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364 Commits

Author SHA1 Message Date
Daniel Chappuis
0f4d41e8fc Merge branch 'optimization' into develop 2018-02-26 07:33:58 +01:00
Daniel Chappuis
1a787453e8 Replace std::pair by rp3d::Pair 2018-02-05 07:41:02 +01:00
Daniel Chappuis
b3e771838d Replace std::set by Set and fix issues with List and Map 2018-02-03 20:48:08 +01:00
Daniel Chappuis
220057a587 Remove the use of std::map and fix issues in Map class 2018-01-26 17:34:26 +01:00
Konstantinos Chatzilygeroudis
a82bd12383 Fix for compilation issues 2018-01-25 19:00:09 +01:00
Daniel Chappuis
624de80453 Merge branch 'optimization' into sat 2018-01-21 13:11:57 +01:00
Daniel Chappuis
301823729d Remove the use of std::vector 2018-01-20 17:30:36 +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
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
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
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
4cc024b85e Rename fields and methods in ContactPoint class 2017-11-29 23:43:55 +01:00
Daniel Chappuis
f403a6e804 Add temporal coherence for convex vs triangle collision detection 2017-11-22 22:43:27 +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
b39bb3ba37 Initialize the timestep in the DynamicsWorld constructor 2017-11-08 21:14:21 +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
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
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
709bed3cec Fix issues with GJK algorithm 2017-09-09 15:37:55 +02:00
Daniel Chappuis
dd91f6dcbf Fix typo 2017-09-04 22:23:29 +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
319cc72cde Fix issues in collision detection 2017-08-18 17:50:27 +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
730b687877 Working on temporal coherence in SAT (polyhedron vs polyhedron) 2017-05-29 08:32:10 +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
b21a6bb59b Refactor contact manifold and contact point creation 2017-02-26 13:48:50 +02:00
Daniel Chappuis
e9f2f94f64 Continue working on SAT, remove Cone and Cylinder shapes 2017-02-02 22:58:40 +01:00
Daniel Chappuis
4a97c2ca97 Refactor collision detection 2017-01-08 19:56:59 +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
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
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