| 1 | ODE CHANGELOG |
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| 2 | ------------- |
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| 3 | |
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| 4 | the rules for this file: |
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| 5 | * entries are sorted newest-first. |
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| 6 | * summarize sets of changes - dont reproduce every CVS log comment here. |
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| 7 | * don't ever delete anything. |
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| 8 | * keep the format consistent (79 char width, M/D/Y date format). |
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| 9 | |
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| 10 | ------------------------------------------------------------------------------ |
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| 11 | |
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| 12 | 11/03/06 david |
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| 13 | |
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| 14 | * Integrated Christoph Beyer's average based sampling system for body |
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| 15 | disabling. |
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| 16 | |
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| 17 | 10/26/06 Francisco Leon |
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| 18 | |
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| 19 | * Totally refactored trimesh collision system. |
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| 20 | Using GIMPACT instead of OPCODE. Now works correctly, and faster. |
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| 21 | Visit http://gimpact.sourceforge.net. |
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| 22 | |
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| 23 | * Finally, test_moving_trimesh.exe works nicely. |
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| 24 | |
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| 25 | * Fixed autodisable system. Now is possible to set bigger sleeping |
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| 26 | threshold values and objects won't be sleeping on the air. They will |
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| 27 | rest on the floor properly. |
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| 28 | |
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| 29 | * dInitODE function added. |
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| 30 | |
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| 31 | * Is Obligatory to call dInitODE() at the beginning for initialize ODE, |
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| 32 | and calling dCloseODE() when the program ends. |
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| 33 | |
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| 34 | 09/20/06 bram |
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| 35 | |
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| 36 | * Fixed two bugs in cyl/plane collision test. |
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| 37 | |
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| 38 | 09/13/06 remi |
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| 39 | |
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| 40 | * New Rotoide - Prismatic joint type |
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| 41 | * dJointGetUniversalAngles for efficient angle retrieval. |
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| 42 | |
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| 43 | 08/09/06 david |
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| 44 | |
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| 45 | * Integrated plane2d joint type which constrains bodies to z == 0. |
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| 46 | |
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| 47 | 07/06/06 david |
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| 48 | |
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| 49 | * Added heightfield primitive collision code. Simple test available in |
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| 50 | ode/test/test_heightfield |
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| 51 | |
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| 52 | 04/03/06 rodrigo |
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| 53 | |
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| 54 | * Added Convex primitive collision code, |
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| 55 | currently only convex-sphere and convex-plane work |
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| 56 | |
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| 57 | 04/01/06 bram |
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| 58 | |
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| 59 | * Added program to test trimesh vs sphere: ode/test/test_basket |
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| 60 | |
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| 61 | 03/20/06 jason379 |
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| 62 | |
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| 63 | * Added new autogenerated Visual Studio projects, with Premake scripts |
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| 64 | |
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| 65 | 03/17/06 bram |
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| 66 | |
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| 67 | * Added plane/cyl intersection test |
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| 68 | * Renamed CCylinder to Capsule |
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| 69 | |
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| 70 | 02/04/06 gcarlton |
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| 71 | |
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| 72 | * Added support for geom offsets. |
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| 73 | |
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| 74 | 10/26/05 rodrigo |
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| 75 | |
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| 76 | * Removed LIBTOOL from autotools since it was not really required. |
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| 77 | * Added a target to build ODE as a shared library, this shared |
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| 78 | library gets build alongside the static one, no flags required. |
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| 79 | |
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| 80 | 10/24/05 tfautre |
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| 81 | |
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| 82 | (Backported patches from STABLE branch, applied by Adam) |
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| 83 | |
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| 84 | * dRandInt changed for a non-double all-int version. |
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| 85 | * mics minor fixes and improvements. |
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| 86 | |
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| 87 | 04/05/05 tfautre |
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| 88 | |
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| 89 | * Fixed segmentation fault with OPCODE on 64 bits systems. |
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| 90 | |
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| 91 | 03/31/05 tfautre |
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| 92 | |
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| 93 | * Fixed timer.cpp compiler error on x86-64 using GCC. |
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| 94 | |
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| 95 | 03/29/05 colin |
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| 96 | |
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| 97 | * Added trimesh preprocessing to mark unneeded edges and verts. Also |
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| 98 | added support for preprocessed info to the ccylinder-trimesh |
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| 99 | collider. |
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| 100 | |
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| 101 | 12/07/04 adam |
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| 102 | |
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| 103 | * Important AMotors bugfix |
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| 104 | |
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| 105 | 09/22/04 jeff |
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| 106 | |
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| 107 | * Assorted small bugfixes and tweaks for |
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| 108 | trimesh_{box,ccylinder,trimesh} collisions |
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| 109 | |
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| 110 | 09/21/04 jeff |
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| 111 | |
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| 112 | * added functions to joint.cpp to allow joint attachment to moving |
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| 113 | geoms. |
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| 114 | |
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| 115 | * added malloc-based memory allocation in step.cpp & lcp.cpp (turned |
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| 116 | on with a #define switch in common.h) |
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| 117 | |
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| 118 | 05/29/04 russ |
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| 119 | |
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| 120 | * added joint feedback to the QuickStep solver |
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| 121 | |
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| 122 | 05/18/04 russ |
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| 123 | |
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| 124 | * added warm starting to the QuickStep solver |
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| 125 | |
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| 126 | 05/18/04 russ |
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| 127 | |
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| 128 | * added the QuickStep solver |
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| 129 | |
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| 130 | * added contact parameter functions. |
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| 131 | |
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| 132 | 05/05/04 adam |
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| 133 | |
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| 134 | * use dRandInt instead of rand() in stepfast. |
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| 135 | |
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| 136 | 04/21/04 russ |
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| 137 | |
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| 138 | * added auto-disable support from Aras Pranckevicius (with |
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| 139 | modifications by russ). this useful feature can speed up |
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| 140 | simulation significantly in some cases. |
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| 141 | |
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| 142 | * various internal tidyups. |
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| 143 | |
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| 144 | 04/20/04 russ |
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| 145 | |
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| 146 | * changed the meaning of the 'index' argument to dJointGetBody(): |
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| 147 | it was the only remaining API function that does not respect |
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| 148 | dJOINT_REVERSE (spotted by Matthew D. Hancher). |
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| 149 | |
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| 150 | * updated the C++ headers: fixed two minor bugs and added |
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| 151 | support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method |
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| 152 | (from Matthew D. Hancher). |
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| 153 | |
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| 154 | 04/18/04 russ |
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| 155 | |
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| 156 | * changed the way that the dInfinity constant is implemented: now it |
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| 157 | is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or |
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| 158 | a large numeric constant. previously it was a variable that was |
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| 159 | exported from the library. this simplifies the configuration and |
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| 160 | build process quite a bit, especially in the case of DLLs. |
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| 161 | |
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| 162 | * removed the old, deprecated collision system (geom.cpp,space.cpp, |
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| 163 | geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION |
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| 164 | configuration setting no longer has any meaning. |
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| 165 | |
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| 166 | * removed support for dGeomGroups, which have been deprecated for |
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| 167 | a while and are equivalent to 'spaces' anyway. |
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| 168 | |
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| 169 | 04/13/04 russ |
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| 170 | |
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| 171 | * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher. |
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| 172 | |
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| 173 | 04/08/04 russ |
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| 174 | |
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| 175 | * added trimesh-CCylinder capability, from Vadim Macagon |
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| 176 | <vadim_mcagon@hotmail.com>. |
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| 177 | |
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| 178 | 04/04/04 adam |
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| 179 | |
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| 180 | * yet another rewrite of triangle-box collision code, this |
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| 181 | time based on code donated by Croteam, ported by asko@jetti.org |
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| 182 | and tweaked by Erwin. |
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| 183 | |
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| 184 | 04/04/04 adam |
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| 185 | |
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| 186 | * merged trimesh-trimesh collision code by |
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| 187 | Jeffrey Smith <jeffreys@Softimage.com>. |
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| 188 | |
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| 189 | * changed it to not break the trimesh interface, fix |
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| 190 | some GCC compilation problems, bring it up to date with |
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| 191 | ODE changes from 2003-11-15 -> 2004-04-04. |
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| 192 | |
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| 193 | * add ability to drop meshes on meshes in test_moving_trimesh, |
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| 194 | not as good as it could be but it's illustrative. |
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| 195 | |
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| 196 | 01/16/04 adam |
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| 197 | |
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| 198 | * implement a bunch of ultra-simple TriMesh functions that were |
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| 199 | in the headers but not in the code -- patch by |
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| 200 | Vadim Macagon <vadim_mcagon@hotmail.com> |
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| 201 | |
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| 202 | * disable temporal coherence on trimeshes by default, since |
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| 203 | it has scaleability issues that don't make it a general clear win. |
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| 204 | |
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| 205 | 12/01/03 adam |
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| 206 | |
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| 207 | * implement dxHashSpace::collide2(), not particularly efficiently. |
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| 208 | |
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| 209 | 11/14/03 adam |
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| 210 | |
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| 211 | * applied several Trimesh fixes and improvements from |
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| 212 | Aras Pranckevicius <nearaz@interamotion.com> |
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| 213 | |
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| 214 | 10/22/03 adam |
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| 215 | |
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| 216 | * apply Nguyen Binh's work for removing many dSetZero() calls |
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| 217 | and some other extraneous initializations. |
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| 218 | |
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| 219 | 07/29/03 martin |
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| 220 | |
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| 221 | * added dJointAdd*Torque/Force(). |
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| 222 | |
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| 223 | 07/10/03 russ |
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| 224 | |
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| 225 | * added the StepFast code, by David Whittaker. |
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| 226 | |
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| 227 | 07/02/03 martin |
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| 228 | |
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| 229 | * added dMassSet*Total(). |
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| 230 | |
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| 231 | 07/01/03 martin |
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| 232 | |
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| 233 | * added joint limits and motors to universal joints. |
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| 234 | |
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| 235 | * reversed the polarity of the dJOINT_REVERSE flag. |
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| 236 | |
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| 237 | 06/30/03 russ |
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| 238 | |
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| 239 | * added the TriMesh geom class and the quad tree space to the ODE |
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| 240 | core. both of these were developed by Erwin de Vries. added OPCODE |
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| 241 | to the ODE distribution, this is required by TriMesh. |
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| 242 | |
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| 243 | 06/23/03 martin |
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| 244 | |
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| 245 | * added dGeomSetQuaternion() and dGeomGetQuaternion() |
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| 246 | |
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| 247 | * added dJointGet*Anchor2() |
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| 248 | |
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| 249 | 05/07/03 russ |
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| 250 | |
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| 251 | * added dGeomGetSpace(). |
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| 252 | |
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| 253 | 02/05/03 russ |
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| 254 | |
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| 255 | * added dMassSetCylinder(). |
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| 256 | |
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| 257 | 12/07/02 russ |
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| 258 | |
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| 259 | * added dAreConnectedExcluding(). |
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| 260 | |
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| 261 | 11/30/02 russ |
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| 262 | |
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| 263 | * added the ray geom class. |
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| 264 | |
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| 265 | * added the dGeomXXXPointDepth() functions. |
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| 266 | |
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| 267 | * added a collision test infrastructure, and some more tests. |
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| 268 | |
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| 269 | 11/24/02 russ |
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| 270 | |
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| 271 | * added support for multiple box-box contacts. |
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| 272 | |
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| 273 | 11/10/02 russ |
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| 274 | |
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| 275 | * added new collision system. select between the old/new system by |
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| 276 | setting the ODE_OLD_COLLISION variable in config/user-settings. |
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| 277 | |
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| 278 | 10/28/02 russ |
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| 279 | |
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| 280 | * fixed two problems in the LCP code to improve the reliability of |
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| 281 | the dContactApprox1 contact mode. |
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| 282 | |
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| 283 | * added a FAQ question about rolling bodies getting stuck when they |
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| 284 | hit multiple geoms. |
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| 285 | |
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| 286 | 09/08/02 russ |
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| 287 | |
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| 288 | * added dClosestLineSegmentPoints(). |
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| 289 | * implemented dCollideCB(). |
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| 290 | |
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| 291 | 08/28/02 russ |
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| 292 | |
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| 293 | * added dJointSetFeedback() and dJointGetFeedback(). |
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| 294 | |
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| 295 | 08/05/02 russ |
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| 296 | |
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| 297 | * added dGeomTransformSetInfo() and dGeomTransformGetInfo(). |
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| 298 | |
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| 299 | 07/13/02 russ |
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| 300 | |
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| 301 | * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(), |
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| 302 | dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(), |
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| 303 | dBodyVectorFromWorld(). |
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| 304 | |
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| 305 | * added dBodyGetPointVel() (thanks to Colin Reed). |
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| 306 | |
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| 307 | * added a new C++ interface (from Martin C. Martin, with modifications |
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| 308 | by russ). the old C++ interface is now in odecpp_old.h. |
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| 309 | |
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| 310 | 06/25/02 russ |
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| 311 | |
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| 312 | * added an additional BSD-style licensing option for ODE. |
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| 313 | |
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| 314 | 06/23/02 russ |
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| 315 | |
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| 316 | * added dCloseODE(), contributed by Nate Waddoups and David McClurg. |
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| 317 | |
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| 318 | 05/16/02 russ |
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| 319 | |
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| 320 | * added dSpaceQuery(), contributed by Nate Waddoups. |
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| 321 | |
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| 322 | 04/07/02 russ |
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| 323 | |
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| 324 | * added a section to the documentation for universal joints. |
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| 325 | this includes a picture of the joint. |
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| 326 | |
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| 327 | 04/05/02 russ |
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| 328 | |
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| 329 | * added a universal joint class (generously contributed by |
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| 330 | Martin C. Martin). it doesn't (yet) have a motor or joint limits, |
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| 331 | but it does come with tests. |
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| 332 | |
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| 333 | 03/11/02 russ |
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| 334 | |
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| 335 | * makefile changes to accomodate OSs with command line length |
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| 336 | limitations (thanks to Norman Lin). |
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| 337 | |
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| 338 | 01/06/02 russ |
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| 339 | |
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| 340 | * added the dBodySetGravityMode() and dBodyGetGravityMode() |
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| 341 | functions, which change the dxBodyNoGravity body flag. |
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| 342 | |
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| 343 | * added support for building a DLL with MSVC - there is now a |
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| 344 | msvc-dll target. thanks to Norman Lin for doing this. |
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| 345 | |
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| 346 | 12/28/01 russ |
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| 347 | |
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| 348 | * added the dParamCFM joint parameter. |
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| 349 | |
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| 350 | 12/24/01 russ |
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| 351 | |
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| 352 | * reworked the build system to make it more cross-platform. |
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| 353 | there is now a single top-level makefile and a configurator.c |
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| 354 | program. see the INSTALL file for details. |
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| 355 | |
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| 356 | 12/04/01 russ |
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| 357 | |
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| 358 | * the "angular motor" joint has been completed, and a new section |
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| 359 | has been added to the documentation. |
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| 360 | |
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| 361 | 11/26/01 russ |
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| 362 | |
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| 363 | * added a new joint type: "angular motor". using this joint is a good |
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| 364 | way to get ball-joint motors and limits. this is work in progress - |
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| 365 | it has not been fully implemented or tested yet. |
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| 366 | |
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| 367 | 11/22/01 russ |
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| 368 | |
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| 369 | * replaced the mmap()-based joint group stack (stack.cpp) with a |
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| 370 | malloc()-based arena stack (obstack.cpp). this will be more |
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| 371 | portable and should not impact performance. |
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| 372 | |
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| 373 | 11/12/01 russ |
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| 374 | |
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| 375 | * changed the meaning of the 'flags' parameter to dCollide() and |
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| 376 | related functions: now the size of the contact buffer is kept in |
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| 377 | the lower 16 bits. this change will be backward compatible. |
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| 378 | |
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| 379 | * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis(). |
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| 380 | |
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| 381 | * added dBodyAddForceAtRelPos() function. |
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| 382 | |
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| 383 | 11/11/01 russ |
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| 384 | |
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| 385 | * added the ability to manually enable and disable bodies. |
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| 386 | see dBodyEnable(), dBodyDisable(), dBodyIsEnabled(). |
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| 387 | |
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| 388 | * fixed a potential bug: when a world is destroyed that contains |
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| 389 | joints in joint groups, those joints are marked as "deactivated" in |
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| 390 | the joint group, so when the joint group is destroyed they can be |
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| 391 | ignored. |
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| 392 | |
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| 393 | * the test_boxstack demo has new options to enable and disable bodies. |
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| 394 | |
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| 395 | * new configuration parameter in config.h: dEFFICIENT_SIZE. |
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| 396 | |
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| 397 | 11/11/01 russ |
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| 398 | |
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| 399 | * started the change log for ODE. changes older than today were added |
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| 400 | to this file by inspecting the CVS logs. |
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| 401 | |
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| 402 | 11/05/01 russ |
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| 403 | |
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| 404 | * added REAL() constructions for floating point numbers, to prevent |
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| 405 | many warnings when compiling under VC++. |
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| 406 | |
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| 407 | 11/03/01 russ |
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| 408 | |
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| 409 | * added geometry transform class, documented composite objects. |
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| 410 | |
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| 411 | * added collision rule: no contacts if both geoms on the same body. |
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| 412 | this is not the best rule, may have to remove this in the future. |
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| 413 | |
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| 414 | * new dMassAdd() function. |
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| 415 | |
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| 416 | * capped cylinder to capped cylinder collision function. |
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| 417 | |
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| 418 | 10/31/01 russ |
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| 419 | |
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| 420 | * increase CFM in some demos to make them more robust. |
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| 421 | |
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| 422 | 10/29/01 russ |
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| 423 | |
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| 424 | * added new accessor functions. |
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| 425 | |
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| 426 | 10/19/01 russ |
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| 427 | |
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| 428 | * added the dJOINT_TWOBODIES flag to the joint, that says it can not |
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| 429 | be attached to just one body. |
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| 430 | |
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| 431 | 10/12/01 russ |
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| 432 | |
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| 433 | * fixed a collision bug in dCollide() that was causing memory |
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| 434 | corruption when multiple contacts were being returned. |
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| 435 | |
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| 436 | 10/11/01 russ |
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| 437 | |
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| 438 | * joints can now return m=0 to be "inactive". added a "null" joint |
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| 439 | to test this. |
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| 440 | |
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| 441 | 10/09/01 russ |
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| 442 | |
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| 443 | * in the LCP solver, try to fail gracefully when s <= 0. |
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| 444 | |
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| 445 | * dAABBTestFn() API change. |
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| 446 | |
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| 447 | 10/08/01 russ |
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| 448 | |
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| 449 | * fixed a contact swapping bug in dCollide(). |
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| 450 | |
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| 451 | 10/07/01 russ |
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| 452 | |
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| 453 | * added capped cylinder geometry object. |
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| 454 | |
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| 455 | 09/30/01 russ |
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| 456 | |
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| 457 | * the test_buggy demo now uses geometry groups. |
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| 458 | |
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| 459 | * added a dAABBTestFn field in the geometry classes. |
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| 460 | |
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| 461 | 09/29/01 russ |
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| 462 | |
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| 463 | * added geometry groups. |
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| 464 | |
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| 465 | 09/20/01 russ |
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| 466 | |
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| 467 | * added finite rotation stuff. |
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