mrq/reactphysics3d
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156 Commits

Author SHA1 Message Date
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
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
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
6a69ef76c5 Fix issue with ProxyShape::mBroadPhaseId not set when body was sleeping or inactive 2017-11-01 23:07:56 +01:00
Daniel Chappuis
8b82c4ac81 Refactor the way to create the contact manifolds and contact points 2017-07-30 22:14:46 +02:00
Daniel Chappuis
4a97c2ca97 Refactor collision detection 2017-01-08 19:56:59 +01:00
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
e014f00afc Refactor memory allocator and refactor contact solver 2016-09-21 22:03:45 +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
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
4bad013c91 Make GJK/EPA collision detection more robust 2016-07-05 21:34:44 +02:00
Daniel Chappuis
ae7bec43c4 Allow for zero mass rigid body 2016-05-18 21:39:11 +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
fc1f844135 Merge branch nanogui into develop 2016-03-21 20:57:42 +01:00
Daniel Chappuis
63fb6261a3 Fix issue with linear/angular damping 2016-03-20 22:53:05 +01:00
Daniel Chappuis
d0481e0901 Fix compilation errors/warnings on Linux 2016-02-22 23:26:50 +01:00
Daniel Chappuis
d6580f94aa Fix conflicts when merging triangularmeshes into develop 2016-02-15 20:14:30 +01:00
Daniel Chappuis
22b214fb91 Add setScaling() method to objects in testbed/common 2015-11-20 07:20:56 +01:00
Daniel Chappuis
3476f3e9c4 Add setLocalScaling() method to CollisionShape and ProxyShape and fix issue in collision detection test method 2015-11-19 07:20:43 +01:00
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
Colin
22d90659bb Final fix :) 2015-08-26 04:30:07 -06:00
Colin
494f866357 Fix merge mess 2015-08-26 04:23:44 -06:00
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
f376e2043f Modify the CollisionBody::setTransform() and Body::setIsSleeping() methods 2015-06-25 22:27:20 +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
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
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
aae4da54d0 Add methods to test collision and AABB overlap in physics world 2014-12-28 00:54:34 +01:00
Daniel Chappuis
2ab1aace7c Raycast query now returns false if the body is not active 2014-11-29 17:05:53 +01:00
Daniel Chappuis
5f7af61593 -Remove unnecessary contact manifold 
-Delete the BroadPhasePair class
 2014-11-21 21:27:09 +01:00
Daniel Chappuis
2570d794c3 Fix issues in CollisionBody 2014-11-20 21:59:53 +01:00
Daniel Chappuis
adc53c6523 Make possible to use the CollisionBody::setIsActive() method to activate or deactivate the simulation of a given body 2014-11-09 18:53:50 +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
0dd55e716b Implement raycasting with sphere shape 2014-09-04 22:32:29 +02:00
Daniel Chappuis
677c694109 Continue the implementation of convex shape raycasting 2014-09-02 22:54:19 +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
114360337c Fix issue in RigidBody::applyForce() method 2014-06-29 21:59:06 +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
cbeeec21f3 fix issues in Dynamic AABB Tree and add compound shapes in the examples 2014-06-10 22:46:32 +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
b5ae655b0a Add comments, modify method names, change solver nb of iterations, ... 2013-09-27 18:43:45 +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
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
e081661d8c Add the Material class to store the material properties of a rigid body 2013-07-10 00:17:14 +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
da78e5d79a Modifications in the BallAndSocketJoint to make it work 2013-05-04 09:20:53 +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
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
04a31c696c Add Doxygen documentation into the code 2013-03-05 23:09:50 +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
e84f6468c8 Clean the code 2013-02-19 23:16:20 +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
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
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
b381388f87 Make possible to use a single collider for multiple rigid bodies 
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 
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
401a60b74a Rename shapes folder into colliders 
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 
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
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
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
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
00b9fc45dc Correction of a bug in collision detection and creation of new collision shapes 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@434 92aac97c-a6ce-11dd-a772-7fcde58d38e6
 2011-08-05 17:35:01 +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
5b30979de9 changes in the code structure 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@431 92aac97c-a6ce-11dd-a772-7fcde58d38e6
 2011-07-10 17:25:44 +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
bf8f9cf482 Add Transform and changes in code design 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@428 92aac97c-a6ce-11dd-a772-7fcde58d38e6
 2011-06-30 20:23:01 +00:00
chappuis.daniel
1e3543752f Add ConeShape 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@427 92aac97c-a6ce-11dd-a772-7fcde58d38e6
 2011-06-30 20:12:37 +00:00
chappuis.daniel
867f940102 implementation of GJK and EPA collision detection algorithm continued 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@424 92aac97c-a6ce-11dd-a772-7fcde58d38e6
 2011-05-18 21:34:39 +00:00