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source: code/trunk/src/external/bullet/ChangeLog @ 6703

Last change on this file since 6703 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).
  • Property svn:eol-style set to native
File size: 33.4 KB
RevLine 
[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
[2430]72008 November 12
8        - Add compound shape export to BulletColladaConverter
9        Thanks to JamesH for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
10        - Fix compiler build for Visual Studio 6
11        Thanks to JoF for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2841
[1963]12
[2430]132008 November 11
14        - Add CProfileManager::dumpAll() to dump performance statistics to console using printf.
15        - Add support for interaction between btSoftBody and btCollisionObject/btGhostObject
16
172008 November 8
18        - Fix PosixThreadSupport
19        - Add improved btHeightfieldTerrainShape support and new Demos/TerrainDemo
20        Thanks to tomva, http://code.google.com/p/bullet/issues/detail?id=63&can=1
21        - Moved kinematic character controller from Demos/CharacterDemo into src/BulletDynamics/Character/btKinematicCharacterController.cpp
22
232008 November 6
24        - reduced default memory pool allocation from 40Mb to 3Mb. This should be more suitable for all platforms, including iPhone
25        - improved CUDA broadphase
26        - IBM Cell SDK 3.x support, fix ibmsdk Makefiles
27        - improved CMake support with 'install' and 'framework option
28       
292008 November 4
30        - add btAxisSweep::resetPool to avoid non-determinism due to shuffled linked list
31        Thanks to Ole for the contribution,
32
332008 October 30
34        - disabled btTriangleMesh duplicate search by default, it is extremely slow
35        - added Extras/IFF binary chunk serialization library as preparation for in-game native platform serialization (planned COLLADA DOM -> IFF converter)
36
372008 October 20
38        - added SCE Physics Effects box-box collision detection for SPU/BulletMultiThreaded version
39        See Bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
40        Thanks to Sony Computer Entertainment Japan, SCEI for the contribution
41
422008 October 17
43        - Added btGhostObject support, this helps character controller, explosions, triggers and other local spatial queries
44
452008 October 10
46        - Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned
47        - Moved BulletMultiThreaded from Extras to /src/BulletMultiThreaded for better integration
48
49
[1963]502008 October 3
51        - Add support for autoconf automake
52        ./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
53        - Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
54       
552008 Sept 30
56        - Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
57        - Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
58
592008 Sept 28
60        - Fixed rotation issues in Dynamic Maya Plugin
61
622008 Sept 11
63        - Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
64
652008 Sept 7
66        - Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
67
682008 Sept 5
69        - Enabled Demos/ForkLiftDemo
70        Thanks Roman Ponomarev.
71
722008 Sept 4
73        - Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
74        Thanks to the particle demo from the NVidia CUDA SDK.
75       
762008 Sept 3
77        - Several bug fixes and contributions related to inertia tensor, memory leaks etc.
78        Thanks to Ole K.
79
802008 Sept 1
81        - Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
82        Thanks to Pierre Terdiman for the update
83
842008 August 25
85        - Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
86        Thanks to Nicola Candussi and Arthur Shek
87       
882008 August 14
89        - 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)
90        Thanks to Nathanael Presson again, for all his work.
91       
922008 July 31
93        - Added Havok .hkx to COLLADA Physics .dae converter patch+information
94        - Fix btSubsimplexConvexCast
95        Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
96        - Fix in rendering, GL_STENCIL
97        - btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
98        - Made InternalProcessAllTriangles virtual, thanks to
99        Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
100        - clamp impulse for btPoint2PointConstraint
101        Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
102        - Free memory of bvh, pass in scaling factor (optional)
103        Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
104
1052008 July 27
106
107btDbvtBroadphase:
108        - Fixed a performance issues reported by 'reltham'
109        - Added btDbvtBroadphase::optimize() for people who want good performances right
110away or don't do dynamics.
111        - fixed compilation issues when DBVT_BP_PROFILE was set.
112btSoftBody:
113        - Fixed singular matrix issues related to polar decomposition (flat meshes).
114DemoApplication:
115        - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
116        - Texture can be enable/disable through 'u'
117CDFramework:
118        - fixed compilation issues.
119        All thanks to Nathanael Presson
120
1212008 July 10
122        - Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
123        Thanks to Alex Silverman for the contribution
124
1252008 June 30
126        - Added initial support for kinematic character controller
127        Thanks to John McCutchan
128
1292008 April 14
130        - Added ray cast support for Soft Bodies
131        Thanks to Nathanael Presson for the contribution
132       
1332008 April 9
134        - Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
135
1362008 April 4
137        - Added btSliderConstraint and demo
138        Thanks Roman Ponomarev
139       
1402008 April 3
141        - Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
142
1432008 April 2
144        - Added Extras/CdTestFrameWork
145        Thanks Pierre Terdiman
146
1472008 April 1
148        - Added posix thread (pthread) support
149        Thanks Enrico
150
1512008 March 30
152        - Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
153        Thanks Nathanael Presson for this great contribution
154       
155        2008 March 17
156        - Improved BulletColladaConverter
157        Thanks John McCutchan
158
1592008 March 15
160        - btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
161        - Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
162        - added quicksort to btAlignedObjectArray
163        - removed btTypedUserInfo, added btHashMap
164
1652008 March 30
166        - Moved quickstep solver and boxbox into Bullet/src folder
167        Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license       
168
1692008 Feb 27
170        - Added initial version for Character Control Demo
171        - Applied fixes to IBM Cell SDK 3.0 build makefiles
172        Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
173
1742008 Feb 8
175        - Bugfixes in ConvexCast support against the world.
176        Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
177
1782008 Feb 6
179        - Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
180       
1812008 Feb 3
182        - Added btTypedUserInfo, useful for serialization
183
1842008 Jan 31
185        - Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
186
1872008 Jan 29
188        - Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
189
1902008 Jan 23
191        - Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
192       
1932008 Jan 14
194        - Add support for batch raycasting on SPU / BulletMultiThreaded
195       
1962007 Dec 16
197        - Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
198        Thanks Vangelis Kokkevis for pointing this out.
199        - Fixed memoryleak in the ConstraintDemo and Raytracer demo.
200        - Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
201        Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
202        - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
203        - 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).
204        User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
205
2062007 Dec 14
207        - Added Hello World and BulletMultiThreaded demos
208        - Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
209        - Add Cmake support for AllBulletDemos
210       
211
2122007 Dec 11
213        - Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
214        See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
215        - Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
216        Thanks Andy O'Neil for reporting the performance/functionality issue
217        - Fixes for IBM Cell SDK 3.0
218        Thanks to Jochen Roth for the patch.
219
2202007 Dec 10
221        - Fixes in btHeightfieldTerrainShape
222        Thanks to Jay Lee for the patch.
223
2242007    Dec 9
225        - Only update aabb of active objects
226        Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
227        - Added workaround to compile libxml under Visual Studio 2008 Beta 2
228        - Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
229
2302007 Dec 6
231        - Added DynamicControlDemo, showing dynamic control through constraint motors
232                Thanks to Eddy Boxerman
233        - Add support for generic concave shapes for convex cast.
234        - Added convex cast query to collision world.
235        - Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
236        - Added concave raycast demo
237                All above thanks to John McCutchan (JMC)
238        - Fixed issues that prevent Linux version to compile.
239        Thanks to Enrico for reporting and patch, see
240        - Fixed misleading name 'numTriangleIndices' into 'numTriangles'
241        Thanks Sean Tasker for reporting:
242
2432007 Nov 28:
244        - Added raycast against trianglemesh. Will be extended to object cast soon.
245        Thanks John McCutchan (JMC)
246        - make getNumPoints const correct, add const getPoints().
247        Thanks Dirk Gregorius
248        - Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
249        Thanks Andy O'Neil for pointing this out.
250        - Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
251        Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
252
253
2542007, November 20
255        - Added hierarchical profiling
256        - Fixed memory leak in btMultiSapBroadphase,
257        - Fixed hash function (typo, should use 2 proxies)
258        Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
259
2602007 Nov 11
261        - Fixed parallel solver (BulletMultiThreaded) friction issue
262        - Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
263
2642007 Nov 6
265        - Added support for 16-bit indices for triangle meshes
266        - Added support for multiple mesh parts using btBvhTriangleMeshShape.
267        Thanks to Tim Johansson
268       
2692007 Oct 22
270        - All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
271        - added a few more demos to AllBulletDemos
272        - fix for one of the constructors of btHingeConstraint
273        Thanks Marcus Hennix
274       
2752007 Oct 20
276        - included glui, a GLUT/OpenGL based toolkit for some graphical user elements
277        Removed dynamic_cast from glui, to allow linkage without rtti
278        - added Box2D framework using glui, allowing all demos to run within one executable
279        Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
280
2812007 Ocy 17
282        - Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
283
2842007 Oct 14
285        - Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
286        This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
287        (Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
288        Thanks to IBM 'Extreme Blue' project for the contribution
289        http://www-913.ibm.com/employment/us/extremeblue/
290        Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
291        for various contributions to get this initial Libspe2 parallel version up and running.
292
2932007 Oct 13
294        - made 'btCollisionShape::calculateLocalInertia' const
295        Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
296        - applied a large patch to remove warnings
297        Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
298        - removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
299
3002007 Oct 11
301        - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
302        - modified some margins inside btBoxShape, btCylinderShape and btSphereShape
303        - added cone debug rendering (for cones with x, y and z up-axis)
304        - added improvements for optional Extra/quickstep, thanks to Remotion
305        - some performance improvements for Bullet constraint solver
306
3072007 Sept 28
308        - upgraded GIMPACT to version 0.3
309        Thanks to Francisco Leon
310
3112007 Sept 27
312        - 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
313        Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
314
3152007 Sept 13
316        - Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
317        - Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
318        For both patches/improvements thanks Francisco Leon/projectileman
319               
3202007 Sept 10
321        - removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
322
3232007 Sept 10
324        - Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
325        - Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
326        - 16 byte memory alignment for BVH serialization
327        - memory cleanup for btPoolAllocator
328
3292007 Sept 9
330        - Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
331        Thanks to Phil Knight for the contribution.
332        - Fixed issues related to stack allocator/compound collision algorithm
333        Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
334        - Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
335        - Removed accidential testing code in btScalar.h related to operator new.       
336        - Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
337       
3382007 Sept 7
339        - Replaced several dynamic memory allocations by stack allocation and pool allocations
340        - Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
341        Thanks to Phil Knight. Also see www.cellperformance.com for related articles
342        - Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
343        This is an API change. See demos how to modify existing implementations with a one-liner.
344        - Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
345        - Use other traveral method for BVH by default, this improves triangle mesh collision performance.
346       
3472007 Aug 31
348        - fixed MSVC 6 build
349        Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
350        - fixed double precision build issues
351        Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
352
3532007 Aug 24
354        - fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
355        Thanks to Jay Lee
356       
3572007 Aug 15
358        - fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
359        Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
360
3612007 Aug 14
362        - added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
363          See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
364          Thanks Marten Svanfeldt (Starbreeze Studios) 
365        - fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
366          Thanks Marten Svanfeldt (Starbreeze Studios) 
367       
3682007 Aug 2
369        - added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
370        - 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:
371        http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
372
373
3742007 July 27
375        - added Ragdoll Demo
376                Thanks to Marten Svanfeldt (Starbreeze Studios)
377
378        - added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
379                See Bullet/Extras/vectormathlibrary
380                Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
381                Will be used to improve BulletMultiThreaded performance
382                Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
383        - added SIMD math library
384                4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
385                Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
386                See Bullet/Extras/simdmathlibrary
387                Open sourced by Sony Computer Entertainment Inc. under the new BSD license
388
389       
3902007 July 25
391        - added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
392                Thanks to Marten Svanfeldt (Starbreeze Studios)
393       
3942007 July 13
395        - fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
396                Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
397
3982007 July 10
399        - Updated Bullet User Manual
400
4012007 July 5
402        - added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
403                Thanks to Marten Svanfeldt (Starbreeze Studios)
404
4052007 June 29
406        - btHeightfieldTerrainShape: Added heightfield support, with customizations
407        - Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
408        - Several patches from Marten Svanfeldt (Starbreeze Studios)
409                Improved collision filtering (in broadphase and rigidbody)
410                Improved debug rendering
411                Allow to set collision filter group/mask in addRigidBody
412               
413               
4142007 June 15
415        - Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
416
4172007 June 11
418        - Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
419                Libspe2 support for Cell Blade / PS3 Linux is upcoming
420                See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
421
422        - Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
423                See Extras/BulletX
424                Thanks to KleMiX, aka Vsevolod Klementjev
425
4262007 May 31
427        - sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
428                Thanks DevO for reporting.
429
4302007 May 23
431        - Fixed quantization problem for planar triangle meshes in btOptimizedBvh
432                Thanks Phil Knight for reporting and helping to fix this bug.
433               
4342007 May 20
435        - btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
436                Thanks tbp for more details on reproducing case.
437        - 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)
438        - btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
439        - Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
440                Thanks Volker for reporting!
441        - Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
442
4432007 April 22
444        - Added braking functionality to btRaycastVehicle
445        - Removed tons of warnings, under MSVC 2005 compilation in -W4
446       
4472007 March 21
448        - Fixed issues: comma at end of enum causes errors for some compilers
449        - Fixed initialization bug in LocalRayResult (  m_localShapeInfo(localShapeInfo) )
450       
4512007 March 20
452        - Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
453       
4542007 March 17
455        - Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
456        - 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).
457        - 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;
458        - Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
459       
4602007 March 12
461        - Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
462                This allows the number of bodies to exceed 32767
463        - Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
464       
4652007 March 8
466        - Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
467                Thanks Clemens Unterkofler for pointing this out!
468
4692007 March 6
470        - 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).
471        - added heap sort and binary search/linear search to btAlignedObjectArray
472        - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
473
474
4752007 Feb 25
476        - Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
477       
4782007 Feb 24
479        - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
480          Should be faster and smaller then original version (quantized aabb check is done in integer space)
481                Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
482        - added meter-unit scaling support in ColladaConverter.cpp
483
4842007 Feb 21
485        - Build system: updated bullet.pc.in library names
486        - Updated EPA comparison integration (missing parameter)
487       
4882007 Jan 04
489        - fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
490       
4912006 Dec 15
492        - added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
493
4942006 Dec 14
495        - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
496        - added first draft for hingeConstraint motor
497       
4982006 Dec 8, Erwin Coumans
499        - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
500        - cleaned up dependencies in autogenerated msvc projectfiles
501        - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
502
5032006 Dec 04, Erwin Coumans
504        Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
505        - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
506        - continuous collision detection, time of impact
507        Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
508        Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
509
510
5112006 Nov 28
512        Moved StackAlloc from EPA into LinearMath/btStackAlloc
513        renamed internal class ConcaveShape into btConcaveShape
514        added btHeightfieldTerrainShape (not completed yet)
515               
5162006 Nov 15 Nathanael Presson
517        Added EPA penetration depth algorithm, Expanding Polytope Algorithm
518        Added Pierre Terdiman penetration depth comparison/test DEMO
519        Fixed Bullet's Minkowski sampling penetration depth solver
520        Contributed by Nathanael Presson
521       
5222006 Nov 11 Francisco León Nájera
523        Added GIMPACT trimesh collision detection: concave versus concave,
524        Contributed by Francisco León Nájera
525
5262006 Nov 2
527        Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
528        Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
529        Renamed treshold into threshold throughout the code
530       
5312006 Oct 30
532        Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
533        Enabled raycast vehicle demo (still needs tuning)
534        Refresh contact points, even when they are already persistent.
535        Fixed debugDraw colors (thanks pc0de for reporting)
536        Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
537        Improved performance of constraint solver by precalculating the cross product/impulse arm
538        Added collision comparison code: ODE box-box, also sphere-triangle
539        Added safety check into GJK, and an assert for AABB's that are very large
540        Fixed kinematic support (deriving velocities for animated objects)
541        Updated comparison/optional quickstep solver in Extras
542        UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
543        Removed scaling from btTransform (we only want to deal with rigid transforms)
544       
5452006 Oct 4
546        Fixed minor leak in btOptimizeBVH
547        Cleanup of btRigidBody construction
548        added getW() in btQuaternion
549        assert when setLinearVelocity is called on btRigidBody
550        renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
551       
5522006 Sept 27
553        Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
554        All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
555        Moved classes into src folder, which is the only include folder needed.
556        Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
557
5582006 Sept 23
559        Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
560       
5612006 Sept 19
562        Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
563        Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
564       
5652006 Sept 16
566        Added Bullet 2.0  User Manual
567        Allow registration of custom user collision algorithms
568
5692006 Sept 10
570        Started cleaning up demos
571       
5722006 Sept 4
573        Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
574        Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
575        Prepared for VehicleDemo
576        Increased Performance (island generation for sleeping objects took too much time)
577        Better COLLADA 1.4.1 physics conformance in ColladaDemo
578
5792006 August 11
580        Added Quake BspDemo
581        Improved CCD for compound and non-convex objects
582
5832006 August 10
584        Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
585
5862006 August 9
587        Added CMake support (see http://cmake.org)
588        This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
589        Just run cmake . in the root folder and it will autogenerate build files
590       
5912006 July 26 Erwin Coumans
592        Upgraded to COLLADA-DOM 1.4.1, latest SVN version
593        ColladaDemo can export snapshots to .dae
594       
5952006 July 24 Erwin Coumans
596        Added Compound CollisionShape support
597        (this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
598
5992006 July 15 Erwin Coumans
600        Added initial support for Parallel execution (collision detection, constraint solving)
601        See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
602       
6032006 July 10 Erwin Coumans
604        Added MacOS X support (some build issues mainly)
605               
6062006 July 5 Erwin Coumans
607        Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
608
6092006 June 29 Erwin Coumans
610        Refactoring of the broadphase
611        Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
612        Moved the limits on bodies/overlap to 32k and 65k
613       
6142006 June 25 Erwin Coumans
615        Added basic Collision Filtering, during broadphase
616        Allow adding meshes to the TriangleIndexVertexArray,
617        (input for TriangleMeshShape)
618        Preparation for CompoundShape
619
6202006 June 19 Erwin Coumans
621        Added support for COLLADA Physics Import.
622        Both jam and Visual Studio can compile ColladaDemo
623
6242006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
625        Started implementing Generic6DOF joint and setup basic interface
626
627
6282006 June 17 Frank Richter <resqu@gmx.ch>
629        Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
630          the next version released).
631        Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
632          GLU detection issue on MinGW.
633        Set msvc/bullet_ico.ico as the default application icon.
634        Disabled exceptions for gcc builds.
635        Applied a patch from Michael D. Adams to fix a warning with gcc.
6362006 jUNE 16 Erwin Coumans
637        Constraints now merge simulation islands.
638
6392006 May 24
640        Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
641       
6422006 May 19
643        Added restitution support
644        Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
645        Added a void* m_userPersistentData in ManifoldPoint.
646        Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
647
6482006 May 13
649        Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
650
6512006 May 9
652        Fixed raycasting filtering
653        Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
654               
6552006 April 27
656        Moved raycasting to CollisionWorld, to make it more generic
657        Added basic CCD option in the CcdCollisionDemo
658        Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
659        Improved Bullet/ODE sample (in Extras)
660               
6612006 April 10
662        Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
663        Added SIMD SSE Math classes (for above SAT)
664        Added Mouse picking in CcdPhysicsDemo
665        Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
666        Added Hinge constraint
667        Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
668               
6692006 March 21 Frank Richter <resqu@gmx.ch>
670        Removed VC manifest files.
671        Removed superfluous "grpplugins" projects.
672
6732006 March 20 Erwin Coumans
674        Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
675        Use the persistent contacts for reusing the impulse
676        Separated friction and normal solving for better stability
677        Decreased the default number of iterations of the constraint solver from 10 to 4
678
6792006 March 19 Frank Richter <resqu@gmx.ch>
680        Removed a couple of CSisms from the VC projects.
681        Fixed VC include & lib paths to go to the Addtional* options
682          instead the command line arguments.
683        Added pkgconfig support.
684
6852006 March 14 Frank Richter <resqu@gmx.ch>
686        Added support for shipped GLUT on MinGW.
687        Fixed GLUT support on MinGW.
688
6892006 March 13 Frank Richter <resqu@gmx.ch>
690        Bolted on Jam-based build system.
691        Generated VC project files.
692        Fixed GCC warnings.
693        Fixed Linux build issues.
694
6952006 March 13
696Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
697
6982006 March 2
699        Minor change in license to ZLib/LibPNG
700        This makes it legally a bit easier to deploy on Playstation 3
701        Prepared for more generic constraints, added ConstraintsDemo
702
7032006 Feb 23
704        Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
705        See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
706
7072005 August 6
708        Bullet 0.2 release with demos, sources, doxygen, draft manual
709
7102005 June 1
711        First public release of Bullet
712       
713
714... todo: add history
715
7162003 Initial version (continuous collision detection)
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