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source: code/trunk/src/external/bullet/ChangeLog @ 8393

Last change on this file since 8393 was 8393, checked in by rgrieder, 13 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 36.4 KB
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1Bullet Continuous Collision Detection and Physics Library
2Primary author and maintainer: Erwin Coumans
3
4This ChangeLog is incomplete, for an up-to-date list of all fixed issues see http://bullet.googlecode.com
5using http://tinyurl.com/yabmjjj
6
72011 April 8
8        - Bullet 2.78 release 2383
9        - Added FractureDemo
10        - Added Separatinx Axis Test and Polyhedral Clipping support (See InternalEdgeDemo)
11        - Added speculative contacts as CCD response method (See CcdPhysicsDemo)
12        - OpenCL and DirectCompute cloth as basic support for capsule collision
13
142010 September 7
15        - autotools now uses CamelCase naming for libraryes just like cmake:
16        libbulletdynamics -> libBulletDynamics, libbulletmath -> libLinearMath
17
182010 July 21
19        - Preparing for Bullet 2.77 release, around revision r2135
20        - Added an OpenCL particle demo, running on NVidia, AMD and MiniCL
21        Thanks to NVidia for the original particle demo from their OpenCL SDK
22        - Added GPU deformable object solvers for OpenCL and DirectCompute, and a DirectX 11 cloth demo
23        Thanks to AMD
24        - Create a separate library for MiniCL,
25        MiniCL is a rudimentary OpenCL wrapper that allows to compile OpenCL kernels for multi-core CPU, using Win32 Threads or Posix
26        - Moved vectormath into Bullet/src, and added a SSE implementation
27        - Added a btParallelConstraintSolver, mainly for PlayStation 3 Cell SPUs (although it runs fine on CPU too)
28
292010 March 6
30        - Dynamica Maya plugin (and COLLADA support) is moved to http://dynamica.googlecode.com
31
322010 February
33        - Bullet 2.76 release, revision 2010
34        - support for the .bullet binary file format
35        - btInternalEdgeUtility to adjust unwanted collisions against internal triangle edges
36        - Improved Maya Dynamica plugin with better constraint authoring and .bullet file export
37
38
392009 September 17
40        - Minor update to Bullet 2.75 release, revision 1776
41        - Support for btConvex2dShape, check out Bullet/Demos/Box2dDemo
42        - Fixes in build systems
43        - Minor fix in btGjkPairDetector
44        - Initialize world transform for btCollisionShape in constructor
45
46
472009 September 6
48        - Bullet 2.75 release
49        - Added SPH fluid simulation in Extras, not integrated with rigid body / soft body yet
50        Thanks to Rama Hoetzlein to make this contribution available under the ZLib license
51        - add special capsule-capsule collider code in btConvexConvexCollisionAlgorithm, to speed up capsule-ragdolls
52        - soft body improvement: faster building of bending constraints
53        - soft body improvement: allow to disable/enable cluster self-collision
54        - soft body fix: 'exploding' soft bodies when using cluster collision
55        - fix some degenerate cases in continuous convex cast, could impact ray cast/convex cast
56        Thanks to Jacob Langford for the report and reproduction cases, see http://code.google.com/p/bullet/issues/detail?id=250&can=1&start=200
57        - re-enabled split impulse
58        - added btHinge2Constraint, btUniversalConstraint, btGeneric6DofSpringConstraint
59        - demonstrate 2D physics with 2D/3D object interaction
60       
61
622008 December 2
63        - Fix contact refresh issues with btCompoundShape, introduced with btDbvt acceleration structure in btCompoundCollisionAlgorithm
64        - Made btSequentialImpulseConstraintSolver 100% compatible with ODE quickstep
65        constraints can use 'solveConstraint' method or 'getInfo/getInfo2'
66
672008 November 30
68        - Add highly optimized SIMD branchless PGS/SI solver innerloop
69
702008 November 12
71        - Add compound shape export to BulletColladaConverter
72        Thanks to JamesH for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
73        - Fix compiler build for Visual Studio 6
74        Thanks to JoF for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2841
75
762008 November 11
77        - Add CProfileManager::dumpAll() to dump performance statistics to console using printf.
78        - Add support for interaction between btSoftBody and btCollisionObject/btGhostObject
79
802008 November 8
81        - Fix PosixThreadSupport
82        - Add improved btHeightfieldTerrainShape support and new Demos/TerrainDemo
83        Thanks to tomva, http://code.google.com/p/bullet/issues/detail?id=63&can=1
84        - Moved kinematic character controller from Demos/CharacterDemo into src/BulletDynamics/Character/btKinematicCharacterController.cpp
85
862008 November 6
87        - reduced default memory pool allocation from 40Mb to 3Mb. This should be more suitable for all platforms, including iPhone
88        - improved CUDA broadphase
89        - IBM Cell SDK 3.x support, fix ibmsdk Makefiles
90        - improved CMake support with 'install' and 'framework option
91       
922008 November 4
93        - add btAxisSweep::resetPool to avoid non-determinism due to shuffled linked list
94        Thanks to Ole for the contribution,
95
962008 October 30
97        - disabled btTriangleMesh duplicate search by default, it is extremely slow
98        - added Extras/IFF binary chunk serialization library as preparation for in-game native platform serialization (planned COLLADA DOM -> IFF converter)
99
1002008 October 20
101        - added SCE Physics Effects box-box collision detection for SPU/BulletMultiThreaded version
102        See Bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
103        Thanks to Sony Computer Entertainment Japan, SCEI for the contribution
104
1052008 October 17
106        - Added btGhostObject support, this helps character controller, explosions, triggers and other local spatial queries
107
1082008 October 10
109        - Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned
110        - Moved BulletMultiThreaded from Extras to /src/BulletMultiThreaded for better integration
111
112
1132008 October 3
114        - Add support for autoconf automake
115        ./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
116        - Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
117       
1182008 Sept 30
119        - Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
120        - Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
121
1222008 Sept 28
123        - Fixed rotation issues in Dynamic Maya Plugin
124
1252008 Sept 11
126        - Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
127
1282008 Sept 7
129        - Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
130
1312008 Sept 5
132        - Enabled Demos/ForkLiftDemo
133        Thanks Roman Ponomarev.
134
1352008 Sept 4
136        - Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
137        Thanks to the particle demo from the NVidia CUDA SDK.
138       
1392008 Sept 3
140        - Several bug fixes and contributions related to inertia tensor, memory leaks etc.
141        Thanks to Ole K.
142
1432008 Sept 1
144        - Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
145        Thanks to Pierre Terdiman for the update
146
1472008 August 25
148        - Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
149        Thanks to Nicola Candussi and Arthur Shek
150       
1512008 August 14
152        - 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)
153        Thanks to Nathanael Presson again, for all his work.
154       
1552008 July 31
156        - Added Havok .hkx to COLLADA Physics .dae converter patch+information
157        - Fix btSubsimplexConvexCast
158        Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
159        - Fix in rendering, GL_STENCIL
160        - btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
161        - Made InternalProcessAllTriangles virtual, thanks to
162        Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
163        - clamp impulse for btPoint2PointConstraint
164        Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
165        - Free memory of bvh, pass in scaling factor (optional)
166        Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
167
1682008 July 27
169
170btDbvtBroadphase:
171        - Fixed a performance issues reported by 'reltham'
172        - Added btDbvtBroadphase::optimize() for people who want good performances right
173away or don't do dynamics.
174        - fixed compilation issues when DBVT_BP_PROFILE was set.
175btSoftBody:
176        - Fixed singular matrix issues related to polar decomposition (flat meshes).
177DemoApplication:
178        - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
179        - Texture can be enable/disable through 'u'
180CDFramework:
181        - fixed compilation issues.
182        All thanks to Nathanael Presson
183
1842008 July 10
185        - Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
186        Thanks to Alex Silverman for the contribution
187
1882008 June 30
189        - Added initial support for kinematic character controller
190        Thanks to John McCutchan
191
1922008 April 14
193        - Added ray cast support for Soft Bodies
194        Thanks to Nathanael Presson for the contribution
195       
1962008 April 9
197        - Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
198
1992008 April 4
200        - Added btSliderConstraint and demo
201        Thanks Roman Ponomarev
202       
2032008 April 3
204        - Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
205
2062008 April 2
207        - Added Extras/CdTestFrameWork
208        Thanks Pierre Terdiman
209
2102008 April 1
211        - Added posix thread (pthread) support
212        Thanks Enrico
213
2142008 March 30
215        - Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
216        Thanks Nathanael Presson for this great contribution
217       
218        2008 March 17
219        - Improved BulletColladaConverter
220        Thanks John McCutchan
221
2222008 March 15
223        - btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
224        - Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
225        - added quicksort to btAlignedObjectArray
226        - removed btTypedUserInfo, added btHashMap
227
2282008 March 30
229        - Moved quickstep solver and boxbox into Bullet/src folder
230        Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license       
231
2322008 Feb 27
233        - Added initial version for Character Control Demo
234        - Applied fixes to IBM Cell SDK 3.0 build makefiles
235        Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
236
2372008 Feb 8
238        - Bugfixes in ConvexCast support against the world.
239        Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
240
2412008 Feb 6
242        - Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
243       
2442008 Feb 3
245        - Added btTypedUserInfo, useful for serialization
246
2472008 Jan 31
248        - Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
249
2502008 Jan 29
251        - Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
252
2532008 Jan 23
254        - Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
255       
2562008 Jan 14
257        - Add support for batch raycasting on SPU / BulletMultiThreaded
258       
2592007 Dec 16
260        - Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
261        Thanks Vangelis Kokkevis for pointing this out.
262        - Fixed memoryleak in the ConstraintDemo and Raytracer demo.
263        - Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
264        Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
265        - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
266        - 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).
267        User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
268
2692007 Dec 14
270        - Added Hello World and BulletMultiThreaded demos
271        - Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
272        - Add Cmake support for AllBulletDemos
273       
274
2752007 Dec 11
276        - Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
277        See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
278        - Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
279        Thanks Andy O'Neil for reporting the performance/functionality issue
280        - Fixes for IBM Cell SDK 3.0
281        Thanks to Jochen Roth for the patch.
282
2832007 Dec 10
284        - Fixes in btHeightfieldTerrainShape
285        Thanks to Jay Lee for the patch.
286
2872007    Dec 9
288        - Only update aabb of active objects
289        Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
290        - Added workaround to compile libxml under Visual Studio 2008 Beta 2
291        - Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
292
2932007 Dec 6
294        - Added DynamicControlDemo, showing dynamic control through constraint motors
295                Thanks to Eddy Boxerman
296        - Add support for generic concave shapes for convex cast.
297        - Added convex cast query to collision world.
298        - Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
299        - Added concave raycast demo
300                All above thanks to John McCutchan (JMC)
301        - Fixed issues that prevent Linux version to compile.
302        Thanks to Enrico for reporting and patch, see
303        - Fixed misleading name 'numTriangleIndices' into 'numTriangles'
304        Thanks Sean Tasker for reporting:
305
3062007 Nov 28:
307        - Added raycast against trianglemesh. Will be extended to object cast soon.
308        Thanks John McCutchan (JMC)
309        - make getNumPoints const correct, add const getPoints().
310        Thanks Dirk Gregorius
311        - Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
312        Thanks Andy O'Neil for pointing this out.
313        - Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
314        Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
315
316
3172007, November 20
318        - Added hierarchical profiling
319        - Fixed memory leak in btMultiSapBroadphase,
320        - Fixed hash function (typo, should use 2 proxies)
321        Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
322
3232007 Nov 11
324        - Fixed parallel solver (BulletMultiThreaded) friction issue
325        - Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
326
3272007 Nov 6
328        - Added support for 16-bit indices for triangle meshes
329        - Added support for multiple mesh parts using btBvhTriangleMeshShape.
330        Thanks to Tim Johansson
331       
3322007 Oct 22
333        - All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
334        - added a few more demos to AllBulletDemos
335        - fix for one of the constructors of btHingeConstraint
336        Thanks Marcus Hennix
337       
3382007 Oct 20
339        - included glui, a GLUT/OpenGL based toolkit for some graphical user elements
340        Removed dynamic_cast from glui, to allow linkage without rtti
341        - added Box2D framework using glui, allowing all demos to run within one executable
342        Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
343
3442007 Ocy 17
345        - Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
346
3472007 Oct 14
348        - Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
349        This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
350        (Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
351        Thanks to IBM 'Extreme Blue' project for the contribution
352        http://www-913.ibm.com/employment/us/extremeblue/
353        Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
354        for various contributions to get this initial Libspe2 parallel version up and running.
355
3562007 Oct 13
357        - made 'btCollisionShape::calculateLocalInertia' const
358        Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
359        - applied a large patch to remove warnings
360        Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
361        - removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
362
3632007 Oct 11
364        - added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
365        - modified some margins inside btBoxShape, btCylinderShape and btSphereShape
366        - added cone debug rendering (for cones with x, y and z up-axis)
367        - added improvements for optional Extra/quickstep, thanks to Remotion
368        - some performance improvements for Bullet constraint solver
369
3702007 Sept 28
371        - upgraded GIMPACT to version 0.3
372        Thanks to Francisco Leon
373
3742007 Sept 27
375        - 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
376        Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
377
3782007 Sept 13
379        - Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
380        - Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
381        For both patches/improvements thanks Francisco Leon/projectileman
382               
3832007 Sept 10
384        - removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
385
3862007 Sept 10
387        - Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
388        - Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
389        - 16 byte memory alignment for BVH serialization
390        - memory cleanup for btPoolAllocator
391
3922007 Sept 9
393        - Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
394        Thanks to Phil Knight for the contribution.
395        - Fixed issues related to stack allocator/compound collision algorithm
396        Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
397        - Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
398        - Removed accidential testing code in btScalar.h related to operator new.       
399        - Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
400       
4012007 Sept 7
402        - Replaced several dynamic memory allocations by stack allocation and pool allocations
403        - Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
404        Thanks to Phil Knight. Also see www.cellperformance.com for related articles
405        - Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
406        This is an API change. See demos how to modify existing implementations with a one-liner.
407        - Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
408        - Use other traveral method for BVH by default, this improves triangle mesh collision performance.
409       
4102007 Aug 31
411        - fixed MSVC 6 build
412        Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
413        - fixed double precision build issues
414        Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
415
4162007 Aug 24
417        - fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
418        Thanks to Jay Lee
419       
4202007 Aug 15
421        - fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
422        Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
423
4242007 Aug 14
425        - added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
426          See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
427          Thanks Marten Svanfeldt (Starbreeze Studios) 
428        - fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
429          Thanks Marten Svanfeldt (Starbreeze Studios) 
430       
4312007 Aug 2
432        - added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
433        - 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:
434        http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
435
436
4372007 July 27
438        - added Ragdoll Demo
439                Thanks to Marten Svanfeldt (Starbreeze Studios)
440
441        - added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
442                See Bullet/Extras/vectormathlibrary
443                Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
444                Will be used to improve BulletMultiThreaded performance
445                Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
446        - added SIMD math library
447                4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
448                Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
449                See Bullet/Extras/simdmathlibrary
450                Open sourced by Sony Computer Entertainment Inc. under the new BSD license
451
452       
4532007 July 25
454        - added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
455                Thanks to Marten Svanfeldt (Starbreeze Studios)
456       
4572007 July 13
458        - fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
459                Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
460
4612007 July 10
462        - Updated Bullet User Manual
463
4642007 July 5
465        - added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
466                Thanks to Marten Svanfeldt (Starbreeze Studios)
467
4682007 June 29
469        - btHeightfieldTerrainShape: Added heightfield support, with customizations
470        - Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
471        - Several patches from Marten Svanfeldt (Starbreeze Studios)
472                Improved collision filtering (in broadphase and rigidbody)
473                Improved debug rendering
474                Allow to set collision filter group/mask in addRigidBody
475               
476               
4772007 June 15
478        - Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
479
4802007 June 11
481        - Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
482                Libspe2 support for Cell Blade / PS3 Linux is upcoming
483                See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
484
485        - Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
486                See Extras/BulletX
487                Thanks to KleMiX, aka Vsevolod Klementjev
488
4892007 May 31
490        - sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
491                Thanks DevO for reporting.
492
4932007 May 23
494        - Fixed quantization problem for planar triangle meshes in btOptimizedBvh
495                Thanks Phil Knight for reporting and helping to fix this bug.
496               
4972007 May 20
498        - btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
499                Thanks tbp for more details on reproducing case.
500        - 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)
501        - btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
502        - Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
503                Thanks Volker for reporting!
504        - Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
505
5062007 April 22
507        - Added braking functionality to btRaycastVehicle
508        - Removed tons of warnings, under MSVC 2005 compilation in -W4
509       
5102007 March 21
511        - Fixed issues: comma at end of enum causes errors for some compilers
512        - Fixed initialization bug in LocalRayResult (  m_localShapeInfo(localShapeInfo) )
513       
5142007 March 20
515        - Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
516       
5172007 March 17
518        - Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
519        - 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).
520        - 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;
521        - Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
522       
5232007 March 12
524        - Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
525                This allows the number of bodies to exceed 32767
526        - Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
527       
5282007 March 8
529        - Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
530                Thanks Clemens Unterkofler for pointing this out!
531
5322007 March 6
533        - 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).
534        - added heap sort and binary search/linear search to btAlignedObjectArray
535        - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
536
537
5382007 Feb 25
539        - Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
540       
5412007 Feb 24
542        - Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
543          Should be faster and smaller then original version (quantized aabb check is done in integer space)
544                Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
545        - added meter-unit scaling support in ColladaConverter.cpp
546
5472007 Feb 21
548        - Build system: updated bullet.pc.in library names
549        - Updated EPA comparison integration (missing parameter)
550       
5512007 Jan 04
552        - fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
553       
5542006 Dec 15
555        - added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
556
5572006 Dec 14
558        - merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
559        - added first draft for hingeConstraint motor
560       
5612006 Dec 8, Erwin Coumans
562        - preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
563        - cleaned up dependencies in autogenerated msvc projectfiles
564        - aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
565
5662006 Dec 04, Erwin Coumans
567        Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
568        - contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
569        - continuous collision detection, time of impact
570        Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
571        Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
572
573
5742006 Nov 28
575        Moved StackAlloc from EPA into LinearMath/btStackAlloc
576        renamed internal class ConcaveShape into btConcaveShape
577        added btHeightfieldTerrainShape (not completed yet)
578               
5792006 Nov 15 Nathanael Presson
580        Added EPA penetration depth algorithm, Expanding Polytope Algorithm
581        Added Pierre Terdiman penetration depth comparison/test DEMO
582        Fixed Bullet's Minkowski sampling penetration depth solver
583        Contributed by Nathanael Presson
584       
5852006 Nov 11 Francisco León Nájera
586        Added GIMPACT trimesh collision detection: concave versus concave,
587        Contributed by Francisco León Nájera
588
5892006 Nov 2
590        Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
591        Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
592        Renamed treshold into threshold throughout the code
593       
5942006 Oct 30
595        Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
596        Enabled raycast vehicle demo (still needs tuning)
597        Refresh contact points, even when they are already persistent.
598        Fixed debugDraw colors (thanks pc0de for reporting)
599        Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
600        Improved performance of constraint solver by precalculating the cross product/impulse arm
601        Added collision comparison code: ODE box-box, also sphere-triangle
602        Added safety check into GJK, and an assert for AABB's that are very large
603        Fixed kinematic support (deriving velocities for animated objects)
604        Updated comparison/optional quickstep solver in Extras
605        UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
606        Removed scaling from btTransform (we only want to deal with rigid transforms)
607       
6082006 Oct 4
609        Fixed minor leak in btOptimizeBVH
610        Cleanup of btRigidBody construction
611        added getW() in btQuaternion
612        assert when setLinearVelocity is called on btRigidBody
613        renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
614       
6152006 Sept 27
616        Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
617        All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
618        Moved classes into src folder, which is the only include folder needed.
619        Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
620
6212006 Sept 23
622        Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
623       
6242006 Sept 19
625        Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
626        Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
627       
6282006 Sept 16
629        Added Bullet 2.0  User Manual
630        Allow registration of custom user collision algorithms
631
6322006 Sept 10
633        Started cleaning up demos
634       
6352006 Sept 4
636        Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
637        Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
638        Prepared for VehicleDemo
639        Increased Performance (island generation for sleeping objects took too much time)
640        Better COLLADA 1.4.1 physics conformance in ColladaDemo
641
6422006 August 11
643        Added Quake BspDemo
644        Improved CCD for compound and non-convex objects
645
6462006 August 10
647        Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
648
6492006 August 9
650        Added CMake support (see http://cmake.org)
651        This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
652        Just run cmake . in the root folder and it will autogenerate build files
653       
6542006 July 26 Erwin Coumans
655        Upgraded to COLLADA-DOM 1.4.1, latest SVN version
656        ColladaDemo can export snapshots to .dae
657       
6582006 July 24 Erwin Coumans
659        Added Compound CollisionShape support
660        (this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
661
6622006 July 15 Erwin Coumans
663        Added initial support for Parallel execution (collision detection, constraint solving)
664        See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
665       
6662006 July 10 Erwin Coumans
667        Added MacOS X support (some build issues mainly)
668               
6692006 July 5 Erwin Coumans
670        Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
671
6722006 June 29 Erwin Coumans
673        Refactoring of the broadphase
674        Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
675        Moved the limits on bodies/overlap to 32k and 65k
676       
6772006 June 25 Erwin Coumans
678        Added basic Collision Filtering, during broadphase
679        Allow adding meshes to the TriangleIndexVertexArray,
680        (input for TriangleMeshShape)
681        Preparation for CompoundShape
682
6832006 June 19 Erwin Coumans
684        Added support for COLLADA Physics Import.
685        Both jam and Visual Studio can compile ColladaDemo
686
6872006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
688        Started implementing Generic6DOF joint and setup basic interface
689
690
6912006 June 17 Frank Richter <resqu@gmx.ch>
692        Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
693          the next version released).
694        Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
695          GLU detection issue on MinGW.
696        Set msvc/bullet_ico.ico as the default application icon.
697        Disabled exceptions for gcc builds.
698        Applied a patch from Michael D. Adams to fix a warning with gcc.
6992006 jUNE 16 Erwin Coumans
700        Constraints now merge simulation islands.
701
7022006 May 24
703        Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
704       
7052006 May 19
706        Added restitution support
707        Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
708        Added a void* m_userPersistentData in ManifoldPoint.
709        Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
710
7112006 May 13
712        Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
713
7142006 May 9
715        Fixed raycasting filtering
716        Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
717               
7182006 April 27
719        Moved raycasting to CollisionWorld, to make it more generic
720        Added basic CCD option in the CcdCollisionDemo
721        Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
722        Improved Bullet/ODE sample (in Extras)
723               
7242006 April 10
725        Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
726        Added SIMD SSE Math classes (for above SAT)
727        Added Mouse picking in CcdPhysicsDemo
728        Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
729        Added Hinge constraint
730        Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
731               
7322006 March 21 Frank Richter <resqu@gmx.ch>
733        Removed VC manifest files.
734        Removed superfluous "grpplugins" projects.
735
7362006 March 20 Erwin Coumans
737        Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
738        Use the persistent contacts for reusing the impulse
739        Separated friction and normal solving for better stability
740        Decreased the default number of iterations of the constraint solver from 10 to 4
741
7422006 March 19 Frank Richter <resqu@gmx.ch>
743        Removed a couple of CSisms from the VC projects.
744        Fixed VC include & lib paths to go to the Addtional* options
745          instead the command line arguments.
746        Added pkgconfig support.
747
7482006 March 14 Frank Richter <resqu@gmx.ch>
749        Added support for shipped GLUT on MinGW.
750        Fixed GLUT support on MinGW.
751
7522006 March 13 Frank Richter <resqu@gmx.ch>
753        Bolted on Jam-based build system.
754        Generated VC project files.
755        Fixed GCC warnings.
756        Fixed Linux build issues.
757
7582006 March 13
759Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
760
7612006 March 2
762        Minor change in license to ZLib/LibPNG
763        This makes it legally a bit easier to deploy on Playstation 3
764        Prepared for more generic constraints, added ConstraintsDemo
765
7662006 Feb 23
767        Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
768        See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
769
7702005 August 6
771        Bullet 0.2 release with demos, sources, doxygen, draft manual
772
7732005 June 1
774        First public release of Bullet
775       
776
777... todo: add history
778
7792003 Initial version (continuous collision detection)
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