ecker/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
1,258 Commits 3 Branches 8 Tags 28 MiB
8187c19fa3
Commit Graph

279 Commits

Author SHA1 Message Date
Daniel Chappuis
14bfb0aca4 Some optimizations in contact solver 2016-10-17 22:41:33 +02:00
Daniel Chappuis
81426293e0 Remove unused variables in contact solver 2016-10-16 23:18:42 +02:00
Daniel Chappuis
d04cee7d0a Change the way to iterate over contacts 2016-10-16 15:40:38 +02:00
Daniel Chappuis
58ae61d6aa Remove Impulse class 2016-10-11 20:08:47 +02:00
Daniel Chappuis
7b5dce927e Fix issue with split impulse and refactor contact solver 2016-10-10 23:30:32 +02:00
Daniel Chappuis
a4a141483b Remove init contact constraint method 2016-10-08 23:04:22 +02:00
Daniel Chappuis
3ab2b8608c Always solve friction at the center of the manifold and always use warmstarting 2016-10-08 16:58:28 +02:00
Daniel Chappuis
25fddd6fb2 Back to previous contact solver 2016-10-08 01:18:56 +02:00
Daniel Chappuis
c597815191 Remove unecessary variables in constraints and cache inverse inertia world tensor of bodies 2016-09-26 22:51:30 +02:00
Daniel Chappuis
8f4979f4a2 Allocate memory in the SingleFrameAllocator in the update() method 2016-09-22 23:24:03 +02:00
Daniel Chappuis
e014f00afc Refactor memory allocator and refactor contact solver 2016-09-21 22:03:45 +02:00
Daniel Chappuis
1a26241fa8 Fix issue in contact solver 2016-09-16 20:02:38 +02:00
Daniel Chappuis
b4f13308de Optimize warmstarting in contact solver 2016-09-13 22:58:17 +02:00
Daniel Chappuis
e069a25f08 Start refactoring the contact solver 2016-09-10 11:18:52 +02:00
Daniel Chappuis
2f195c6106 Fix compilation error on gcc 2016-08-21 20:44:29 +02:00
Daniel Chappuis
8d2b898168 Fix merge conflicts 2016-08-21 11:47:22 +02:00
Daniel Chappuis
2932403ff4 Use default keyword for default constructors/destructors 2016-07-19 06:52:18 +02:00
Daniel Chappuis
cfede8f179 Use constexpr for compile time constants 2016-07-11 08:59:39 +02:00
Daniel Chappuis
16478722de Use override keyword to mark virtual overriden methods 2016-07-11 08:33:24 +02:00
Daniel Chappuis
f5ade0f52d Fix virtual constructors, use c++11 scoped enums, use c++11 delete methods instead of private constructors 2016-07-08 07:25:37 +02:00
Daniel Chappuis
be957ba41a Replace typedefs by c++11 alias declaration 2016-07-06 07:05:34 +02:00
Daniel Chappuis
9cc633fc67 Modify initial GJK support direction 2016-07-06 06:48:19 +02:00
Daniel Chappuis
942b63b48d Replace NULL pointer by nullptr 2016-05-19 22:47:19 +02:00
Daniel Chappuis
c3e74856a0 Fix assert raised in empty scene 2016-05-18 22:30:20 +02:00
Daniel Chappuis
2640fbd48a Start replacing NULL constant by nullptr 2016-05-15 19:25:58 +02:00
Daniel Chappuis
8a75c867a5 Change version number of the library 2016-04-11 20:15:20 +02:00
Daniel Chappuis
235b1db90c Fix warnings 2016-03-30 22:39:47 +02:00
Daniel Chappuis
3e98ab2282 Add support for rolling resistance in the contact solver 2016-03-20 23:01:38 +01:00
Daniel Chappuis
63fb6261a3 Fix issue with linear/angular damping 2016-03-20 22:53:05 +01:00
Daniel Chappuis
d6580f94aa Fix conflicts when merging triangularmeshes into develop 2016-02-15 20:14:30 +01:00
Daniel Chappuis
9fd98f8efc Add Timer.h and Timer.cpp files back (used for Profiler) 2015-11-13 21:20:04 +01:00
Daniel Chappuis
c3c9a5c38c Remove contact manifolds that do not have contact points anymore after manifold update 2015-10-19 06:55:35 +02:00
Daniel Chappuis
85c6a2eaf5 Return manifold set by reference and not by pointer 2015-10-15 07:48:28 +02:00
Daniel Chappuis
20c9794a20 Remove ProxyShapes pointers from OverlappingPair 2015-10-13 19:10:13 +02:00
Daniel Chappuis
ec5e41c19e Add ContactManifoldSet to allow several ContactManifolds per overlapping pair 2015-10-08 21:28:37 +02:00
Daniel Chappuis
fc91540a79 Add ContactManifoldSet class 2015-10-02 07:04:05 +02:00
Daniel Chappuis
cd808fcf62 Modify the way the collision shapes are created (we don't make an internal copy anymore) 2015-09-04 19:56:27 +02:00
Daniel Chappuis
16617fef8e Merge branch 'develop' of https://github.com/ColinGilbert/reactphysics3d into ColinGilbert-develop 2015-08-27 22:32:18 +02:00
Colin
87b88fc953 Merge branch 'develop' of https://www.github.com/DanielChappuis/reactphysics3d into develop 2015-08-26 04:01:18 -06:00
Colin
1468f8f13c Replace dynamic_cast with static_cast 2015-08-24 13:36:30 -06:00
Daniel Chappuis
c76e5247aa Allow the user to use custom collision detection algorithm 2015-08-19 18:48:08 +02:00
Daniel Chappuis
7ce44f9775 Fix warnings 2015-08-17 06:44:26 +02:00
Daniel Chappuis
345afc1a1d Destroy bodies and joints in the destructor of CollisionWorld and DynamicsWorld 2015-08-13 07:19:15 +02:00
Daniel Chappuis
a4e28ddcf1 Add getContactsList() method to DynamicsWorld 2015-08-11 18:32:06 +02:00
Daniel Chappuis
39b7883462 Add methods to query number of solver iterations in DynamicsWorld 2015-07-11 18:34:37 +02:00
Daniel Chappuis
82f6bf2dbb Work on the GUI 2015-06-30 19:50:17 +02:00
Daniel Chappuis
80cf65ccf2 Allow to change the gravity vector of the DynamicsWorld 2015-06-29 23:35:50 +02:00
Daniel Chappuis
6279867964 Remove the use of the old transform variable in CollisionBody 2015-06-16 22:46:43 +02:00
Daniel Chappuis
b8192db3ef Fix compilation error in DynamicsWorld 2015-04-20 23:22:22 +02:00
Daniel Chappuis
fb90eac003 The time accumulator and frame interpolation should now be done outside the physics engine 2015-04-18 18:33:25 +02:00
Daniel Chappuis
3aaac820e0 Fix compilation error on Visual Studio 2013 2015-04-08 22:10:34 +02:00
Daniel Chappuis
6679bb27bc Changes for the next release 2015-02-15 21:56:45 +01:00
Daniel Chappuis
3a8e69654f Add Doxygen documentation 2015-02-12 22:31:26 +01:00
Daniel Chappuis
c56557898f Small modifications 2015-02-09 22:37:36 +01:00
Daniel Chappuis
0b3abacb3c Fix possible memory leaks 2015-02-07 14:15:05 +01:00
Daniel Chappuis
bb0da781a7 Fix compilation warnings 2015-02-01 01:09:58 +01:00
Daniel Chappuis
68958d0ed1 Add internal physics tick callback methods in EventListener class 2015-01-20 22:17:40 +01:00
Daniel Chappuis
c15b83db4a Add collision and raycast filtering using bits mask 2014-12-31 01:19:14 +01:00
Daniel Chappuis
aae4da54d0 Add methods to test collision and AABB overlap in physics world 2014-12-28 00:54:34 +01:00
Daniel Chappuis
5f7af61593 -Remove unnecessary contact manifold 
-Delete the BroadPhasePair class
 2014-11-21 21:27:09 +01:00
Daniel Chappuis
3da146eb84 Implement world ray casting query 2014-11-04 22:38:40 +01:00
Daniel Chappuis
e9257ec56f Change raycasting so that a ray is given by two points instead of a point and a direction 2014-10-21 22:26:40 +02:00
Daniel Chappuis
3c1b819fda Implement the testPointInside() methods in the collision shapes 2014-08-09 10:28:37 +02:00
Daniel Chappuis
6c505377c5 Clean up the include statements 2014-08-07 21:38:31 +02:00
Daniel Chappuis
ab8656fc0b Remove all the special proxy shapes to keep only the ProxyShape class 2014-08-04 22:46:58 +02:00
Daniel Chappuis
bd5668ed51 Work on the testPointInside() method 2014-08-01 12:36:32 +02:00
Daniel Chappuis
0faacdbd6b Merge branch 'raycast' of https://github.com/DanielChappuis/reactphysicsd into raycast 2014-07-22 22:46:24 +02:00
Daniel Chappuis
5dd9ee826e Add classes and tests for raycasting 2014-07-21 23:08:18 +02:00
Daniel Chappuis
1415bad00e Small modifications 2014-07-09 23:45:19 +02:00
Daniel Chappuis
a983026094 Inflate the AABB in direction of linear motion in Dynamic AABB tree 2014-07-03 00:13:30 +02:00
Daniel Chappuis
3aa05ef61a Fix issues and add conversion from Euler angles to Quaternion 2014-06-24 23:31:13 +02:00
Daniel Chappuis
bc4de62e75 Fix issue in the collision detection for compound shapes 2014-06-10 23:37:11 +02:00
Daniel Chappuis
aa76c85e60 continue to replace SAP broad-phase by a dynamic AABB tree 2014-05-15 06:39:39 +02:00
Daniel Chappuis
643ca41922 continue to work on replacing SAP broad-phase by dynamic AABB tree 2014-04-11 23:50:00 +02:00
Daniel Chappuis
1812402617 Add support for the different body types (static, kinematic, dynamic) 2013-11-21 23:24:11 +01:00
Daniel Chappuis
7432a87149 Modify cmake files and add comments in the code 2013-10-06 16:03:25 +02:00
Daniel Chappuis
3173b368c7 Fix compilation error on Mac OS X and errors in SliderJoint and HingeJoint 2013-09-30 23:34:47 +02:00
Daniel Chappuis
b5ae655b0a Add comments, modify method names, change solver nb of iterations, ... 2013-09-27 18:43:45 +02:00
Daniel Chappuis
07df001e8b Add the EventListener class 2013-09-10 21:33:52 +02:00
Daniel Chappuis
d4c7eee175 Rename the Constraint class into Joint and do not perform collision detection between two sleeping bodies 2013-09-07 10:57:58 +02:00
Daniel Chappuis
a009debf21 Fix issue in the contact solver that reduces jittering 2013-09-03 19:31:50 +02:00
Daniel Chappuis
8db7823433 Continue to implement the sleeping technique 2013-09-03 19:30:43 +02:00
Daniel Chappuis
475ec5be5f Iterate over the islands to solve the contacts and joints 2013-08-31 19:03:21 +02:00
Daniel Chappuis
f1d29b5123 Implement the islands computation 2013-08-26 21:28:48 +02:00
Daniel Chappuis
2e6f571b98 Implement linear and angular velocity damping 2013-08-06 20:51:56 +02:00
Daniel Chappuis
c3f4355c25 Modify the method that return the bounds of a collision shape and make the getSupportPoint() methods non-const 2013-07-15 19:09:07 +02:00
Daniel Chappuis
25b6b015b8 Add some private copy-constructors and private assignment operators 2013-07-10 00:21:31 +02:00
Daniel Chappuis
e081661d8c Add the Material class to store the material properties of a rigid body 2013-07-10 00:17:14 +02:00
Daniel Chappuis
501b0747d3 Modifications in the examples 2013-07-02 23:14:08 +02:00
Daniel Chappuis
d58db2e6f2 Remove the gravity from the rigid body external force and allow the user to enable/disable the gravity for each body 2013-06-27 19:53:13 +02:00
Daniel Chappuis
ce0078c2a9 Implement the non-linear-gauss-seidel position error correction 2013-06-26 22:28:31 +02:00
Daniel Chappuis
1c0726d9d6 Add the fixed joint 2013-06-12 20:43:54 +02:00
Daniel Chappuis
c4d6206ee2 Finish the implementation of the Hinge joint and some others modifications 2013-06-09 16:31:01 +02:00
Daniel Chappuis
b87f981827 Start working on the slider joint 2013-05-08 23:33:04 +02:00
Daniel Chappuis
da78e5d79a Modifications in the BallAndSocketJoint to make it work 2013-05-04 09:20:53 +02:00
Daniel Chappuis
af2fcaeb82 Fix two issues 2013-05-02 23:55:10 +02:00
Daniel Chappuis
0071ed16a8 Add comments in the dynamics world code 2013-05-02 22:51:31 +02:00
Daniel Chappuis
c4eee4fb1f Implement the Ball-And-Socket joint 2013-05-02 22:41:57 +02:00
Daniel Chappuis
fdda0b26a9 Modify the contact solver so that its main loop is outside the solver 2013-04-25 22:34:20 +02:00
Daniel Chappuis
2b2143d41e Continue the implementation of the constraint solver 2013-04-24 19:24:28 +02:00
Daniel Chappuis
471e4f7afc Start to implement the joints 2013-04-22 23:32:52 +02:00
Daniel Chappuis
f692f7ef12 Allocate memory for the collision shapes inside the physics engine 2013-04-22 21:25:40 +02:00
Daniel Chappuis
16c6487796 Change #ifndef names in headers to avoid name collision with others libraries 2013-04-18 22:54:36 +02:00
Daniel Chappuis
91908c1bbc Continue to implement the examples using the openg-framework 2013-04-18 22:22:45 +02:00
Daniel Chappuis
e03888ea25 Finish the implementation of the memory allocator 2013-04-01 23:43:50 +02:00
Daniel Chappuis
f479c5edf3 Finish the implementation of the profiler 2013-03-26 21:37:55 +01:00
Daniel Chappuis
aa9bd2098d Continue to work on the profiler 2013-03-24 19:45:48 +01:00
Daniel Chappuis
88e680e8e7 Add profiler files 2013-03-21 23:52:44 +01:00
Daniel Chappuis
f38803d75a Fix some warnings 2013-03-17 17:07:09 +01:00
Daniel Chappuis
dac5a2729a Do not compute the AABB of a sphere by rotating its extents 2013-03-14 22:47:59 +01:00
Daniel Chappuis
6731ed8be0 Merge branch test_mathematics into develop 2013-03-13 22:51:27 +01:00
Daniel Chappuis
409bbdaba5 Add header in the ContactSolver.cpp file 2013-03-13 20:56:53 +01:00
Daniel Chappuis
999bef7c8d Add definition to avoid redefinition of min() and max() macros when including windows.h on Windows 2013-03-09 08:39:09 +01:00
Daniel Chappuis
04a31c696c Add Doxygen documentation into the code 2013-03-05 23:09:50 +01:00
Daniel Chappuis
03cddcf568 Access std::map using find() method 2013-03-03 16:36:07 +01:00
Daniel Chappuis
5a373cf27b Clean the code and modify the date in the license text 2013-03-02 16:26:18 +01:00
Daniel Chappuis
db23fd0000 Merge branch 'develop' of https://code.google.com/p/reactphysics3d into develop 2013-02-28 22:40:06 +01:00
Daniel Chappuis
31e6ed2d8a Replace the 0 constant by NULL when using pointers 2013-02-28 19:50:52 +01:00
Daniel Chappuis
fe88e68e73 Improve robustness by using correct machine epsilon value test 2013-02-27 23:10:54 +01:00
Daniel Chappuis
cdc384db68 Make possible to access Vector3 members by using x,y and z instead of getX(), getY() and getZ() 2013-02-27 22:10:10 +01:00
Daniel Chappuis
a362171532 Clean the code of the sequential impulse contact solver 2013-02-26 22:43:45 +01:00
Daniel Chappuis
9e499be150 Move the constrained velocities outside the contact solver 2013-02-26 08:15:58 +01:00
Daniel Chappuis
aa236286de Remove files 2013-02-19 23:16:48 +01:00
Daniel Chappuis
e84f6468c8 Clean the code 2013-02-19 23:16:20 +01:00
Daniel Chappuis
0695b30704 Make possible to solve the friction constraints at the center of the contact manifold 2013-02-16 16:14:04 +01:00
Daniel Chappuis
8cde68f5b9 Implement the split impulse technique for position correction 2013-01-31 22:42:11 +01:00
Daniel Chappuis
d546d8208f Use first friction vector in the direction of the tangential velocity 2013-01-27 10:38:41 +01:00
Daniel Chappuis
2d0da2cc1c Clean up the code and change the warmstart() method 2013-01-17 23:13:18 +01:00
Daniel Chappuis
9cf672c51c Don't use the contact.B_sp fields anymore in the solveLCP() method and fix bug with contact.r2CrossN that were not initialized in the constraint solver 2013-01-16 19:47:49 +01:00
Daniel Chappuis
5c941cf88b Continue to implement the Sequential Impulse solver 2013-01-16 13:23:37 +01:00
Daniel Chappuis
1bcec415a1 Continue to transform PGS solver into the sequential impulse solver 2013-01-06 19:28:56 +01:00
Daniel Chappuis
e4d47ded09 Change the way we solve the linear system 2012-12-30 12:45:06 +01:00
Daniel Chappuis
a70e0655c5 Use Vector3 type into the a[] array 2012-12-29 14:15:07 +01:00
Daniel Chappuis
f2f168f6c8 Change the way to compute the inverse constraint matrix K for the friction constraints 2012-12-29 00:05:44 +01:00
Daniel Chappuis
e64cac4571 Start to compute the inverse mass matrix K for the friction constraints 2012-12-26 02:15:49 +01:00
Daniel Chappuis
91d148e311 Change the way to compute the inverse constraint matrix K for the penetration constraint 2012-12-25 13:03:06 +01:00
Daniel Chappuis
c8d216aafe Use Vector3 inside the V1 array 2012-12-21 11:33:11 +01:00
Daniel Chappuis
d6b3b18aee Use vectors in the Vconstraint array 2012-12-21 11:00:13 +01:00
Daniel Chappuis
d615f9af12 Separate code for bodies initialization and contact constraints initialization 2012-12-21 08:39:21 +01:00
Daniel Chappuis
7172ee4843 Loop over the contact manifolds in the constraint solver 2012-12-16 16:57:15 +01:00
Daniel Chappuis
3259f54558 Add the ContactManifold file 2012-12-12 19:28:52 +01:00
Daniel Chappuis
5e997f1c5c Add the class Contact that contains the contact points between two bodies 2012-12-12 08:19:03 +01:00
Daniel Chappuis
2fc8beaa77 Fix two compilation errors 2012-12-11 23:09:54 +01:00
Daniel Chappuis
a0800ac33d Start to replace PGS solver by sequential impulse and improve of persistent contact cache 2012-12-10 07:52:57 +01:00
Daniel Chappuis
4ca42f9392 Clean the code : 
- Use the mVariable syntax for member variables
- Every lines contain at most 100 characters
- Add private copy-constructor and assignment operators when needed
 2012-10-09 22:21:02 +02:00
Daniel Chappuis
fc37d40bbb Remove the PhysicsEngine and PhysicsWorld classes and add the CollisionWorld and DynamicsWorld classes 2012-10-03 21:00:17 +02:00
Daniel Chappuis
4c0c285174 Add the BroadPhasePair class 2012-09-26 23:07:40 +02:00
Daniel Chappuis
2ed2b2a54f Add the CollisionBody class 2012-09-18 22:09:49 +02:00
Daniel Chappuis
19f7925d47 Allow the MemoryPool class to start with zero allocated memory and grow when more memory is needed 2012-08-13 02:14:47 +02:00
Daniel Chappuis
fcac6457a7 Add documentation 2012-08-06 22:34:42 +02:00