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source: code/branches/physics/src/bullet/ChangeLog @ 2192

Last change on this file since 2192 was 2192, checked in by rgrieder, 16 years ago

Reverted all changes of attempt to update physics branch.
File size: 31.3 KB
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[1963]1Bullet Continuous Collision Detection and Physics Library
2Primary author and maintainer: Erwin Coumans
3
4Todo: update changelog from April - July 2008
5See http://code.google.com/p/bullet/source/list for more complete log in Subversion
6
7
82008 October 3
9        - Add support for autoconf automake
10        ./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
11        - Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
12       
132008 Sept 30
14        - Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
15        - Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
16
172008 Sept 28
18        - Fixed rotation issues in Dynamic Maya Plugin
19
202008 Sept 11
21        - Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
22
232008 Sept 7
24        - Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
25
262008 Sept 5
27        - Enabled Demos/ForkLiftDemo
28        Thanks Roman Ponomarev.
29
302008 Sept 4
31        - Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
32        Thanks to the particle demo from the NVidia CUDA SDK.
33       
342008 Sept 3
35        - Several bug fixes and contributions related to inertia tensor, memory leaks etc.
36        Thanks to Ole K.
37
382008 Sept 1
39        - Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
40        Thanks to Pierre Terdiman for the update
41
422008 August 25
43        - Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
44        Thanks to Nicola Candussi and Arthur Shek
45       
462008 August 14
47        - 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)
48        Thanks to Nathanael Presson again, for all his work.
49       
502008 July 31
51        - Added Havok .hkx to COLLADA Physics .dae converter patch+information
52        - Fix btSubsimplexConvexCast
53        Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
54        - Fix in rendering, GL_STENCIL
55        - btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
56        - Made InternalProcessAllTriangles virtual, thanks to
57        Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
58        - clamp impulse for btPoint2PointConstraint
59        Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
60        - Free memory of bvh, pass in scaling factor (optional)
61        Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
62
632008 July 27
64
65btDbvtBroadphase:
66        - Fixed a performance issues reported by 'reltham'
67        - Added btDbvtBroadphase::optimize() for people who want good performances right
68away or don't do dynamics.
69        - fixed compilation issues when DBVT_BP_PROFILE was set.
70btSoftBody:
71        - Fixed singular matrix issues related to polar decomposition (flat meshes).
72DemoApplication:
73        - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
74        - Texture can be enable/disable through 'u'
75CDFramework:
76        - fixed compilation issues.
77        All thanks to Nathanael Presson
78
792008 July 10
80        - Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
81        Thanks to Alex Silverman for the contribution
82
832008 June 30
84        - Added initial support for kinematic character controller
85        Thanks to John McCutchan
86
872008 April 14
88        - Added ray cast support for Soft Bodies
89        Thanks to Nathanael Presson for the contribution
90       
912008 April 9
92        - Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
93
942008 April 4
95        - Added btSliderConstraint and demo
96        Thanks Roman Ponomarev
97       
982008 April 3
99        - Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
100
1012008 April 2
102        - Added Extras/CdTestFrameWork
103        Thanks Pierre Terdiman
104
1052008 April 1
106        - Added posix thread (pthread) support
107        Thanks Enrico
108
1092008 March 30
110        - Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
111        Thanks Nathanael Presson for this great contribution
112       
113        2008 March 17
114        - Improved BulletColladaConverter
115        Thanks John McCutchan
116
1172008 March 15
118        - btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
119        - Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
120        - added quicksort to btAlignedObjectArray
121        - removed btTypedUserInfo, added btHashMap
122
1232008 March 30
124        - Moved quickstep solver and boxbox into Bullet/src folder
125        Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license       
126
1272008 Feb 27
128        - Added initial version for Character Control Demo
129        - Applied fixes to IBM Cell SDK 3.0 build makefiles
130        Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
131
1322008 Feb 8
133        - Bugfixes in ConvexCast support against the world.
134        Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
135
1362008 Feb 6
137        - Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
138       
1392008 Feb 3
140        - Added btTypedUserInfo, useful for serialization
141
1422008 Jan 31
143        - Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
144
1452008 Jan 29
146        - Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
147
1482008 Jan 23
149        - Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
150       
1512008 Jan 14
152        - Add support for batch raycasting on SPU / BulletMultiThreaded
153       
1542007 Dec 16
155        - Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
156        Thanks Vangelis Kokkevis for pointing this out.
157        - Fixed memoryleak in the ConstraintDemo and Raytracer demo.
158        - Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
159        Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
160        - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
161        - 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).
162        User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
163
1642007 Dec 14
165        - Added Hello World and BulletMultiThreaded demos
166        - Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
167        - Add Cmake support for AllBulletDemos
168       
169
1702007 Dec 11
171        - Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
172        See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
173        - Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
174        Thanks Andy O'Neil for reporting the performance/functionality issue
175        - Fixes for IBM Cell SDK 3.0
176        Thanks to Jochen Roth for the patch.
177
1782007 Dec 10
179        - Fixes in btHeightfieldTerrainShape
180        Thanks to Jay Lee for the patch.
181
1822007    Dec 9
183        - Only update aabb of active objects
184        Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
185        - Added workaround to compile libxml under Visual Studio 2008 Beta 2
186        - Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
187
1882007 Dec 6
189        - Added DynamicControlDemo, showing dynamic control through constraint motors
190                Thanks to Eddy Boxerman
191        - Add support for generic concave shapes for convex cast.
192        - Added convex cast query to collision world.
193        - Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
194        - Added concave raycast demo
195                All above thanks to John McCutchan (JMC)
196        - Fixed issues that prevent Linux version to compile.
197        Thanks to Enrico for reporting and patch, see
198        - Fixed misleading name 'numTriangleIndices' into 'numTriangles'
199        Thanks Sean Tasker for reporting:
200
2012007 Nov 28:
202        - Added raycast against trianglemesh. Will be extended to object cast soon.
203        Thanks John McCutchan (JMC)
204        - make getNumPoints const correct, add const getPoints().
205        Thanks Dirk Gregorius
206        - Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
207        Thanks Andy O'Neil for pointing this out.
208        - Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
209        Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
210
211
2122007, November 20
213        - Added hierarchical profiling
214        - Fixed memory leak in btMultiSapBroadphase,
215        - Fixed hash function (typo, should use 2 proxies)
216        Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
217
2182007 Nov 11
219        - Fixed parallel solver (BulletMultiThreaded) friction issue
220        - Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
221
2222007 Nov 6
223        - Added support for 16-bit indices for triangle meshes
224        - Added support for multiple mesh parts using btBvhTriangleMeshShape.
225        Thanks to Tim Johansson
226       
2272007 Oct 22
228        - All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
229        - added a few more demos to AllBulletDemos
230        - fix for one of the constructors of btHingeConstraint
231        Thanks Marcus Hennix
232       
2332007 Oct 20
234        - included glui, a GLUT/OpenGL based toolkit for some graphical user elements
235        Removed dynamic_cast from glui, to allow linkage without rtti
236        - added Box2D framework using glui, allowing all demos to run within one executable
237        Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
238
2392007 Ocy 17
240        - Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
241
2422007 Oct 14
243        - Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
244        This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
245        (Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
246        Thanks to IBM 'Extreme Blue' project for the contribution
247        http://www-913.ibm.com/employment/us/extremeblue/
248        Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
249        for various contributions to get this initial Libspe2 parallel version up and running.
250
2512007 Oct 13
252        - made 'btCollisionShape::calculateLocalInertia' const
253        Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
254        - applied a large patch to remove warnings
255        Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
256        - removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
257
2582007 Oct 11
259        - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
260        - modified some margins inside btBoxShape, btCylinderShape and btSphereShape
261        - added cone debug rendering (for cones with x, y and z up-axis)
262        - added improvements for optional Extra/quickstep, thanks to Remotion
263        - some performance improvements for Bullet constraint solver
264
2652007 Sept 28
266        - upgraded GIMPACT to version 0.3
267        Thanks to Francisco Leon
268
2692007 Sept 27
270        - 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
271        Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
272
2732007 Sept 13
274        - Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
275        - Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
276        For both patches/improvements thanks Francisco Leon/projectileman
277               
2782007 Sept 10
279        - removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
280
2812007 Sept 10
282        - Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
283        - Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
284        - 16 byte memory alignment for BVH serialization
285        - memory cleanup for btPoolAllocator
286
2872007 Sept 9
288        - Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
289        Thanks to Phil Knight for the contribution.
290        - Fixed issues related to stack allocator/compound collision algorithm
291        Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
292        - Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
293        - Removed accidential testing code in btScalar.h related to operator new.       
294        - Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
295       
2962007 Sept 7
297        - Replaced several dynamic memory allocations by stack allocation and pool allocations
298        - Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
299        Thanks to Phil Knight. Also see www.cellperformance.com for related articles
300        - Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
301        This is an API change. See demos how to modify existing implementations with a one-liner.
302        - Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
303        - Use other traveral method for BVH by default, this improves triangle mesh collision performance.
304       
3052007 Aug 31
306        - fixed MSVC 6 build
307        Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
308        - fixed double precision build issues
309        Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
310
3112007 Aug 24
312        - fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
313        Thanks to Jay Lee
314       
3152007 Aug 15
316        - fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
317        Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
318
3192007 Aug 14
320        - added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
321          See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
322          Thanks Marten Svanfeldt (Starbreeze Studios) 
323        - fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
324          Thanks Marten Svanfeldt (Starbreeze Studios) 
325       
3262007 Aug 2
327        - added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
328        - 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:
329        http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
330
331
3322007 July 27
333        - added Ragdoll Demo
334                Thanks to Marten Svanfeldt (Starbreeze Studios)
335
336        - added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
337                See Bullet/Extras/vectormathlibrary
338                Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
339                Will be used to improve BulletMultiThreaded performance
340                Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
341        - added SIMD math library
342                4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
343                Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
344                See Bullet/Extras/simdmathlibrary
345                Open sourced by Sony Computer Entertainment Inc. under the new BSD license
346
347       
3482007 July 25
349        - added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
350                Thanks to Marten Svanfeldt (Starbreeze Studios)
351       
3522007 July 13
353        - fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
354                Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
355
3562007 July 10
357        - Updated Bullet User Manual
358
3592007 July 5
360        - added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
361                Thanks to Marten Svanfeldt (Starbreeze Studios)
362
3632007 June 29
364        - btHeightfieldTerrainShape: Added heightfield support, with customizations
365        - Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
366        - Several patches from Marten Svanfeldt (Starbreeze Studios)
367                Improved collision filtering (in broadphase and rigidbody)
368                Improved debug rendering
369                Allow to set collision filter group/mask in addRigidBody
370               
371               
3722007 June 15
373        - Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
374
3752007 June 11
376        - Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
377                Libspe2 support for Cell Blade / PS3 Linux is upcoming
378                See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
379
380        - Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
381                See Extras/BulletX
382                Thanks to KleMiX, aka Vsevolod Klementjev
383
3842007 May 31
385        - sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
386                Thanks DevO for reporting.
387
3882007 May 23
389        - Fixed quantization problem for planar triangle meshes in btOptimizedBvh
390                Thanks Phil Knight for reporting and helping to fix this bug.
391               
3922007 May 20
393        - btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
394                Thanks tbp for more details on reproducing case.
395        - 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)
396        - btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
397        - Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
398                Thanks Volker for reporting!
399        - Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
400
4012007 April 22
402        - Added braking functionality to btRaycastVehicle
403        - Removed tons of warnings, under MSVC 2005 compilation in -W4
404       
4052007 March 21
406        - Fixed issues: comma at end of enum causes errors for some compilers
407        - Fixed initialization bug in LocalRayResult (  m_localShapeInfo(localShapeInfo) )
408       
4092007 March 20
410        - Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
411       
4122007 March 17
413        - Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
414        - 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).
415        - 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;
416        - Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
417       
4182007 March 12
419        - Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
420                This allows the number of bodies to exceed 32767
421        - Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
422       
4232007 March 8
424        - Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
425                Thanks Clemens Unterkofler for pointing this out!
426
4272007 March 6
428        - 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).
429        - added heap sort and binary search/linear search to btAlignedObjectArray
430        - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
431
432
4332007 Feb 25
434        - Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
435       
4362007 Feb 24
437        - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
438          Should be faster and smaller then original version (quantized aabb check is done in integer space)
439                Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
440        - added meter-unit scaling support in ColladaConverter.cpp
441
4422007 Feb 21
443        - Build system: updated bullet.pc.in library names
444        - Updated EPA comparison integration (missing parameter)
445       
4462007 Jan 04
447        - fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
448       
4492006 Dec 15
450        - added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
451
4522006 Dec 14
453        - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
454        - added first draft for hingeConstraint motor
455       
4562006 Dec 8, Erwin Coumans
457        - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
458        - cleaned up dependencies in autogenerated msvc projectfiles
459        - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
460
4612006 Dec 04, Erwin Coumans
462        Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
463        - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
464        - continuous collision detection, time of impact
465        Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
466        Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
467
468
4692006 Nov 28
470        Moved StackAlloc from EPA into LinearMath/btStackAlloc
471        renamed internal class ConcaveShape into btConcaveShape
472        added btHeightfieldTerrainShape (not completed yet)
473               
4742006 Nov 15 Nathanael Presson
475        Added EPA penetration depth algorithm, Expanding Polytope Algorithm
476        Added Pierre Terdiman penetration depth comparison/test DEMO
477        Fixed Bullet's Minkowski sampling penetration depth solver
478        Contributed by Nathanael Presson
479       
4802006 Nov 11 Francisco León Nájera
481        Added GIMPACT trimesh collision detection: concave versus concave,
482        Contributed by Francisco León Nájera
483
4842006 Nov 2
485        Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
486        Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
487        Renamed treshold into threshold throughout the code
488       
4892006 Oct 30
490        Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
491        Enabled raycast vehicle demo (still needs tuning)
492        Refresh contact points, even when they are already persistent.
493        Fixed debugDraw colors (thanks pc0de for reporting)
494        Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
495        Improved performance of constraint solver by precalculating the cross product/impulse arm
496        Added collision comparison code: ODE box-box, also sphere-triangle
497        Added safety check into GJK, and an assert for AABB's that are very large
498        Fixed kinematic support (deriving velocities for animated objects)
499        Updated comparison/optional quickstep solver in Extras
500        UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
501        Removed scaling from btTransform (we only want to deal with rigid transforms)
502       
5032006 Oct 4
504        Fixed minor leak in btOptimizeBVH
505        Cleanup of btRigidBody construction
506        added getW() in btQuaternion
507        assert when setLinearVelocity is called on btRigidBody
508        renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
509       
5102006 Sept 27
511        Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
512        All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
513        Moved classes into src folder, which is the only include folder needed.
514        Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
515
5162006 Sept 23
517        Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
518       
5192006 Sept 19
520        Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
521        Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
522       
5232006 Sept 16
524        Added Bullet 2.0  User Manual
525        Allow registration of custom user collision algorithms
526
5272006 Sept 10
528        Started cleaning up demos
529       
5302006 Sept 4
531        Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
532        Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
533        Prepared for VehicleDemo
534        Increased Performance (island generation for sleeping objects took too much time)
535        Better COLLADA 1.4.1 physics conformance in ColladaDemo
536
5372006 August 11
538        Added Quake BspDemo
539        Improved CCD for compound and non-convex objects
540
5412006 August 10
542        Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
543
5442006 August 9
545        Added CMake support (see http://cmake.org)
546        This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
547        Just run cmake . in the root folder and it will autogenerate build files
548       
5492006 July 26 Erwin Coumans
550        Upgraded to COLLADA-DOM 1.4.1, latest SVN version
551        ColladaDemo can export snapshots to .dae
552       
5532006 July 24 Erwin Coumans
554        Added Compound CollisionShape support
555        (this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
556
5572006 July 15 Erwin Coumans
558        Added initial support for Parallel execution (collision detection, constraint solving)
559        See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
560       
5612006 July 10 Erwin Coumans
562        Added MacOS X support (some build issues mainly)
563               
5642006 July 5 Erwin Coumans
565        Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
566
5672006 June 29 Erwin Coumans
568        Refactoring of the broadphase
569        Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
570        Moved the limits on bodies/overlap to 32k and 65k
571       
5722006 June 25 Erwin Coumans
573        Added basic Collision Filtering, during broadphase
574        Allow adding meshes to the TriangleIndexVertexArray,
575        (input for TriangleMeshShape)
576        Preparation for CompoundShape
577
5782006 June 19 Erwin Coumans
579        Added support for COLLADA Physics Import.
580        Both jam and Visual Studio can compile ColladaDemo
581
5822006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
583        Started implementing Generic6DOF joint and setup basic interface
584
585
5862006 June 17 Frank Richter <resqu@gmx.ch>
587        Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
588          the next version released).
589        Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
590          GLU detection issue on MinGW.
591        Set msvc/bullet_ico.ico as the default application icon.
592        Disabled exceptions for gcc builds.
593        Applied a patch from Michael D. Adams to fix a warning with gcc.
5942006 jUNE 16 Erwin Coumans
595        Constraints now merge simulation islands.
596
5972006 May 24
598        Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
599       
6002006 May 19
601        Added restitution support
602        Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
603        Added a void* m_userPersistentData in ManifoldPoint.
604        Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
605
6062006 May 13
607        Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
608
6092006 May 9
610        Fixed raycasting filtering
611        Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
612               
6132006 April 27
614        Moved raycasting to CollisionWorld, to make it more generic
615        Added basic CCD option in the CcdCollisionDemo
616        Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
617        Improved Bullet/ODE sample (in Extras)
618               
6192006 April 10
620        Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
621        Added SIMD SSE Math classes (for above SAT)
622        Added Mouse picking in CcdPhysicsDemo
623        Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
624        Added Hinge constraint
625        Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
626               
6272006 March 21 Frank Richter <resqu@gmx.ch>
628        Removed VC manifest files.
629        Removed superfluous "grpplugins" projects.
630
6312006 March 20 Erwin Coumans
632        Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
633        Use the persistent contacts for reusing the impulse
634        Separated friction and normal solving for better stability
635        Decreased the default number of iterations of the constraint solver from 10 to 4
636
6372006 March 19 Frank Richter <resqu@gmx.ch>
638        Removed a couple of CSisms from the VC projects.
639        Fixed VC include & lib paths to go to the Addtional* options
640          instead the command line arguments.
641        Added pkgconfig support.
642
6432006 March 14 Frank Richter <resqu@gmx.ch>
644        Added support for shipped GLUT on MinGW.
645        Fixed GLUT support on MinGW.
646
6472006 March 13 Frank Richter <resqu@gmx.ch>
648        Bolted on Jam-based build system.
649        Generated VC project files.
650        Fixed GCC warnings.
651        Fixed Linux build issues.
652
6532006 March 13
654Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
655
6562006 March 2
657        Minor change in license to ZLib/LibPNG
658        This makes it legally a bit easier to deploy on Playstation 3
659        Prepared for more generic constraints, added ConstraintsDemo
660
6612006 Feb 23
662        Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
663        See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
664
6652005 August 6
666        Bullet 0.2 release with demos, sources, doxygen, draft manual
667
6682005 June 1
669        First public release of Bullet
670       
671
672... todo: add history
673
6742003 Initial version (continuous collision detection)
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