Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: code/branches/physics/src/bullet/ChangeLog @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 16 years ago

Added Bullet physics engine.

File size: 31.4 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
72008 October 10
8        - Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned
9
102008 October 3
11        - Add support for autoconf automake
12        ./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
13        - Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
14       
152008 Sept 30
16        - Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
17        - Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
18
192008 Sept 28
20        - Fixed rotation issues in Dynamic Maya Plugin
21
222008 Sept 11
23        - Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
24
252008 Sept 7
26        - Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
27
282008 Sept 5
29        - Enabled Demos/ForkLiftDemo
30        Thanks Roman Ponomarev.
31
322008 Sept 4
33        - Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
34        Thanks to the particle demo from the NVidia CUDA SDK.
35       
362008 Sept 3
37        - Several bug fixes and contributions related to inertia tensor, memory leaks etc.
38        Thanks to Ole K.
39
402008 Sept 1
41        - Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
42        Thanks to Pierre Terdiman for the update
43
442008 August 25
45        - Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
46        Thanks to Nicola Candussi and Arthur Shek
47       
482008 August 14
49        - 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)
50        Thanks to Nathanael Presson again, for all his work.
51       
522008 July 31
53        - Added Havok .hkx to COLLADA Physics .dae converter patch+information
54        - Fix btSubsimplexConvexCast
55        Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
56        - Fix in rendering, GL_STENCIL
57        - btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
58        - Made InternalProcessAllTriangles virtual, thanks to
59        Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
60        - clamp impulse for btPoint2PointConstraint
61        Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
62        - Free memory of bvh, pass in scaling factor (optional)
63        Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
64
652008 July 27
66
67btDbvtBroadphase:
68        - Fixed a performance issues reported by 'reltham'
69        - Added btDbvtBroadphase::optimize() for people who want good performances right
70away or don't do dynamics.
71        - fixed compilation issues when DBVT_BP_PROFILE was set.
72btSoftBody:
73        - Fixed singular matrix issues related to polar decomposition (flat meshes).
74DemoApplication:
75        - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
76        - Texture can be enable/disable through 'u'
77CDFramework:
78        - fixed compilation issues.
79        All thanks to Nathanael Presson
80
812008 July 10
82        - Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
83        Thanks to Alex Silverman for the contribution
84
852008 June 30
86        - Added initial support for kinematic character controller
87        Thanks to John McCutchan
88
892008 April 14
90        - Added ray cast support for Soft Bodies
91        Thanks to Nathanael Presson for the contribution
92       
932008 April 9
94        - Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
95
962008 April 4
97        - Added btSliderConstraint and demo
98        Thanks Roman Ponomarev
99       
1002008 April 3
101        - Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
102
1032008 April 2
104        - Added Extras/CdTestFrameWork
105        Thanks Pierre Terdiman
106
1072008 April 1
108        - Added posix thread (pthread) support
109        Thanks Enrico
110
1112008 March 30
112        - Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
113        Thanks Nathanael Presson for this great contribution
114       
115        2008 March 17
116        - Improved BulletColladaConverter
117        Thanks John McCutchan
118
1192008 March 15
120        - btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
121        - Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
122        - added quicksort to btAlignedObjectArray
123        - removed btTypedUserInfo, added btHashMap
124
1252008 March 30
126        - Moved quickstep solver and boxbox into Bullet/src folder
127        Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license       
128
1292008 Feb 27
130        - Added initial version for Character Control Demo
131        - Applied fixes to IBM Cell SDK 3.0 build makefiles
132        Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
133
1342008 Feb 8
135        - Bugfixes in ConvexCast support against the world.
136        Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
137
1382008 Feb 6
139        - Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
140       
1412008 Feb 3
142        - Added btTypedUserInfo, useful for serialization
143
1442008 Jan 31
145        - Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
146
1472008 Jan 29
148        - Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
149
1502008 Jan 23
151        - Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
152       
1532008 Jan 14
154        - Add support for batch raycasting on SPU / BulletMultiThreaded
155       
1562007 Dec 16
157        - Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
158        Thanks Vangelis Kokkevis for pointing this out.
159        - Fixed memoryleak in the ConstraintDemo and Raytracer demo.
160        - Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
161        Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
162        - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
163        - 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).
164        User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
165
1662007 Dec 14
167        - Added Hello World and BulletMultiThreaded demos
168        - Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
169        - Add Cmake support for AllBulletDemos
170       
171
1722007 Dec 11
173        - Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
174        See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
175        - Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
176        Thanks Andy O'Neil for reporting the performance/functionality issue
177        - Fixes for IBM Cell SDK 3.0
178        Thanks to Jochen Roth for the patch.
179
1802007 Dec 10
181        - Fixes in btHeightfieldTerrainShape
182        Thanks to Jay Lee for the patch.
183
1842007    Dec 9
185        - Only update aabb of active objects
186        Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
187        - Added workaround to compile libxml under Visual Studio 2008 Beta 2
188        - Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
189
1902007 Dec 6
191        - Added DynamicControlDemo, showing dynamic control through constraint motors
192                Thanks to Eddy Boxerman
193        - Add support for generic concave shapes for convex cast.
194        - Added convex cast query to collision world.
195        - Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
196        - Added concave raycast demo
197                All above thanks to John McCutchan (JMC)
198        - Fixed issues that prevent Linux version to compile.
199        Thanks to Enrico for reporting and patch, see
200        - Fixed misleading name 'numTriangleIndices' into 'numTriangles'
201        Thanks Sean Tasker for reporting:
202
2032007 Nov 28:
204        - Added raycast against trianglemesh. Will be extended to object cast soon.
205        Thanks John McCutchan (JMC)
206        - make getNumPoints const correct, add const getPoints().
207        Thanks Dirk Gregorius
208        - Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
209        Thanks Andy O'Neil for pointing this out.
210        - Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
211        Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
212
213
2142007, November 20
215        - Added hierarchical profiling
216        - Fixed memory leak in btMultiSapBroadphase,
217        - Fixed hash function (typo, should use 2 proxies)
218        Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
219
2202007 Nov 11
221        - Fixed parallel solver (BulletMultiThreaded) friction issue
222        - Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
223
2242007 Nov 6
225        - Added support for 16-bit indices for triangle meshes
226        - Added support for multiple mesh parts using btBvhTriangleMeshShape.
227        Thanks to Tim Johansson
228       
2292007 Oct 22
230        - All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
231        - added a few more demos to AllBulletDemos
232        - fix for one of the constructors of btHingeConstraint
233        Thanks Marcus Hennix
234       
2352007 Oct 20
236        - included glui, a GLUT/OpenGL based toolkit for some graphical user elements
237        Removed dynamic_cast from glui, to allow linkage without rtti
238        - added Box2D framework using glui, allowing all demos to run within one executable
239        Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
240
2412007 Ocy 17
242        - Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
243
2442007 Oct 14
245        - Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
246        This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
247        (Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
248        Thanks to IBM 'Extreme Blue' project for the contribution
249        http://www-913.ibm.com/employment/us/extremeblue/
250        Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
251        for various contributions to get this initial Libspe2 parallel version up and running.
252
2532007 Oct 13
254        - made 'btCollisionShape::calculateLocalInertia' const
255        Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
256        - applied a large patch to remove warnings
257        Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
258        - removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
259
2602007 Oct 11
261        - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
262        - modified some margins inside btBoxShape, btCylinderShape and btSphereShape
263        - added cone debug rendering (for cones with x, y and z up-axis)
264        - added improvements for optional Extra/quickstep, thanks to Remotion
265        - some performance improvements for Bullet constraint solver
266
2672007 Sept 28
268        - upgraded GIMPACT to version 0.3
269        Thanks to Francisco Leon
270
2712007 Sept 27
272        - 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
273        Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
274
2752007 Sept 13
276        - Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
277        - Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
278        For both patches/improvements thanks Francisco Leon/projectileman
279               
2802007 Sept 10
281        - removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
282
2832007 Sept 10
284        - Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
285        - Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
286        - 16 byte memory alignment for BVH serialization
287        - memory cleanup for btPoolAllocator
288
2892007 Sept 9
290        - Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
291        Thanks to Phil Knight for the contribution.
292        - Fixed issues related to stack allocator/compound collision algorithm
293        Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
294        - Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
295        - Removed accidential testing code in btScalar.h related to operator new.       
296        - Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
297       
2982007 Sept 7
299        - Replaced several dynamic memory allocations by stack allocation and pool allocations
300        - Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
301        Thanks to Phil Knight. Also see www.cellperformance.com for related articles
302        - Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
303        This is an API change. See demos how to modify existing implementations with a one-liner.
304        - Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
305        - Use other traveral method for BVH by default, this improves triangle mesh collision performance.
306       
3072007 Aug 31
308        - fixed MSVC 6 build
309        Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
310        - fixed double precision build issues
311        Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
312
3132007 Aug 24
314        - fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
315        Thanks to Jay Lee
316       
3172007 Aug 15
318        - fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
319        Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
320
3212007 Aug 14
322        - added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
323          See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
324          Thanks Marten Svanfeldt (Starbreeze Studios) 
325        - fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
326          Thanks Marten Svanfeldt (Starbreeze Studios) 
327       
3282007 Aug 2
329        - added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
330        - 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:
331        http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
332
333
3342007 July 27
335        - added Ragdoll Demo
336                Thanks to Marten Svanfeldt (Starbreeze Studios)
337
338        - added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
339                See Bullet/Extras/vectormathlibrary
340                Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
341                Will be used to improve BulletMultiThreaded performance
342                Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
343        - added SIMD math library
344                4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
345                Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
346                See Bullet/Extras/simdmathlibrary
347                Open sourced by Sony Computer Entertainment Inc. under the new BSD license
348
349       
3502007 July 25
351        - added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
352                Thanks to Marten Svanfeldt (Starbreeze Studios)
353       
3542007 July 13
355        - fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
356                Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
357
3582007 July 10
359        - Updated Bullet User Manual
360
3612007 July 5
362        - added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
363                Thanks to Marten Svanfeldt (Starbreeze Studios)
364
3652007 June 29
366        - btHeightfieldTerrainShape: Added heightfield support, with customizations
367        - Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
368        - Several patches from Marten Svanfeldt (Starbreeze Studios)
369                Improved collision filtering (in broadphase and rigidbody)
370                Improved debug rendering
371                Allow to set collision filter group/mask in addRigidBody
372               
373               
3742007 June 15
375        - Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
376
3772007 June 11
378        - Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
379                Libspe2 support for Cell Blade / PS3 Linux is upcoming
380                See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
381
382        - Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
383                See Extras/BulletX
384                Thanks to KleMiX, aka Vsevolod Klementjev
385
3862007 May 31
387        - sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
388                Thanks DevO for reporting.
389
3902007 May 23
391        - Fixed quantization problem for planar triangle meshes in btOptimizedBvh
392                Thanks Phil Knight for reporting and helping to fix this bug.
393               
3942007 May 20
395        - btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
396                Thanks tbp for more details on reproducing case.
397        - 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)
398        - btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
399        - Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
400                Thanks Volker for reporting!
401        - Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
402
4032007 April 22
404        - Added braking functionality to btRaycastVehicle
405        - Removed tons of warnings, under MSVC 2005 compilation in -W4
406       
4072007 March 21
408        - Fixed issues: comma at end of enum causes errors for some compilers
409        - Fixed initialization bug in LocalRayResult (  m_localShapeInfo(localShapeInfo) )
410       
4112007 March 20
412        - Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
413       
4142007 March 17
415        - Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
416        - 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).
417        - 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;
418        - Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
419       
4202007 March 12
421        - Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
422                This allows the number of bodies to exceed 32767
423        - Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
424       
4252007 March 8
426        - Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
427                Thanks Clemens Unterkofler for pointing this out!
428
4292007 March 6
430        - 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).
431        - added heap sort and binary search/linear search to btAlignedObjectArray
432        - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
433
434
4352007 Feb 25
436        - Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
437       
4382007 Feb 24
439        - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
440          Should be faster and smaller then original version (quantized aabb check is done in integer space)
441                Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
442        - added meter-unit scaling support in ColladaConverter.cpp
443
4442007 Feb 21
445        - Build system: updated bullet.pc.in library names
446        - Updated EPA comparison integration (missing parameter)
447       
4482007 Jan 04
449        - fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
450       
4512006 Dec 15
452        - added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
453
4542006 Dec 14
455        - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
456        - added first draft for hingeConstraint motor
457       
4582006 Dec 8, Erwin Coumans
459        - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
460        - cleaned up dependencies in autogenerated msvc projectfiles
461        - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
462
4632006 Dec 04, Erwin Coumans
464        Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
465        - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
466        - continuous collision detection, time of impact
467        Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
468        Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
469
470
4712006 Nov 28
472        Moved StackAlloc from EPA into LinearMath/btStackAlloc
473        renamed internal class ConcaveShape into btConcaveShape
474        added btHeightfieldTerrainShape (not completed yet)
475               
4762006 Nov 15 Nathanael Presson
477        Added EPA penetration depth algorithm, Expanding Polytope Algorithm
478        Added Pierre Terdiman penetration depth comparison/test DEMO
479        Fixed Bullet's Minkowski sampling penetration depth solver
480        Contributed by Nathanael Presson
481       
4822006 Nov 11 Francisco León Nájera
483        Added GIMPACT trimesh collision detection: concave versus concave,
484        Contributed by Francisco León Nájera
485
4862006 Nov 2
487        Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
488        Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
489        Renamed treshold into threshold throughout the code
490       
4912006 Oct 30
492        Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
493        Enabled raycast vehicle demo (still needs tuning)
494        Refresh contact points, even when they are already persistent.
495        Fixed debugDraw colors (thanks pc0de for reporting)
496        Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
497        Improved performance of constraint solver by precalculating the cross product/impulse arm
498        Added collision comparison code: ODE box-box, also sphere-triangle
499        Added safety check into GJK, and an assert for AABB's that are very large
500        Fixed kinematic support (deriving velocities for animated objects)
501        Updated comparison/optional quickstep solver in Extras
502        UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
503        Removed scaling from btTransform (we only want to deal with rigid transforms)
504       
5052006 Oct 4
506        Fixed minor leak in btOptimizeBVH
507        Cleanup of btRigidBody construction
508        added getW() in btQuaternion
509        assert when setLinearVelocity is called on btRigidBody
510        renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
511       
5122006 Sept 27
513        Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
514        All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
515        Moved classes into src folder, which is the only include folder needed.
516        Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
517
5182006 Sept 23
519        Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
520       
5212006 Sept 19
522        Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
523        Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
524       
5252006 Sept 16
526        Added Bullet 2.0  User Manual
527        Allow registration of custom user collision algorithms
528
5292006 Sept 10
530        Started cleaning up demos
531       
5322006 Sept 4
533        Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
534        Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
535        Prepared for VehicleDemo
536        Increased Performance (island generation for sleeping objects took too much time)
537        Better COLLADA 1.4.1 physics conformance in ColladaDemo
538
5392006 August 11
540        Added Quake BspDemo
541        Improved CCD for compound and non-convex objects
542
5432006 August 10
544        Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
545
5462006 August 9
547        Added CMake support (see http://cmake.org)
548        This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
549        Just run cmake . in the root folder and it will autogenerate build files
550       
5512006 July 26 Erwin Coumans
552        Upgraded to COLLADA-DOM 1.4.1, latest SVN version
553        ColladaDemo can export snapshots to .dae
554       
5552006 July 24 Erwin Coumans
556        Added Compound CollisionShape support
557        (this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
558
5592006 July 15 Erwin Coumans
560        Added initial support for Parallel execution (collision detection, constraint solving)
561        See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
562       
5632006 July 10 Erwin Coumans
564        Added MacOS X support (some build issues mainly)
565               
5662006 July 5 Erwin Coumans
567        Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
568
5692006 June 29 Erwin Coumans
570        Refactoring of the broadphase
571        Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
572        Moved the limits on bodies/overlap to 32k and 65k
573       
5742006 June 25 Erwin Coumans
575        Added basic Collision Filtering, during broadphase
576        Allow adding meshes to the TriangleIndexVertexArray,
577        (input for TriangleMeshShape)
578        Preparation for CompoundShape
579
5802006 June 19 Erwin Coumans
581        Added support for COLLADA Physics Import.
582        Both jam and Visual Studio can compile ColladaDemo
583
5842006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
585        Started implementing Generic6DOF joint and setup basic interface
586
587
5882006 June 17 Frank Richter <resqu@gmx.ch>
589        Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
590          the next version released).
591        Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
592          GLU detection issue on MinGW.
593        Set msvc/bullet_ico.ico as the default application icon.
594        Disabled exceptions for gcc builds.
595        Applied a patch from Michael D. Adams to fix a warning with gcc.
5962006 jUNE 16 Erwin Coumans
597        Constraints now merge simulation islands.
598
5992006 May 24
600        Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
601       
6022006 May 19
603        Added restitution support
604        Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
605        Added a void* m_userPersistentData in ManifoldPoint.
606        Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
607
6082006 May 13
609        Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
610
6112006 May 9
612        Fixed raycasting filtering
613        Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
614               
6152006 April 27
616        Moved raycasting to CollisionWorld, to make it more generic
617        Added basic CCD option in the CcdCollisionDemo
618        Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
619        Improved Bullet/ODE sample (in Extras)
620               
6212006 April 10
622        Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
623        Added SIMD SSE Math classes (for above SAT)
624        Added Mouse picking in CcdPhysicsDemo
625        Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
626        Added Hinge constraint
627        Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
628               
6292006 March 21 Frank Richter <resqu@gmx.ch>
630        Removed VC manifest files.
631        Removed superfluous "grpplugins" projects.
632
6332006 March 20 Erwin Coumans
634        Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
635        Use the persistent contacts for reusing the impulse
636        Separated friction and normal solving for better stability
637        Decreased the default number of iterations of the constraint solver from 10 to 4
638
6392006 March 19 Frank Richter <resqu@gmx.ch>
640        Removed a couple of CSisms from the VC projects.
641        Fixed VC include & lib paths to go to the Addtional* options
642          instead the command line arguments.
643        Added pkgconfig support.
644
6452006 March 14 Frank Richter <resqu@gmx.ch>
646        Added support for shipped GLUT on MinGW.
647        Fixed GLUT support on MinGW.
648
6492006 March 13 Frank Richter <resqu@gmx.ch>
650        Bolted on Jam-based build system.
651        Generated VC project files.
652        Fixed GCC warnings.
653        Fixed Linux build issues.
654
6552006 March 13
656Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
657
6582006 March 2
659        Minor change in license to ZLib/LibPNG
660        This makes it legally a bit easier to deploy on Playstation 3
661        Prepared for more generic constraints, added ConstraintsDemo
662
6632006 Feb 23
664        Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
665        See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
666
6672005 August 6
668        Bullet 0.2 release with demos, sources, doxygen, draft manual
669
6702005 June 1
671        First public release of Bullet
672       
673
674... todo: add history
675
6762003 Initial version (continuous collision detection)
Note: See TracBrowser for help on using the repository browser.