Daniel Chappuis
31e6ed2d8a
Replace the 0 constant by NULL when using pointers
2013-02-28 19:50:52 +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
33a084c816
Merge branch 'sequentialimpulse2' into develop
2013-02-26 22:45:01 +01:00
Daniel Chappuis
a362171532
Clean the code of the sequential impulse contact solver
2013-02-26 22:43:45 +01:00
Daniel Chappuis
b36f2c93b1
Merge branch 'outside_velocities' into sequentialimpulse2
2013-02-26 08:21:15 +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
158c19541b
Add methods to get the friction vectors of the contact
2012-12-26 02:18:51 +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
3872e9615c
Use unit friction vectors
2012-12-25 17:35:52 +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 :
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- 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
f47298d7eb
Merge branch 'dynamicscollision' into develop
2012-10-03 22:40:24 +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
Daniel Chappuis
29e5f2b7b4
Use the name CollisionShape instead of Collider for the collision shapes
2012-08-04 00:34:30 +02:00
Daniel Chappuis
c7faae9b20
Add the bodyindex type to represent the index number of a body
2012-08-02 23:33:56 +02:00
Daniel Chappuis
62823f3d43
Add the .gitignore file
2012-08-01 02:03:56 +02:00
Daniel Chappuis
bdf9acb54f
Add the makefiles to the repository
2012-07-31 23:48:35 +02:00
chappuis.daniel
63f887dc07
Add the PairManager class
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@467 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-07-25 21:35:27 +00:00
chappuis.daniel
cd47b3e617
Implementation of the array-based Sweep-And-Prune broad-phase collision detection algorithm from Pierre Terdiman
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@466 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-07-25 21:31:57 +00:00
chappuis.daniel
b013204b3f
Allocate the ContactInfo into a memory pool for better efficiency
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@465 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-28 21:03:30 +00:00
chappuis.daniel
b381388f87
Make possible to use a single collider for multiple rigid bodies
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@464 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-27 22:41:26 +00:00
chappuis.daniel
9333d0e690
Use a customize algorithm for Sphere vs Sphere collision detection instead of using GJK
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@463 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-25 22:57:27 +00:00
chappuis.daniel
ea2d922ae5
Remove the shapes folder
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@462 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-18 23:21:39 +00:00
chappuis.daniel
401a60b74a
Rename shapes folder into colliders
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@461 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-18 23:17:44 +00:00
chappuis.daniel
c1eabd3e2b
Add error correction using first world order projection (not active by default), change the Shape class into Collider class, add the new decimal type in order to easily switch between single and double precision
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@460 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2012-01-18 23:06:33 +00:00
chappuis.daniel
7efd553f37
Remove lcp folder
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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@455 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-12-11 11:06:25 +00:00