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
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
chappuis.daniel
cd47b3e617
Implementation of the array-based Sweep-And-Prune broad-phase collision detection algorithm from Pierre Terdiman
...
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
9333d0e690
Use a customize algorithm for Sphere vs Sphere collision detection instead of using GJK
...
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
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
...
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
b82228d3ed
Modifications before release
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@454 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-12-11 00:40:04 +00:00
chappuis.daniel
d762312d68
ReactPhysics3D is now under the ZLib license
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@452 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-11-13 17:49:03 +00:00
chappuis.daniel
29d9e60e93
Avoid negative penetration depth due to numerical errors in GJK algorithm
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@451 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-11-11 07:05:30 +00:00
chappuis.daniel
5467e09020
Remove dynamic casting
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@449 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-11-10 23:21:45 +00:00
chappuis.daniel
9bfb44597f
Optimization of the LCP Solver
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@448 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-11-09 20:18:32 +00:00
chappuis.daniel
38a8969c63
Change of the directory structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@446 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-10-18 22:51:29 +00:00
chappuis.daniel
58be3a3f3d
Change of the directory structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@444 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-10-18 22:15:16 +00:00
chappuis.daniel
4049f6ae3b
Add persistent contact caching in collision detection
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@443 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-10-18 22:03:05 +00:00
chappuis.daniel
10f46956b6
Use of platform specific time functions instead of clock() function to avoid cross-platform problems and for better accuracy
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@440 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-09-06 21:37:58 +00:00
chappuis.daniel
94e7153817
Add the PersistentContactCache and MemoryPool classes
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@439 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-09-03 11:58:42 +00:00
chappuis.daniel
40ec21b398
Changes and optimizations in the Vector3 and Matrix3x3 classes
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@437 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-08-18 21:02:48 +00:00
chappuis.daniel
03557bbff6
Changes in the Contact class
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@436 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-08-10 16:49:38 +00:00
chappuis.daniel
d9452e727c
Use a quaternion instead of a matrix in the Transform
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@435 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-08-08 21:41:07 +00:00
chappuis.daniel
0de337cfe5
changes in the code structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@433 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-07-10 17:56:00 +00:00
chappuis.daniel
a04db140bf
changes in the code structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@432 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-07-10 17:31:19 +00:00
chappuis.daniel
1d5a8e2491
Change the code structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@430 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-07-09 16:58:50 +00:00
chappuis.daniel
bd5d0fb230
Add Transform and changes in code design
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@429 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-06-30 20:25:34 +00:00
chappuis.daniel
fce32c78e2
implementation of GJK and EPA collision detection algorithm continued
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@423 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2011-02-19 19:38:08 +00:00
chappuis.daniel
c57651a789
Several optimizations and cosmetic modifications
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@408 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-16 20:56:09 +00:00
chappuis.daniel
7762d3daca
Add the constants.h file
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@407 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-16 10:11:41 +00:00
chappuis.daniel
6b4e5c0fa2
Optimizations in the constraint solver
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@406 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-14 20:03:36 +00:00
chappuis.daniel
ddf602c125
Optimizations in the constraint solver
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@405 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-14 19:30:24 +00:00
chappuis.daniel
9fd3d8b598
Now we can use a single Contact for several contact points between two bodies
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@404 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-11 16:25:43 +00:00
chappuis.daniel
869c48db42
Change in the repository structure
...
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@399 92aac97c-a6ce-11dd-a772-7fcde58d38e6
2010-09-09 22:29:02 +00:00