Roman Ponomarev.
132
1332008 Sept 4
134        - Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
135        Thanks to the particle demo from the NVidia CUDA SDK.
136       
1372008 Sept 3
138        - Several bug fixes and contributions related to inertia tensor, memory leaks etc.
139        Thanks to Ole K.
140
1412008 Sept 1
142        - Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
143        Thanks to Pierre Terdiman for the update
144
1452008 August 25
146        - Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
147        Thanks to Nicola Candussi and Arthur Shek
148       
1492008 August 14
150        - 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)
151        Thanks to Nathanael Presson again, for all his work.
152       
1532008 July 31
154        - Added Havok .hkx to COLLADA Physics .dae converter patch+information
155        - Fix btSubsimplexConvexCast
156        Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
157        - Fix in rendering, GL_STENCIL
158        - btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
159        - Made InternalProcessAllTriangles virtual, thanks to
160        Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
161        - clamp impulse for btPoint2PointConstraint
162        Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
163        - Free memory of bvh, pass in scaling factor (optional)
164        Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
165
1662008 July 27
167
168btDbvtBroadphase:
169        - Fixed a performance issues reported by 'reltham'
170        - Added btDbvtBroadphase::optimize() for people who want good performances right
171away or don't do dynamics.
172        - fixed compilation issues when DBVT_BP_PROFILE was set.
173btSoftBody:
174        - Fixed singular matrix issues related to polar decomposition (flat meshes).
175DemoApplication:
176        - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
177        - Texture can be enable/disable through 'u'
178CDFramework:
179        - fixed compilation issues.
180        All thanks to Nathanael Presson
181
1822008 July 10
183        - Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
184        Thanks to Alex Silverman for the contribution
185
1862008 June 30
187        - Added initial support for kinematic character controller
188        Thanks to John McCutchan
189
1902008 April 14
191        - Added ray cast support for Soft Bodies
192        Thanks to Nathanael Presson for the contribution
193       
1942008 April 9
195        - Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
196
1972008 April 4
198        - Added btSliderConstraint and demo
199        Thanks Roman Ponomarev
200       
2012008 April 3
202        - Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
203
2042008 April 2
205        - Added Extras/CdTestFrameWork
206        Thanks Pierre Terdiman
207
2082008 April 1
209        - Added posix thread (pthread) support
210        Thanks Enrico
211
2122008 March 30
213        - Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
214        Thanks Nathanael Presson for this great contribution
215       
216        2008 March 17
217        - Improved BulletColladaConverter
218        Thanks John McCutchan
219
2202008 March 15
221        - btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
222        - Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
223        - added quicksort to btAlignedObjectArray
224        - removed btTypedUserInfo, added btHashMap
225
2262008 March 30
227        - Moved quickstep solver and boxbox into Bullet/src folder
228        Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license       
229
2302008 Feb 27
231        - Added initial version for Character Control Demo
232        - Applied fixes to IBM Cell SDK 3.0 build makefiles
233        Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
234
2352008 Feb 8
236        - Bugfixes in ConvexCast support against the world.
237        Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
238
2392008 Feb 6
240        - Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
241       
2422008 Feb 3
243        - Added btTypedUserInfo, useful for serialization
244
2452008 Jan 31
246        - Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
247
2482008 Jan 29
249        - Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
250
2512008 Jan 23
252        - Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
253       
2542008 Jan 14
255        - Add support for batch raycasting on SPU / BulletMultiThreaded
256       
2572007 Dec 16
258        - Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
259        Thanks Vangelis Kokkevis for pointing this out.
260        - Fixed memoryleak in the ConstraintDemo and Raytracer demo.
261        - Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
262        Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
263        - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
264        - 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).
265        User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
266
2672007 Dec 14
268        - Added Hello World and BulletMultiThreaded demos
269        - Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
270        - Add Cmake support for AllBulletDemos
271       
272
2732007 Dec 11
274        - Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
275        See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
276        - Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
277        Thanks Andy O'Neil for reporting the performance/functionality issue
278        - Fixes for IBM Cell SDK 3.0
279        Thanks to Jochen Roth for the patch.
280
2812007 Dec 10
282        - Fixes in btHeightfieldTerrainShape
283        Thanks to Jay Lee for the patch.
284
2852007    Dec 9
286        - Only update aabb of active objects
287        Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
288        - Added workaround to compile libxml under Visual Studio 2008 Beta 2
289        - Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
290
2912007 Dec 6
292        - Added DynamicControlDemo, showing dynamic control through constraint motors
293                Thanks to Eddy Boxerman
294        - Add support for generic concave shapes for convex cast.
295        - Added convex cast query to collision world.
296        - Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
297        - Added concave raycast demo
298                All above thanks to John McCutchan (JMC)
299        - Fixed issues that prevent Linux version to compile.
300        Thanks to Enrico for reporting and patch, see
301        - Fixed misleading name 'numTriangleIndices' into 'numTriangles'
302        Thanks Sean Tasker for reporting:
303
3042007 Nov 28:
305        - Added raycast against trianglemesh. Will be extended to object cast soon.
306        Thanks John McCutchan (JMC)
307        - make getNumPoints const correct, add const getPoints().
308        Thanks Dirk Gregorius
309        - Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
310        Thanks Andy O'Neil for pointing this out.
311        - Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
312        Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
313
314
3152007, November 20
316        - Added hierarchical profiling
317        - Fixed memory leak in btMultiSapBroadphase,
318        - Fixed hash function (typo, should use 2 proxies)
319        Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
320
3212007 Nov 11
322        - Fixed parallel solver (BulletMultiThreaded) friction issue
323        - Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
324
3252007 Nov 6
326        - Added support for 16-bit indices for triangle meshes
327        - Added support for multiple mesh parts using btBvhTriangleMeshShape.
328        Thanks to Tim Johansson
329       
3302007 Oct 22
331        - All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
332        - added a few more demos to AllBulletDemos
333        - fix for one of the constructors of btHingeConstraint
334        Thanks Marcus Hennix
335       
3362007 Oct 20
337        - included glui, a GLUT/OpenGL based toolkit for some graphical user elements
338        Removed dynamic_cast from glui, to allow linkage without rtti
339        - added Box2D framework using glui, allowing all demos to run within one executable
340        Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
341
3422007 Ocy 17
343        - Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
344
3452007 Oct 14
346        - Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
347        This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
348        (Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
349        Thanks to IBM 'Extreme Blue' project for the contribution
350        http://www-913.ibm.com/employment/us/extremeblue/
351        Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
352        for various contributions to get this initial Libspe2 parallel version up and running.
353
3542007 Oct 13
355        - made 'btCollisionShape::calculateLocalInertia' const
356        Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
357        - applied a large patch to remove warnings
358        Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
359        - removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
360
3612007 Oct 11
362        - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
363        - modified some margins inside btBoxShape, btCylinderShape and btSphereShape
364        - added cone debug rendering (for cones with x, y and z up-axis)
365        - added improvements for optional Extra/quickstep, thanks to Remotion
366        - some performance improvements for Bullet constraint solver
367
3682007 Sept 28
369        - upgraded GIMPACT to version 0.3
370        Thanks to Francisco Leon
371
3722007 Sept 27
373        - 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
374        Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
375
3762007 Sept 13
377        - Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
378        - Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
379        For both patches/improvements thanks Francisco Leon/projectileman
380               
3812007 Sept 10
382        - removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
383
3842007 Sept 10
385        - Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
386        - Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
387        - 16 byte memory alignment for BVH serialization
388        - memory cleanup for btPoolAllocator
389
3902007 Sept 9
391        - Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
392        Thanks to Phil Knight for the contribution.
393        - Fixed issues related to stack allocator/compound collision algorithm
394        Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
395        - Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
396        - Removed accidential testing code in btScalar.h related to operator new.       
397        - Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
398       
3992007 Sept 7
400        - Replaced several dynamic memory allocations by stack allocation and pool allocations
401        - Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
402        Thanks to Phil Knight. Also see www.cellperformance.com for related articles
403        - Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
404        This is an API change. See demos how to modify existing implementations with a one-liner.
405        - Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
406        - Use other traveral method for BVH by default, this improves triangle mesh collision performance.
407       
4082007 Aug 31
409        - fixed MSVC 6 build
410        Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
411        - fixed double precision build issues
412        Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
413
4142007 Aug 24
415        - fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
416        Thanks to Jay Lee
417       
4182007 Aug 15
419        - fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
420        Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
421
4222007 Aug 14
423        - added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
424          See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
425          Thanks Marten Svanfeldt (Starbreeze Studios) 
426        - fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
427          Thanks Marten Svanfeldt (Starbreeze Studios) 
428       
4292007 Aug 2
430        - added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
431        - 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:
432        http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
433
434
4352007 July 27
436        - added Ragdoll Demo
437                Thanks to Marten Svanfeldt (Starbreeze Studios)
438
439        - added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
440                See Bullet/Extras/vectormathlibrary
441                Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
442                Will be used to improve BulletMultiThreaded performance
443                Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
444        - added SIMD math library
445                4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
446                Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
447                See Bullet/Extras/simdmathlibrary
448                Open sourced by Sony Computer Entertainment Inc. under the new BSD license
449
450       
4512007 July 25
452        - added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
453                Thanks to Marten Svanfeldt (Starbreeze Studios)
454       
4552007 July 13
456        - fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
457                Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
458
4592007 July 10
460        - Updated Bullet User Manual
461
4622007 July 5
463        - added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
464                Thanks to Marten Svanfeldt (Starbreeze Studios)
465
4662007 June 29
467        - btHeightfieldTerrainShape: Added heightfield support, with customizations
468        - Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
469        - Several patches from Marten Svanfeldt (Starbreeze Studios)
470                Improved collision filtering (in broadphase and rigidbody)
471                Improved debug rendering
472                Allow to set collision filter group/mask in addRigidBody
473               
474               
4752007 June 15
476        - Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
477
4782007 June 11
479        - Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
480                Libspe2 support for Cell Blade / PS3 Linux is upcoming
481                See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
482
483        - Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
484                See Extras/BulletX
485                Thanks to KleMiX, aka Vsevolod Klementjev
486
4872007 May 31
488        - sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
489                Thanks DevO for reporting.
490
4912007 May 23
492        - Fixed quantization problem for planar triangle meshes in btOptimizedBvh
493                Thanks Phil Knight for reporting and helping to fix this bug.
494               
4952007 May 20
496        - btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
497                Thanks tbp for more details on reproducing case.
498        - 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)
499        - btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
500        - Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
501                Thanks Volker for reporting!
502        - Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
503
5042007 April 22
505        - Added braking functionality to btRaycastVehicle
506        - Removed tons of warnings, under MSVC 2005 compilation in -W4
507       
5082007 March 21
509        - Fixed issues: comma at end of enum causes errors for some compilers
510        - Fixed initialization bug in LocalRayResult (  m_localShapeInfo(localShapeInfo) )
511       
5122007 March 20
513        - Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
514       
5152007 March 17
516        - Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
517        - 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).
518        - 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;
519        - Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
520       
5212007 March 12
522        - Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
523                This allows the number of bodies to exceed 32767
524        - Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
525       
5262007 March 8
527        - Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
528                Thanks Clemens Unterkofler for pointing this out!
529
5302007 March 6
531        - 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).
532        - added heap sort and binary search/linear search to btAlignedObjectArray
533        - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
534
535
5362007 Feb 25
537        - Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
538       
5392007 Feb 24
540        - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
541          Should be faster and smaller then original version (quantized aabb check is done in integer space)
542                Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
543        - added meter-unit scaling support in ColladaConverter.cpp
544
5452007 Feb 21
546        - Build system: updated bullet.pc.in library names
547        - Updated EPA comparison integration (missing parameter)
548       
5492007 Jan 04
550        - fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
551       
5522006 Dec 15
553        - added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
554
5552006 Dec 14
556        - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
557        - added first draft for hingeConstraint motor
558       
5592006 Dec 8, Erwin Coumans
560        - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
561        - cleaned up dependencies in autogenerated msvc projectfiles
562        - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
563
5642006 Dec 04, Erwin Coumans
565        Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
566        - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
567        - continuous collision detection, time of impact
568        Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
569        Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
570
571
5722006 Nov 28
573        Moved StackAlloc from EPA into LinearMath/btStackAlloc
574        renamed internal class ConcaveShape into btConcaveShape
575        added btHeightfieldTerrainShape (not completed yet)
576               
5772006 Nov 15 Nathanael Presson
578        Added EPA penetration depth algorithm, Expanding Polytope Algorithm
579        Added Pierre Terdiman penetration depth comparison/test DEMO
580        Fixed Bullet's Minkowski sampling penetration depth solver
581        Contributed by Nathanael Presson
582       
5832006 Nov 11 Francisco León Nájera
584        Added GIMPACT trimesh collision detection: concave versus concave,
585        Contributed by Francisco León Nájera
586
5872006 Nov 2
588        Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
589        Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
590        Renamed treshold into threshold throughout the code
591       
5922006 Oct 30
593        Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
594        Enabled raycast vehicle demo (still needs tuning)
595        Refresh contact points, even when they are already persistent.
596        Fixed debugDraw colors (thanks pc0de for reporting)
597        Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
598        Improved performance of constraint solver by precalculating the cross product/impulse arm
599        Added collision comparison code: ODE box-box, also sphere-triangle
600        Added safety check into GJK, and an assert for AABB's that are very large
601        Fixed kinematic support (deriving velocities for animated objects)
602        Updated comparison/optional quickstep solver in Extras
603        UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
604        Removed scaling from btTransform (we only want to deal with rigid transforms)
605       
6062006 Oct 4
607        Fixed minor leak in btOptimizeBVH
608        Cleanup of btRigidBody construction
609        added getW() in btQuaternion
610        assert when setLinearVelocity is called on btRigidBody
611        renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
612       
6132006 Sept 27
614        Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
615        All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
616        Moved classes into src folder, which is the only include folder needed.
617        Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
618
6192006 Sept 23
620        Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
621       
6222006 Sept 19
623        Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
624        Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
625       
6262006 Sept 16
627        Added Bullet 2.0  User Manual
628        Allow registration of custom user collision algorithms
629
6302006 Sept 10
631        Started cleaning up demos
632       
6332006 Sept 4
634        Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
635        Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
636        Prepared for VehicleDemo
637        Increased Performance (island generation for sleeping objects took too much time)
638        Better COLLADA 1.4.1 physics conformance in ColladaDemo
639
6402006 August 11
641        Added Quake BspDemo
642        Improved CCD for compound and non-convex objects
643
6442006 August 10
645        Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
646
6472006 August 9
648        Added CMake support (see http://cmake.org)
649        This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
650        Just run cmake . in the root folder and it will autogenerate build files
651       
6522006 July 26 Erwin Coumans
653        Upgraded to COLLADA-DOM 1.4.1, latest SVN version
654        ColladaDemo can export snapshots to .dae
655       
6562006 July 24 Erwin Coumans
657        Added Compound CollisionShape support
658        (this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
659
6602006 July 15 Erwin Coumans
661        Added initial support for Parallel execution (collision detection, constraint solving)
662        See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
663       
6642006 July 10 Erwin Coumans
665        Added MacOS X support (some build issues mainly)
666               
6672006 July 5 Erwin Coumans
668        Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
669
6702006 June 29 Erwin Coumans
671        Refactoring of the broadphase
672        Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
673        Moved the limits on bodies/overlap to 32k and 65k
674       
6752006 June 25 Erwin Coumans
676        Added basic Collision Filtering, during broadphase
677        Allow adding meshes to the TriangleIndexVertexArray,
678        (input for TriangleMeshShape)
679        Preparation for CompoundShape
680
6812006 June 19 Erwin Coumans
682        Added support for COLLADA Physics Import.
683        Both jam and Visual Studio can compile ColladaDemo
684
6852006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
686        Started implementing Generic6DOF joint and setup basic interface
687
688
6892006 June 17 Frank Richter <resqu@gmx.ch>
690        Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
691          the next version released).
692        Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
693          GLU detection issue on MinGW.
694        Set msvc/bullet_ico.ico as the default application icon.
695        Disabled exceptions for gcc builds.
696        Applied a patch from Michael D. Adams to fix a warning with gcc.
6972006 jUNE 16 Erwin Coumans
698        Constraints now merge simulation islands.
699
7002006 May 24
701        Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
702       
7032006 May 19
704        Added restitution support
705        Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
706        Added a void* m_userPersistentData in ManifoldPoint.
707        Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
708
7092006 May 13
710        Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
711
7122006 May 9
713        Fixed raycasting filtering
714        Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
715               
7162006 April 27
717        Moved raycasting to CollisionWorld, to make it more generic
718        Added basic CCD option in the CcdCollisionDemo
719        Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
720        Improved Bullet/ODE sample (in Extras)
721               
7222006 April 10
723        Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
724        Added SIMD SSE Math classes (for above SAT)
725        Added Mouse picking in CcdPhysicsDemo
726        Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
727        Added Hinge constraint
728        Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
729               
7302006 March 21 Frank Richter <resqu@gmx.ch>
731        Removed VC manifest files.
732        Removed superfluous "grpplugins" projects.
733
7342006 March 20 Erwin Coumans
735        Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
736        Use the persistent contacts for reusing the impulse
737        Separated friction and normal solving for better stability
738        Decreased the default number of iterations of the constraint solver from 10 to 4
739
7402006 March 19 Frank Richter <resqu@gmx.ch>
741        Removed a couple of CSisms from the VC projects.
742        Fixed VC include & lib paths to go to the Addtional* options
743          instead the command line arguments.
744        Added pkgconfig support.
745
7462006 March 14 Frank Richter <resqu@gmx.ch>
747        Added support for shipped GLUT on MinGW.
748        Fixed GLUT support on MinGW.
749
7502006 March 13 Frank Richter <resqu@gmx.ch>
751        Bolted on Jam-based build system.
752        Generated VC project files.
753        Fixed GCC warnings.
754        Fixed Linux build issues.
755
7562006 March 13
757Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
758
7592006 March 2
760        Minor change in license to ZLib/LibPNG
761        This makes it legally a bit easier to deploy on Playstation 3
762        Prepared for more generic constraints, added ConstraintsDemo
763
7642006 Feb 23
765        Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
766        See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
767
7682005 August 6
769        Bullet 0.2 release with demos, sources, doxygen, draft manual
770
7712005 June 1
772        First public release of Bullet
773       
774
775... todo: add history
776
7772003 Initial version (continuous collision detection)
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