Daniel Chappuis
|
010d7876ef
|
Make sure we do not recompute automatically center of mass and inertia tensor when they are set by the user
|
2018-01-21 13:11:11 +01:00 |
|
Daniel Chappuis
|
301823729d
|
Remove the use of std::vector
|
2018-01-20 17:30:36 +01:00 |
|
Daniel Chappuis
|
3a0cc1feac
|
Working on Map
|
2018-01-19 17:50:30 +01:00 |
|
Daniel Chappuis
|
b1ecfb0fed
|
Working on containers (List, Map)
|
2018-01-19 07:55:55 +01:00 |
|
Daniel Chappuis
|
b93e358f5b
|
Fix issue with zero penetration depth in Sphere vs Capsule collision
|
2018-01-15 18:34:20 +01:00 |
|
Daniel Chappuis
|
c7f7a169f8
|
Refactor the getter/setter for inertia tensor of a RigidBody
|
2018-01-15 07:18:00 +01:00 |
|
Daniel Chappuis
|
27a451adcf
|
Merge branch 'optimization' into develop
|
2018-01-14 11:05:21 +01:00 |
|
Daniel Chappuis
|
ceb27760cb
|
Working on containers
|
2018-01-14 10:47:39 +01:00 |
|
Daniel Chappuis
|
261ffef616
|
Refactor memory allocation
|
2018-01-01 18:35:57 +01:00 |
|
Daniel Chappuis
|
8f126a75d6
|
Use List in HalfEdgeStructure with some changes in memory allocation
|
2017-12-27 20:53:09 +01:00 |
|
Daniel Chappuis
|
f2ee00ca68
|
Use List instead of std::vector compute segment clipping in SAT algorithm
|
2017-12-14 22:25:52 +01:00 |
|
Daniel Chappuis
|
47869627d1
|
Fix issue in Transform
|
2017-12-14 20:24:19 +01:00 |
|
Daniel Chappuis
|
7d20a746e9
|
Do not std::map to store mapping from rigid body to index in array
|
2017-12-14 15:09:56 +01:00 |
|
Daniel Chappuis
|
5392948518
|
Use inline constructors for mathematics objects (vectors, quaternion, matrices, ...)
|
2017-12-13 17:51:38 +01:00 |
|
Daniel Chappuis
|
2d0cb27538
|
Add List and DefaultAllocator classes
|
2017-12-12 22:53:00 +01:00 |
|
Daniel Chappuis
|
9066264189
|
Remove commented code
|
2017-12-12 22:36:19 +01:00 |
|
Daniel Chappuis
|
cf42e9f04c
|
Optimizations in contact solver
|
2017-12-12 07:29:29 +01:00 |
|
Daniel Chappuis
|
9d761291d6
|
Small optimizations
|
2017-12-06 21:55:50 +01:00 |
|
Daniel Chappuis
|
4f76553c59
|
Many small optimizations
|
2017-12-04 22:14:52 +01:00 |
|
Daniel Chappuis
|
4cc024b85e
|
Rename fields and methods in ContactPoint class
|
2017-11-29 23:43:55 +01:00 |
|
Daniel Chappuis
|
ebd715d2e0
|
Add data types
|
2017-11-28 17:53:50 +01:00 |
|
Daniel Chappuis
|
e754711a84
|
Remove unnecessary calls to Quaternion.getMatrix()
|
2017-11-28 17:46:45 +01:00 |
|
Daniel Chappuis
|
317dea90bd
|
Remove Quaternion constructor with Euler angles and replace it by static fromEulerAngles() method
|
2017-11-28 17:26:13 +01:00 |
|
Daniel Chappuis
|
c8e9cca912
|
Compute the inverse quaternion using its conjugate
|
2017-11-26 12:07:58 +01:00 |
|
Daniel Chappuis
|
fea467f112
|
Add profiling in SAT algorithm methods
|
2017-11-25 17:51:14 +01:00 |
|
Daniel Chappuis
|
f09331c185
|
Remove unused cachedCollisionData variable
|
2017-11-22 22:58:31 +01:00 |
|
Daniel Chappuis
|
f403a6e804
|
Add temporal coherence for convex vs triangle collision detection
|
2017-11-22 22:43:27 +01:00 |
|
Daniel Chappuis
|
38bd462b91
|
Fix issue in SAT algorithm, use the correct penetration depth for each contact point
|
2017-11-13 18:42:39 +01:00 |
|
Daniel Chappuis
|
e9709c3db5
|
Refactor the Profiler. Now there is one profiler instance per CollisionWorld/DynamicsWorld instance instead of a static one
|
2017-11-10 19:57:50 +01:00 |
|
Daniel Chappuis
|
222636391e
|
Use the true triangle face normal if contact is not on an edge in smooth triangle contact
|
2017-11-10 17:51:02 +01:00 |
|
Daniel Chappuis
|
de95e15147
|
Fix issue with the shape order in concave vs convex middle-phase collision detection
|
2017-11-08 21:28:00 +01:00 |
|
Daniel Chappuis
|
8bfa6dd137
|
Fix issue : the scaling factor was not used when recomputing AABB tree for concave mesh shape
|
2017-11-08 21:26:15 +01:00 |
|
Daniel Chappuis
|
013431487e
|
Rename setScaling() to setLocalScaling()
|
2017-11-08 21:24:09 +01:00 |
|
Daniel Chappuis
|
b39bb3ba37
|
Initialize the timestep in the DynamicsWorld constructor
|
2017-11-08 21:14:21 +01:00 |
|
Daniel Chappuis
|
e91cded831
|
Update code documentation and fix warnings
|
2017-11-05 23:15:47 +01:00 |
|
Daniel Chappuis
|
6e322882eb
|
Fix wrong world AABB computation that caused broad-phase collision misses
|
2017-11-05 23:10:55 +01:00 |
|
Daniel Chappuis
|
fd427c0337
|
Fix compilation errors because of removed files
|
2017-11-03 07:11:19 +01:00 |
|
Daniel Chappuis
|
002264a5a1
|
Remove unused files
|
2017-11-02 23:01:32 +01:00 |
|
Daniel Chappuis
|
ad0f805f53
|
Fix robustness issue in SAT Algorithm (convex polyhedron vs capsule)
|
2017-11-01 23:09:02 +01:00 |
|
Daniel Chappuis
|
6a69ef76c5
|
Fix issue with ProxyShape::mBroadPhaseId not set when body was sleeping or inactive
|
2017-11-01 23:07:56 +01:00 |
|
Daniel Chappuis
|
5da57a96c8
|
Fix issue with sphere and capsule SAT collision detection
|
2017-10-24 22:47:35 +02:00 |
|
Daniel Chappuis
|
cdaa297a78
|
Remove unused variable
|
2017-10-19 17:19:33 +02:00 |
|
Daniel Chappuis
|
c1295f1d7a
|
Remove contactNormaldId attribute and fix typo
|
2017-10-19 07:26:11 +02:00 |
|
Daniel Chappuis
|
cdec7413c5
|
Improve capsule resting on another shape stability
|
2017-10-18 21:26:53 +02:00 |
|
Daniel Chappuis
|
0250d8c4bd
|
Fix issue in SAT algorithm
|
2017-10-18 19:35:20 +02:00 |
|
Daniel Chappuis
|
de494bb0fd
|
Changes and bug fixes in ContactManifold and ContactManifoldSet
|
2017-10-18 00:41:32 +02:00 |
|
Daniel Chappuis
|
d5617526ff
|
Modify the policy to drop contact manifolds. First drop the old ones before the new ones
|
2017-10-12 20:07:39 +02:00 |
|
Daniel Chappuis
|
4a37ba3994
|
Add unit tests for the TriangleVertexArray
|
2017-10-09 23:34:35 +02:00 |
|
Daniel Chappuis
|
37e2c79cf2
|
Fix issue in ContactManifoldSet
|
2017-10-09 22:41:45 +02:00 |
|
Daniel Chappuis
|
38eff07d0d
|
Fix issue and small changes in TriangleVertexArray
|
2017-10-09 22:36:39 +02:00 |
|
Daniel Chappuis
|
d62aa41974
|
Fix issue in ContactManifoldSet
|
2017-10-04 22:38:39 +02:00 |
|
Daniel Chappuis
|
cbfeb608df
|
Fix bug and clean the pointers casting in TriangleVertexArray
|
2017-10-04 22:38:14 +02:00 |
|
Daniel Chappuis
|
310fef1c52
|
Fix issue with middle phase collision detection (AABB not computed in correct space)
|
2017-09-28 08:34:45 +02:00 |
|
Daniel Chappuis
|
b33b8e0dc5
|
Fix issue in SAT algorithm between polyhedron and capsule
|
2017-09-25 23:06:17 +02:00 |
|
Daniel Chappuis
|
643c781fa0
|
Fix issues with smooth triangle contact
|
2017-09-21 22:44:42 +02:00 |
|
Daniel Chappuis
|
63833621a0
|
Fix issue with triangle shape normal computation
|
2017-09-12 23:25:21 +02:00 |
|
Daniel Chappuis
|
709bed3cec
|
Fix issues with GJK algorithm
|
2017-09-09 15:37:55 +02:00 |
|
Daniel Chappuis
|
8cb2ec7e17
|
Remove wrong assert
|
2017-09-08 07:38:57 +02:00 |
|
Daniel Chappuis
|
b890773053
|
Fix issue when computing clipping planes in SAT algorithm
|
2017-09-07 22:24:30 +02:00 |
|
Daniel Chappuis
|
1b82a3e228
|
Fix issue in GJK algorithm when numerical issue occurs
|
2017-09-07 22:23:00 +02:00 |
|
Daniel Chappuis
|
dd91f6dcbf
|
Fix typo
|
2017-09-04 22:23:29 +02:00 |
|
Daniel Chappuis
|
95ade79af5
|
Fix issue with obsolete contact points that were not removed
|
2017-09-04 21:23:07 +02:00 |
|
Daniel Chappuis
|
501bca5e3d
|
Fix issue in TriangleVertexArray
|
2017-09-04 07:26:01 +02:00 |
|
Daniel Chappuis
|
946e62dd4b
|
Remove unnecessary collision margin for some shapes
|
2017-09-03 19:06:02 +02:00 |
|
Daniel Chappuis
|
8bab9c1348
|
Remove unused cachedCollisionData parameter
|
2017-09-03 18:05:23 +02:00 |
|
Daniel Chappuis
|
e1602f2b27
|
Fix issues with normals computation in TriangleVertexArray
|
2017-09-03 17:35:09 +02:00 |
|
Daniel Chappuis
|
6a22b3a81d
|
Fix temporal coherence in SAT algorithm between two convex polyhedra
|
2017-09-03 10:48:39 +02:00 |
|
Daniel Chappuis
|
673e487f14
|
Remove temporal coherence from SAT for sphere vs polyhedron and capsule vs polyhedron
|
2017-09-01 07:37:45 +02:00 |
|
Daniel Chappuis
|
9b89f66667
|
Fix issues and refactor collision shape type and collision shape name
|
2017-08-31 23:11:00 +02:00 |
|
Daniel Chappuis
|
a655ffb462
|
Fix issue in ContactManifoldSet.cpp
|
2017-08-31 22:42:19 +02:00 |
|
Daniel Chappuis
|
624e01b595
|
Working on ConcaveMeshShape and HeightFieldShape collision detection
|
2017-08-21 07:35:08 +02:00 |
|
Daniel Chappuis
|
319cc72cde
|
Fix issues in collision detection
|
2017-08-18 17:50:27 +02:00 |
|
Daniel Chappuis
|
2f60190942
|
Do not generate contact in GJK algorithm if not needed
|
2017-08-01 15:57:46 +02:00 |
|
Daniel Chappuis
|
b6ad69b278
|
Do not compute contacts if not necessary
|
2017-07-30 23:56:20 +02:00 |
|
Daniel Chappuis
|
8b82c4ac81
|
Refactor the way to create the contact manifolds and contact points
|
2017-07-30 22:14:46 +02:00 |
|
Daniel Chappuis
|
6eec956eb0
|
Fix issues in SAT algorithm between two convex polyhedra
|
2017-07-21 08:09:43 +02:00 |
|
Daniel Chappuis
|
ddd7f500a6
|
Fix issues in SAT algorithm
|
2017-07-17 18:35:51 +02:00 |
|
Daniel Chappuis
|
6e9a84823a
|
Fix issues in collision detection
|
2017-07-17 08:05:40 +02:00 |
|
Daniel Chappuis
|
462fc1dfae
|
Merge joint bug fix into develop
|
2017-07-04 07:10:10 +02:00 |
|
jorrit
|
1855e1c121
|
Fixed bug in FixedJoint and SliderJoint when objects initially have a different rotation. In solvePositionConstraint the error was calculated wrongly causing incorrect simulation.
|
2017-07-03 19:21:44 +02:00 |
|
Daniel Chappuis
|
2f43e554b5
|
Make TriangleShape inherits from ConvexPolyhedronShape
|
2017-06-06 21:12:26 +02:00 |
|
Daniel Chappuis
|
95db87fd62
|
Working on contacts reduction
|
2017-06-05 00:05:49 +02:00 |
|
Daniel Chappuis
|
b1597c508f
|
Working on temporal coherence in SAT algorithm
|
2017-05-31 07:36:39 +02:00 |
|
Daniel Chappuis
|
6b0ba1cfbb
|
Fix issues in collision detection
|
2017-05-29 22:30:30 +02:00 |
|
Daniel Chappuis
|
730b687877
|
Working on temporal coherence in SAT (polyhedron vs polyhedron)
|
2017-05-29 08:32:10 +02:00 |
|
Daniel Chappuis
|
2af87d4804
|
Add bias to prefer some axis when penetration depths are the same in SAT algorithm
|
2017-05-16 07:42:04 +02:00 |
|
Daniel Chappuis
|
0ec21e36b9
|
Working on SAT algorithm between two polyhedra
|
2017-05-16 07:10:44 +02:00 |
|
Daniel Chappuis
|
7fb6f49149
|
Working on capsule vs polyhedron narrow-phase algorithm
|
2017-04-28 21:40:16 +02:00 |
|
Daniel Chappuis
|
f61fea8b8a
|
Add clippling segment/polygons methods, fix issues and add convex vs capsule algorithm
|
2017-04-16 22:09:59 +02:00 |
|
Daniel Chappuis
|
57da79492f
|
Add sphere vs convex polyhedron test in SAT algorithm
|
2017-04-02 00:33:29 +02:00 |
|
Daniel Chappuis
|
951ba3e42c
|
Working on ConvexPolyhedron class
|
2017-03-30 22:39:06 +02:00 |
|
Daniel Chappuis
|
a9b3afae59
|
Finish implementing capsule vs capsule narrow-phase algorithm
|
2017-03-28 23:07:10 +02:00 |
|
Daniel Chappuis
|
050e8b36dc
|
Refactor convex mesh shape (create PolyhedronMesh, ConvexPolyhedron classes)
|
2017-03-22 19:07:31 +01:00 |
|
Daniel Chappuis
|
b21a6bb59b
|
Refactor contact manifold and contact point creation
|
2017-02-26 13:48:50 +02:00 |
|
Daniel Chappuis
|
6a01abfae8
|
Fix issues, work on HalfEdgeStructure and add unit tests
|
2017-02-20 17:11:13 +02:00 |
|
Daniel Chappuis
|
7a656aedc9
|
Working on HalfEdgeStructure
|
2017-02-13 22:38:47 +01:00 |
|
Daniel Chappuis
|
30e0132e15
|
Add capsule/capsule and capsule/sphere collision algorithm
|
2017-02-02 23:10:01 +01:00 |
|
Daniel Chappuis
|
e9f2f94f64
|
Continue working on SAT, remove Cone and Cylinder shapes
|
2017-02-02 22:58:40 +01:00 |
|
Daniel Chappuis
|
e491e38146
|
Fix issue in collision detection
|
2017-01-27 20:26:56 +01:00 |
|
Daniel Chappuis
|
99eb7cf82c
|
Fix issue in collision detection
|
2017-01-19 21:27:58 +01:00 |
|
Daniel Chappuis
|
a50ae73663
|
Fix issue in GJK algorithm
|
2017-01-19 20:29:40 +01:00 |
|
Daniel Chappuis
|
f2a6dde913
|
Fix return value in EPA Algorithm
|
2017-01-18 23:05:43 +01:00 |
|
Daniel Chappuis
|
4a97c2ca97
|
Refactor collision detection
|
2017-01-08 19:56:59 +01:00 |
|
Daniel Chappuis
|
f82777bd3b
|
Refactor some methods in ContactPoint
|
2016-11-05 19:20:54 +01:00 |
|
Daniel Chappuis
|
16d27f40b9
|
Remove bodies pointer from ContactPoint
|
2016-11-03 18:06:45 +01:00 |
|
Daniel Chappuis
|
b3d24e4299
|
Cache some calculation in contact solver
|
2016-10-23 20:04:52 +02:00 |
|
Daniel Chappuis
|
cc6d3d621d
|
Add profiling data
|
2016-10-20 19:16:55 +02:00 |
|
Daniel Chappuis
|
ce06a4b935
|
Change fixed size data types
|
2016-10-17 22:41:58 +02:00 |
|
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
|
54be20c5d3
|
Increase the default size of the single frame memory allocator
|
2016-10-02 15:10:19 +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
|
92460791e6
|
Refactor PoolAllocator and add SingleFrameAllocator
|
2016-09-21 22:01:14 +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
|
5b17652adb
|
Merge branch 'develop' into optimization
|
2016-08-21 20:49:22 +02:00 |
|
Daniel Chappuis
|
2f195c6106
|
Fix compilation error on gcc
|
2016-08-21 20:44:29 +02:00 |
|
Daniel Chappuis
|
123cd93f38
|
Fix compilation error on gcc
|
2016-08-21 20:37:58 +02:00 |
|
Daniel Chappuis
|
6f8d9586c7
|
Fix compilation error on gcc
|
2016-08-21 20:25:50 +02:00 |
|
Daniel Chappuis
|
0a7eeaeb48
|
Fix compilation error on gcc
|
2016-08-21 19:32:14 +02:00 |
|
Daniel Chappuis
|
8a69dc89fa
|
Add missing override keyword
|
2016-08-21 12:34:27 +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
|
da9f6ae233
|
Remove Simplex class (replaced by VoronoiSimplex)
|
2016-07-05 22:02:16 +02:00 |
|
Daniel Chappuis
|
4bad013c91
|
Make GJK/EPA collision detection more robust
|
2016-07-05 21:34:44 +02:00 |
|
Daniel Chappuis
|
ccd33c2502
|
Fix issue in VoronoiSimplex
|
2016-06-27 18:50:12 +02:00 |
|
Daniel Chappuis
|
fd224ebaba
|
Add VoronoiSimplex class for GJK algorithm
|
2016-06-20 08:41:22 +02:00 |
|
Daniel Chappuis
|
9fae1b4e35
|
Add missing virtual destructor
|
2016-06-20 08:40:26 +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
|
ae7bec43c4
|
Allow for zero mass rigid body
|
2016-05-18 21:39:11 +02:00 |
|
Daniel Chappuis
|
6a8b63adc2
|
ProxyShape must have a virtual destructor
|
2016-05-15 19:29:50 +02:00 |
|
Daniel Chappuis
|
2640fbd48a
|
Start replacing NULL constant by nullptr
|
2016-05-15 19:25:58 +02:00 |
|
Daniel Chappuis
|
1ae9bb5467
|
Fix warning
|
2016-04-12 21:32:35 +02:00 |
|
Daniel Chappuis
|
34b330eb4f
|
Fix warnings
|
2016-04-12 21:28:09 +02:00 |
|
Daniel Chappuis
|
4ae8d446be
|
Fix compilation errors on Visual Studio and warnings
|
2016-04-12 18:44:55 +02:00 |
|