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CHANGELOG.txt
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CHANGELOG.txt
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ODE CHANGELOG
-------------
the rules for this file:
* entries are sorted newest-first.
* summarize sets of changes - dont reproduce every CVS log comment here.
* don't ever delete anything.
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
03/03/13 Oleh_Derevenko
* Fixed issue with "findex==-1" constraints being intermixed with
"findex!=-1" ones during constraints random reordering in QuickStep.
02/03/13 Oleh_Derevenko
* [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
was not polluted with these names unconditionally.
If your project depended on these types other than just for passing
parameters to ODE calls, add similar typedefs for yourself in some
of your project's global headers.
01/02/13 Oleh_Derevenko
* Applied patch #183 by Joseph Cooper (complementary matrix
calculation fix).
12/28/12 Oleh_Derevenko
* A bug with heightfield data assigned to a wrong field in
dGeomHeightfieldSetHeightfieldData fixed (bug report #88 by Luc).
12/18/12 Oleh_Derevenko
* Fixed issue with some kinds of joints (Ball, DBall, DHinge, Fixed)
might overwrite world ERP value with their custom ERP during
getInfo2() call and that inappropriate value would then be passed
to subsequent joints in solver instead of world ERP.
12/01/12 Oleh_Derevenko
* Fixed issues reported in patches #151 and #22 (collisions with
SAPSpace and QuadTreeSpace might not work because geometries list
was misused in them).
* Applied patch #160 "IsPointInPolygon in convex.cpp returns wrong
results" (by Janis Rucis)
11/25/12 Oleh Derevenko
* Configuration option --disable-threading-intf added
(--no-threading-intf for Windows/Premake). This allows disabling
threading interface support (external implementations may not be
assigned) but eliminates dependency on OU and use of atomics in
steppers.
11/05/12 Oleh Derevenko
* Fixed zero comparisons in OPCODE to use relative error instead of
absolute epsilon value (found by Bill Sellers)
06/08/12 Daniel K. O.
* Removed the need for defining dSINGLE/dDOUBLE; this is stored now in
the generated ode/precision.h header.
* Some code cleanup to get rid of GCC warnings.
05/30/12 Daniel K. O.
* Made drawstuff draw shadows for lines.
* Fixed dhinge's last constraint to properly handle rotations.
05/03/12 Daniel K. O.
* Added two new joints: Double Ball and Double Hinge.
04/22/12 Daniel K. O.
* Fixed plane2d joint: uninitialized variables (reported by Dimitris
Papavasiliou)
04/14/12 Oleh Derevenko
* Assertion checking macros moved into library private headers.
04/13/12 Daniel K. O.
* Applied patch from bug #3431829 - better handling of capsule-box with
deep penetrations.
* Fixed zero-mu issues: now either mu or mu2 can be set to zero.
03/17/12 Oleh Derevenko
* Threaded execution support interface added. Optional built-in threading
implementation added.
Internal threading implementation is excluded by default and to be used,
it must be enabled with configure/premake.
At present, if threading interface is assigned to a world, island
selection and stepping is performed in multiple threads (one thread per
island).
03/12/12 Oleh Derevenko
* PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of
dNextAfter()/dCopySign() corrected to avoid creating conflicts with
other libraries.
02/03/12 Oleh Derevenko
* Assertion checking macros moved from common.h to error.h
12/18/11 Oleh Derevenko
* dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
expression in release mode) to be used to assert variable value
which is not used further in text while avoiding compiler warning.
* dICHECK macro added (same as dIASSERT but evaluates its expression and
raises assertion fault regardless of compilation mode) to be used to
generate a fault in cases when error is very unlikely but must be
handled and handling is very troublesome (e.g. failure to lock a mutex
due to lack of resources).
12/07/11 Oleh Derevenko
* Partially fixed size_t to integer conversion warnings
* Fixed type signedness and added casts to size_t wherever necessary
in Step/QuickStep
11/04/11 Daniel K. O.
* Applied patch #3429454 - fix compilation on some platforms.
10/28/11 Daniel K. O.
* Fixed a box-capsule bug: more reasonable normal for deep penetrations
(contributed by Georg Martius.)
10/27/11 Daniel K. O.
* Disabled merging of contacts for trimesh-sphere by default.
* Added new demo: demo_tracks.
10/17/11 Daniel K. O.
* Added python bindings, contributed by Gideon Klompje.
* Updated some build scripts.
* Changed spheres distribution in demo_space_stress.
05/17/11 Oleh Derevenko
* A typo in step.cpp fixed (assignment operator in a conditional
instead of comparison) (reported by Bram Stolk)
01/29/11 Oleh Derevenko
* Heightfield zone boundaries calculation code fixed to also consider
whole next cell after the AABB if the AABB ends exactly at the cell
boundary.
01/23/11 Daniel K. O.
* Applied patch from Daniel Fiser, add libccd collider for
box-cylinder.
01/20/11 Daniel K. O.
* Applied patch from Daniel Fiser, fix infinite loop in libccd caused
by numerical problems.
01/06/11 Daniel K. O.
* Applied patch from Daniel Fiser, efficient libccd tests when using
CONTACTS_UNIMPORTANT.
12/17/10 Daniel K. O.
* Applied patches from Daniel Fiser for new colliders based on libccd.
11/08/10 Daniel K. O.
* Applied patches from Daniel Fiser to incorporate libccd for
Cylinder-Cylinder collision tests.
08/21/10 Oleh Derevenko
* Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo
which caused segmentation fault (by Kyle McKay).
dTestSolveLCP() fixed to avoid exceeding allocated memory pool
(by Kyle McKay).
07/19/10 Oleh Derevenko
* Patch applied (#3030783) to fix drawstuff dimensions being ignored
in OSX GLUT port (by Danny Price).
Daniel K. O.
* Applied patch #2991622: dGeomGetRelPointPos, dGeomGetPosRelPoint,
dGeomVectorToWorld, and dGeomVectorFromWorld.
07/16/10 Daniel K. O.
* Fixed bug #2937076: don't try to build demos if drawstuff is disabled.
05/02/10 Oleh Derevenko
* Missing extern "C" wrapper has been added to include/ode/export-dif.h
(reported by Danny Price). The change affects dWorldExportDIF() public
function.
05/02/10 Oleh Derevenko
* Patch applied (#2995450) to generate up to four contacts for box-
plane collision test (by alexdu) and fix contact depths.
05/02/10 Oleh Derevenko
* dGeomLowLevelControl function added with ability to change/query OPCODE
trimesh-sphere contact merging behavior at runtime.
02/18/10 Daniel K. O.
* Fixed bug affecting disabled joints and dWorldStep.
01/16/10 Oleh Derevenko
* Patch applied (#2931174) to make demos work for recent MacOS.
* Patch applied (#2931177) to fix the demos' framerate on X11.
12/20/09 Oleh Derevenko
* QuadTreeSpace implementation corrected to avoid object-block relation
ambiguity due to numeric errors.
12/04/09 Oleh Derevenko
* odecpp classes changed to be inheritable and easily expandable
11/29/09 Oleh Derevenko
* Improvement for trimesh-plane collision (also used in trimesh-heightfield)
to exclude mesh vertices that have already generated contacts from further
examination and contact generation in other triangles (suggested by LR).
10/25/09 Oleh Derevenko
* Macros changed to static inline functions in odemath.h and related files.
Some code duplication has been eliminated across the files.
* Fixed handling of --disable-asserts and --enable-double-precision
(absence of --enable-double-precision) in configure script. The script
was not appending compiler defines correctly.
* dWorldStep implementation changed to remove allocation on stack.
dUSE_MALLOC_FOR_ALLOCA define has been removed as well as corresponding
configuration parameter. Also dMemoryFlag public variable has been removed.
(look for presence of ODE_EXT_malloc_not_alloca configuration string if
your application is dependent on that variable).
09/05/09 Oleh Derevenko
* dWorldStepFast1 API removed along with dWorld[Get/Set]AutoEnableDepthSF1
08/29/09 Oleh Derevenko
* Fixed uninitialized floating point array used in computations.
08/12/09 Oleh Derevenko
* A typo fixed in dGeomCopyOffsetRotation() (final_posr was used instead
of offset_posr). Reported by Tilmann.
08/11/09 Daniel K. O.
* Made sure neither dSINGLE or dDOUBLE is defined by default; the user
should always explicitly specify the precision.
06/27/09 Oleh Derevenko
* New functions have been added:
- dWorldUseSharedWorkingMemory
- dWorldCleanupWorkingMemory
- dWorldSetStepMemoryReservationPolicy
- dWorldSetStepMemoryManager
06/25/09 Remi Ricard (papaDoc)
* Add limit to the to the second axis of the universal joint
for the pu joint.
06/14/09 Oleh Derevenko
* dWorldQuickStep re-implemented to avoid memory allocation on stack.
Also several optimizations have been made to decrease memory
requirements and optimize algorithm implementation of dWorldQuickStep.
dWorldStep still remains with old memory allocation however new APIs
mentioned below are fully functional for it.
Both dWorldStep and dWorldQuickStep have been changed to return boolean
success status.
* dInitODE2() changed to automatically call
AllocateODEDataForThread(dAllocateFlagBasicData) after library
initialization as this is a required initialization minimum that
must always be performed anyway.
06/05/09 Daniel K. O.
* Removed aliasing issues from OPCODE/Ice, plus some other warnings.
Now it builds on gcc 4.3.2 with '-Wall -Werror -O3".
05/30/09 Oleh Derevenko
* A minor memory usage optimization for QuickStep.
05/24/09 Daniel K. O.
* Made the new trimesh collider the default.
* Added a "-texturepath" option to drawstuff.
05/18/09 Oleh Derevenko
* Heightfield rotation fixed to avoid NaNs while rotating infinite
MIN/MAX heights.
05/03/09 Oleh Derevenko
* Incorrect parameter order fixed on contact merging in Sphere-Trimesh
collisions. The bug resulted in merged contact remaining with normal
of first contact found. Thanks to Dimitris Papavasiliou for reporting.
04/23/09 Daniel K. O.
* Fixed bug #2685170: use the C99 __func__ instead of __FUNCTION__ when
a C99 implementation is available.
04/07/09 Remi Ricard (papaDoc)
* Remove unused code in demo_joints.cpp, reported by Tilmann.
04/07/09 Remi Ricard (papaDoc)
* Fix bug in collision categories in demo_jointPU, reported by Tilmann
03/14/09 Oleh Derevenko
* A possibility to initialize/close ODE multiple times recursively has
been added.
Also, now a call to dSpaceSetManualCleanup() is required for each
space right after creation if ODE has been initialized in thread data
manual cleanup mode.
03/07/09 Oleh Derevenko
* Thread local data has been cleaned up from OPCODE and OdeTls as it is
not used (OPC_SweepAndPrune.* and OPC_BoxPruning.* have been removed
- rebuilding project files is necessary).
02/07/09 Daniel K. O.
* New house of cards demo, which stresses the friction handling stability.
01/29/09 Remi Ricard (papaDoc)
* Fix bug: Fix problem when attaching no body to a joint. Before calling
setRelativeValues a check is made for bodies.
* Add unittest
01/28/09 Daniel K. O.
* Applied patch #2538046: Heightfield AABB bounds patch.
01/23/09 Remi Ricard (papaDoc)
* Add new function dJointSetUniversalAxis1Offset and dJointSetUniversalAxis2Offset
* Add unittest for those funcitons.
01/23/09 Remi Ricard (papaDoc)
* Fix problem with dJointGetUniversalAngle2 when the joint is attached to
only a body 2. The sign was inverted.
* Add unit test to verify for this problem
01/21/09 Remi Ricard (papaDoc)
* Fix bug reported by Tilman: dxJointPU::getInfo1 was setting twice the
limit of limot1 to zero and not limot2
01/17/09 Daniel K. O.
* Fixed a bug in dSpaceCollide2: if both geoms are not in spaces they would
not have valid AABBs.
12/20/08 Daniel K. O.
* New functions: dJointEnable, dJointDisable, dJointIsEnabled
(patch #2454764).
12/19/08 Daniel K. O.
* Removed inline asm statements that break builds on 64-bit VC++.
12/09/08 Daniel K. O.
* Applied patch #2381592, which adds support for Kinematic Bodies.
12/06/08 Oleh Derevenko
* Applied a patch by Martijn Buijs to make GIMPACT trimesh-ray collisions to
be consistent with those in OPCODE.
* Swapped geometries returned in contacts for OPCODE Trimesh-Plane collisions
as they were returned in unnatural order being different from that in GIMPACT
* Applied a patch by Martijn Buijs to make side1, side2 fields of contact
structure be always initialized, either with -1 for non-trmesh geometries
or with triangle index for trimeshes. These fields were only assigned for
trimesh-trimesh collisions before.
* dGeomTriMeshSetTriMergeCallback/dGeomTriMeshGetTriMergeCallback API added
to set/get user defined callback procedure for trimeshes that would be
invoked when contacts are merged to let user code accumulate attributes of
original contact triangles and generate a fake index by which it would
later be able to determine those attributes. If the callback is not
assigned (the default) -1 is generated as triangle index for merged
contacts (there was an index of first of merged triangles before!!!).
The callback is currently used within OPCODE trimesh-sphere and OPCODE
new trimesh-trimesh collisions.
11/20/08 Remi Ricard (papaDoc)
* Fix problem with dJointGetPUPosition and
dJointGetPUPositionRate when the joint is attached to only
a body 2. The sign was inverted.
* Fix bug: When a pu joint had only one body attached to position 2,
dJointAttach(jId, 0, bId). The body was not push in the right direction to
move back between the limits.
* Add unit test to check the above problem
* Add the function void dJointSetPUAnchorOffset
* Make the function void dJointSetPUAnchorDelta deprecated
11/19/08 Remi Ricard (papaDoc)
* Fix bug: When a pr joint had only one body attached to position 2,
dJointAttach(jId, 0, bId). The body was not push in the right direction to
move back between the limits.
* Add unit test to check the above problem
11/19/08 Remi Ricard (papaDoc)
* Fix problem with dJointGetPRPosition and
dJointGetPRPositionRate when the joint is attached to only
a body 2. The sign was inverted.
* Add unit test to check the above problem
* Increase the tolerance to remove failure in unit test
* Remove compilation warning in unit test with the use of REAL()
11/18/08 Remi Ricard (papaDoc)
* Fix bug: When a piston joint had only one body attached to position 2,
dJointAttach(jId, 0, bId). The body was not push in the right direction to
move back between the limits.
* Add more functionality to demo_piston.cpp
* Run astyle on modified files.
11/18/08 Remi Ricard (papaDoc)
* Fix bug: When a slider joint had only one body attached to position 2,
dJointAttach(jId, 0, bId). The body was not push in the right direction to
move back between the limits.
10/29/08 Oleh_Derevenko
* Premake scripts changed to only include chosen collision library
sources in project on Windows. --all-collis-libs premake option
added to allow inclusion of all collision library sources into the
project
10/15/08 Remi Ricard (papaDoc)
* Applying patch #2158425 64-bit GIMPACT provided by Mark
William. This patch enable GIMPACT to works on 64-bit machine.
10/15/08 Remi Ricard (papaDoc)
* Add function dJointGetPRAngle and dJointGetPRAngleRate
10/15/08 Remi Ricard (papaDoc)
* Enable the motor on the rotoide part of the PR joint
10/15/08 Remi Ricard (papaDoc)
* Add unit test to check if using directly a joint
or using after setting with default values is the same.
* Add function setRelativeValues called in dJointAttach for
all joints.
10/10/08 Remi Ricard (papaDoc)
* Fix bug in dJointGetPUAxis2. The axis was not multiplied with the
the rotation matrix of the good body.
* Fix bug if there is only one body on the PU joint the axis returned
was not the right one.
* Add unit test to verify previous bug.
10/03/08 Rodrigo Hernandez (Kwizatz)
* Added Blender script to create ODE convex geoms under tools.
10/01/08 Rodrigo Hernandez (Kwizatz)
* Convex-Convex collision detection code is finally stable.
08/31/08 Daniel K. O.
* Applied patch 2080674: Improved dBodySetRotation; now exact rotation
matrices are preserved until the next simulation step.
08/07/08 Daniel K. O.
* Fixed strict aliasing issue that was breaking the new trimesh collider.
07/24/08 Daniel K. O.
* New functions: dBodyGetGyroscopicMode and dBodySetGyroscopicMode
(patch #2019242).
07/15/08 Remi Ricard (papaDoc)
* Add a new define ODE_API_DEPRECATED to mark function as deprecated
when necessary.
07/14/08 Remi Ricard (papaDoc)
* Finish adding patch 1336066: Joint feedback in quickstep by jsinecky
* demo_boxstack.cpp can now print joint feedback
07/11/08 Daniel K. O.
* Bumped version for 0.10.1
* Added proper usage of libtool's version info.
07/10/08 Remi Ricard (papaDoc)
* Add new function dJointSetPistonAnchorOffset
* Add unittest for the piston joint
* Fix problem with dJointGetPistonPosition and
dJointGetPistonPositionRate when the joint is attached to only
a body 2. The sign was inverted.
07/09/08 Remi Ricard (papaDoc)
* Optimize function Multiply1_12q1 in quickstep
Patch proposed by Riemer v.d. Zee and modified by Patrick Baggett
07/08/08 Remi Ricard (papaDoc)
* Update the slider joint to have the same behavior as the other joint
when there is only a body2 attached to it.
* Update documentation for the slider joint.
* Remove warning by using REAL()
* Add new unittest for dJointGetSliderPositionRate
07/08/08 Remi Ricard (papaDoc)
* Update unittest for the slider.
* Rename the new function dJointSetHingeAxisDelta to
dJointSetHingeAxisOffset. This remove will remove confusion with
the old function dJointSetHingeAnchorDelta
* Update documentation for the Hinge unittest
* Remove warning by using REAL()
07/07/08 Daniel K. O.
* Max Correcting Vel doesn't affect bounciness, as before.
07/03/08 Remi Ricard (papaDoc)
* Add new function dJointSetHingeAxisDelta
* Add unittest for this new function
06/17/08 Remi Ricard (papaDoc)
* Move the computation of the Relative Rotation for the slider joint
into a function.
* Add unittest for to check qrel
06/17/08 Remi Ricard (papaDoc)
* Remove unused variables.
* Remove a conversion warning between unsigned int and int
06/17/08 Remi Ricard (papaDoc)
* Move the function hingeComputeRelativeRotation as a member of
the hinge structure/class.
06/17/08 Remi Ricard (papaDoc)
* Move the computation of the Relative Rotation for the fixed joint
into a function.
06/16/08 Remi Ricard (papaDoc)
* Add testunit for the dxJointFixed
06/04/08 Daniel K. O.
* Moved joints to ode/src/joints, converted them to true virtual
methods.
06/02/08 Daniel K. O.
* Added an Auto<T> template to step.cpp to handle memory deallocation.
05/09/08 Daniel K. O.
* Applied patch #1335202: Contact Joint Motion (with some corrections),
and added demo_motion.
05/01/08 Oleh_Derevenko
* Memory leak in GIMPACT fixed (reported by Derek)
04/28/08 Oleh_Derevenko
* Added possibility to collide a space of lower sublevel as a geometry
against another space of a higher level with dSpaceCollide2.
dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/
retrieval.
04/27/08 Oleh_Derevenko
* Fixed incorrect memory copying which could lead to memory corruption
in GIMPACT (luckily, in unused code)
* Fixed possible memory read beyond the end of allocated buffer along
with unnecessary extra memory copying in GIMPACT.
* Fixed buffer reserve being incorrectly reset to zero for bitsets
what resulted in unnecessary memory reallocations in GIMPACT.
* Implemented support for ability to run collision detection from
multiple threads for separate spaces.
04/14/08 Oleh_Derevenko
* Fixed possible memory corruption in new trimesh-trimesh collider
in case if two degenerated triangles are checked against each other.
04/12/08 Oleh_Derevenko
* Fixed sporadic assertion failure on vector normalization caused
by small triangles degenerating into segments during space
transformations.
03/28/08 Remi
* Fix a bug in dJointXXXGetInfo. The value in limot.limit was not
always updated. (Ex: If hi and lo limit were changed).
03/27/08 Remi
* Added a new Joint: Prismatic Universal (patch #1828454).
Daniel K. O.
* Fixed bug #1841309: collide2() method buggy.
03/18/08 Rodrigo
* New function: dVector4Copy.
03/14/08 david
* Added stub calls for trimesh functions.
* Applied patch #1914232: dGetConfiguration.
* Applied patch #1655333: Optimize the function dNormalize3.
* New function: dSetColliderOverride.
* New function: dCheckConfiguration.
Daniel K. O.
* Disabled building shared library by default with autotools.
03/13/08 david
* New function: dJointGetNumBodies (patch #1901550).
* New function: dSpaceGetClass (patch #1901637).
* Applied patch #1901649: Add missing function in the export
03/12/08 Rodrigo
* Fixed drawstuff build issues on OSX.
01/12/08 Daniel K. O.
* Fixed a typedef bug in configure.in.
* Added dCylinder to the C++ wrappers.
* Applied patch 1851394: support for GIMPACT with double precision,
dCollide fix.
* Moved bunny geometry to bunny_geom.h.
12/11/07 Daniel K. O.
* Added damping and MaxAngularVel() functions.
* Const-correctness: added const qualifier to some dWorldGet and dBodyGet
functions.
* Updated the odecpp.h header.
12/07/07 Daniel K. O.
* Removed most of the compiler warnings from Drawstuff, ODE and
OPCODE
* Upgraded automake requirement to 1.10, and change some Makefile.am
12/06/07 Rodrigo
* Modified autotools to use libtool for
library generation and administration
* Removed release and debug flags for configure.in
CPPFLAGS, CFLAGS, CXXFLAGS should be set by the
user to their liking, respecting autotools policies.
11/30/07 Daniel K. O.
* Applied patch 1813079 (moved callback)
* Replaced moveAndRotateBody by dxStepBody in stepfast.cpp
11/10/07 david
* Added 'Sweep and Prune' collision space.
* New Piston joint type with demo, by Remi Ricard
* Added build option to use 16-bit indices for OPCODE trimesh
11/03/06 david
* Integrated Christoph Beyer's average based sampling system for body
disabling.
10/26/06 Francisco Leon
* Totally refactored trimesh collision system.
Using GIMPACT instead of OPCODE. Now works correctly, and faster.
Visit http://gimpact.sourceforge.net.
* Finally, test_moving_trimesh.exe works nicely.
* Fixed autodisable system. Now is possible to set bigger sleeping
threshold values and objects won't be sleeping on the air. They will
rest on the floor properly.
* dInitODE function added.
* Is Obligatory to call dInitODE() at the beginning for initialize ODE,
and calling dCloseODE() when the program ends.
09/20/06 bram
* Fixed two bugs in cyl/plane collision test.
09/13/06 Remi
* New Rotoide - Prismatic joint type
* dJointGetUniversalAngles for efficient angle retrieval.
08/09/06 david
* Integrated plane2d joint type which constrains bodies to z == 0.
07/06/06 david
* Added heightfield primitive collision code. Simple test available in
ode/test/test_heightfield
04/03/06 rodrigo
* Added Convex primitive collision code,
currently only convex-sphere and convex-plane work
04/01/06 bram
* Added program to test trimesh vs sphere: ode/test/test_basket
03/20/06 jason379
* Added new autogenerated Visual Studio projects, with Premake scripts
03/17/06 bram
* Added plane/cyl intersection test
* Renamed CCylinder to Capsule
02/04/06 gcarlton
* Added support for geom offsets.
10/26/05 rodrigo
* Removed LIBTOOL from autotools since it was not really required.
* Added a target to build ODE as a shared library, this shared
library gets build alongside the static one, no flags required.
10/24/05 tfautre
(Backported patches from STABLE branch, applied by Adam)
* dRandInt changed for a non-double all-int version.
* mics minor fixes and improvements.
04/05/05 tfautre
* Fixed segmentation fault with OPCODE on 64 bits systems.
03/31/05 tfautre
* Fixed timer.cpp compiler error on x86-64 using GCC.
03/29/05 colin
* Added trimesh preprocessing to mark unneeded edges and verts. Also
added support for preprocessed info to the ccylinder-trimesh
collider.
12/07/04 adam
* Important AMotors bugfix
09/22/04 jeff
* Assorted small bugfixes and tweaks for
trimesh_{box,ccylinder,trimesh} collisions
09/21/04 jeff
* added functions to joint.cpp to allow joint attachment to moving
geoms.
* added malloc-based memory allocation in step.cpp & lcp.cpp (turned
on with a #define switch in common.h)
05/29/04 russ
* added joint feedback to the QuickStep solver
05/18/04 russ
* added warm starting to the QuickStep solver
05/18/04 russ
* added the QuickStep solver
* added contact parameter functions.
05/05/04 adam
* use dRandInt instead of rand() in stepfast.
04/21/04 russ
* added auto-disable support from Aras Pranckevicius (with
modifications by russ). this useful feature can speed up
simulation significantly in some cases.
* various internal tidyups.
04/20/04 russ
* changed the meaning of the 'index' argument to dJointGetBody():
it was the only remaining API function that does not respect
dJOINT_REVERSE (spotted by Matthew D. Hancher).
* updated the C++ headers: fixed two minor bugs and added
support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
(from Matthew D. Hancher).
04/18/04 russ
* changed the way that the dInfinity constant is implemented: now it
is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
a large numeric constant. previously it was a variable that was
exported from the library. this simplifies the configuration and
build process quite a bit, especially in the case of DLLs.
* removed the old, deprecated collision system (geom.cpp,space.cpp,
geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
configuration setting no longer has any meaning.
* removed support for dGeomGroups, which have been deprecated for
a while and are equivalent to 'spaces' anyway.
04/13/04 russ
* bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.
04/08/04 russ
* added trimesh-CCylinder capability, from Vadim Macagon
<vadim_mcagon@hotmail.com>.
04/04/04 adam
* yet another rewrite of triangle-box collision code, this
time based on code donated by Croteam, ported by asko@jetti.org
and tweaked by Erwin.
04/04/04 adam
* merged trimesh-trimesh collision code by
Jeffrey Smith <jeffreys@Softimage.com>.
* changed it to not break the trimesh interface, fix
some GCC compilation problems, bring it up to date with
ODE changes from 2003-11-15 -> 2004-04-04.
* add ability to drop meshes on meshes in test_moving_trimesh,
not as good as it could be but it's illustrative.
01/16/04 adam
* implement a bunch of ultra-simple TriMesh functions that were
in the headers but not in the code -- patch by
Vadim Macagon <vadim_mcagon@hotmail.com>
* disable temporal coherence on trimeshes by default, since
it has scaleability issues that don't make it a general clear win.
12/01/03 adam
* implement dxHashSpace::collide2(), not particularly efficiently.
11/14/03 adam
* applied several Trimesh fixes and improvements from
Aras Pranckevicius <nearaz@interamotion.com>
10/22/03 adam
* apply Nguyen Binh's work for removing many dSetZero() calls
and some other extraneous initializations.
07/29/03 martin
* added dJointAdd*Torque/Force().
07/10/03 russ
* added the StepFast code, by David Whittaker.
07/02/03 martin
* added dMassSet*Total().
07/01/03 martin
* added joint limits and motors to universal joints.
* reversed the polarity of the dJOINT_REVERSE flag.
06/30/03 russ
* added the TriMesh geom class and the quad tree space to the ODE
core. both of these were developed by Erwin de Vries. added OPCODE
to the ODE distribution, this is required by TriMesh.
06/23/03 martin
* added dGeomSetQuaternion() and dGeomGetQuaternion()
* added dJointGet*Anchor2()
05/07/03 russ
* added dGeomGetSpace().
02/05/03 russ
* added dMassSetCylinder().
12/07/02 russ
* added dAreConnectedExcluding().
11/30/02 russ
* added the ray geom class.
* added the dGeomXXXPointDepth() functions.
* added a collision test infrastructure, and some more tests.
11/24/02 russ
* added support for multiple box-box contacts.
11/10/02 russ
* added new collision system. select between the old/new system by
setting the ODE_OLD_COLLISION variable in config/user-settings.
10/28/02 russ
* fixed two problems in the LCP code to improve the reliability of
the dContactApprox1 contact mode.
* added a FAQ question about rolling bodies getting stuck when they
hit multiple geoms.
09/08/02 russ
* added dClosestLineSegmentPoints().
* implemented dCollideCB().
08/28/02 russ
* added dJointSetFeedback() and dJointGetFeedback().
08/05/02 russ
* added dGeomTransformSetInfo() and dGeomTransformGetInfo().
07/13/02 russ
* added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
dBodyVectorFromWorld().
* added dBodyGetPointVel() (thanks to Colin Reed).
* added a new C++ interface (from Martin C. Martin, with modifications
by russ). the old C++ interface is now in odecpp_old.h.
06/25/02 russ
* added an additional BSD-style licensing option for ODE.
06/23/02 russ
* added dCloseODE(), contributed by Nate Waddoups and David McClurg.
05/16/02 russ
* added dSpaceQuery(), contributed by Nate Waddoups.
04/07/02 russ
* added a section to the documentation for universal joints.
this includes a picture of the joint.
04/05/02 russ
* added a universal joint class (generously contributed by
Martin C. Martin). it doesn't (yet) have a motor or joint limits,
but it does come with tests.
03/11/02 russ
* makefile changes to accomodate OSs with command line length
limitations (thanks to Norman Lin).
01/06/02 russ
* added the dBodySetGravityMode() and dBodyGetGravityMode()
functions, which change the dxBodyNoGravity body flag.
* added support for building a DLL with MSVC - there is now a
msvc-dll target. thanks to Norman Lin for doing this.
12/28/01 russ
* added the dParamCFM joint parameter.
12/24/01 russ
* reworked the build system to make it more cross-platform.
there is now a single top-level makefile and a configurator.c
program. see the INSTALL file for details.
12/04/01 russ
* the "angular motor" joint has been completed, and a new section
has been added to the documentation.
11/26/01 russ
* added a new joint type: "angular motor". using this joint is a good
way to get ball-joint motors and limits. this is work in progress -
it has not been fully implemented or tested yet.
11/22/01 russ
* replaced the mmap()-based joint group stack (stack.cpp) with a
malloc()-based arena stack (obstack.cpp). this will be more
portable and should not impact performance.
11/12/01 russ
* changed the meaning of the 'flags' parameter to dCollide() and
related functions: now the size of the contact buffer is kept in
the lower 16 bits. this change will be backward compatible.