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diff --git a/libs/ode-0.16.1/CHANGELOG.txt b/libs/ode-0.16.1/CHANGELOG.txt new file mode 100644 index 0000000..0f0678d --- /dev/null +++ b/libs/ode-0.16.1/CHANGELOG.txt @@ -0,0 +1,1285 @@ +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). + +------------------------------------------------------------------------------ +11/12/2018 Oleh Derevenko + * The commentary from 11/05/2018 was wrong. The constraints were not + reset to their natural order and remained randomized. + The other thing that was missing was full contraint reorder without + separation into independent and dependent ones. The algorithm doesn't + converge without it well. + +11/10/2018 Oleh Derevenko + * An incorrect optimization to Jacobian Copy building code from #1938 + that resulted in corrupt data in multi-threaded execution mode was + fixed. + +11/05/2018 Oleh Derevenko + * An unintended change from commit #1898 has been reverted. + The QuickStep used to solve with randomized constraint order + each 8th iteration. The other iterations, the constraints + were reset to their natural order, as generated, with the dependent + constraints gathered in reverse order at end (the reverse order is + somehow important). With the commit #1898 the constraints were + randomly reordered each 8th iteration but then remained + in that randomized order and only were re-randomized on subsequent + multiples of 8. + +10/09/2017 Markus Rickert + * CMake support for project file generation has been added. + +06/14/2017 Oleh Derevenko + * dxHashSpace::collide() has been changed to fault host program + if scene gets too large and causes integer overflow. + +06/06/2017 Oleh Derevenko + * Memory and pointer size integer type use has been changed so that + internal typedefs are used instead of "_t" suffixed types. + +05/09/2017 Oleh Derevenko + * Introduction of cooperative algorithms API. + L*D*LT cooperative factorization and linear equation system + cooperative solving have been implemented. + * AtomicReadReorderBarrier, AtomicStore, AtomicStorePointer functions + have been added and some atomic function implementations have been + improved in OU. + +02/20/2017 Oleh Derevenko + * Project generation options have been changed to have built-in + multithreaded threading implementation enabled by default. + +02/19/2017 Oleh Derevenko + * dWorldStep threaded implementation has been extended to the final + steps of constraint force applications and body position updates + after the LCP solving. Note that body callbacks (if set) may be + called from multiple threads if threaded execution is enabled. + * OU atomicord32 type has been fixed to be unsigned on all supported + platforms. + +01/09/2017 Oleh Derevenko + * dGeomTriMeshDataPreprocess2() public function has been added to + replace dGeomTriMeshDataPreprocess(). Face angles pre-computation + for triangle meshes has been implemented. + +11/13/2016 Oleh Derevenko + * dGeomTriMeshDataGetBuff and dGeomTriMeshDataSetBuff have been marked + deprecated and their functionality implemented via + dGeomTriMeshDataGet and dGeomTriMeshDataSet. Extra function variant + dGeomTriMeshDataGet2() has been added to allow returning data size. + +11/07/2016 Oleh Derevenko + * The implementation of OPCODE TriMesh data pre-processing + (dGeomTriMeshDataPreprocess()) has been optimized to only contain + a sort and a single pass over edges (used to be a sort and O(N^2)). + +10/29/2016 Oleh Derevenko + * dGeomTriMeshDataPreprocess() public function has been changed to + return a boolean status (it can fail in low memory conditions). + +07/10/2016 Oleh Derevenko + * The correct handling of dJOINT_REVERSE mode for AngularMotor Joint + implemented (issue #37). + +06/29/2016 Oleh Derevenko + * A bug fixed with HashSpace calling big boxes collision twice + (both straight and reverse geometries order) since revision #1831. + +06/03/2016 Oleh Derevenko + * dJointSetHinge2Axes public function has been added and + dJointSetHinge2Axis1/2 have been marked deprecated due to being + unsafe. + +05/13/2016 Oleh Derevenko + * ICE Container class allocation strategy fixed to avoid reserving + excess memory with large collections. + +05/10/2016 Oleh Derevenko + * dSafeNormalize3 and dSafeNormalize4 functions changed to leave the + parameter intact instead of replacing it with the X-axis unit in case + of fault. + +04/12/2016 Oleh Derevenko + * A function to create a self-threaded threading implementation object + has been moved back to public headers as there could be a use for it + while running several worlds in parallel threads. + +01/09/2016 Oleh Derevenko + * Hinge2 joint corected to avoid faulting asserts when the axes get + temporarily invalid during assignments (suggested by David Mansolino) + +01/03/2016 Oleh Derevenko + * An invalid memory access fixed in dxSAPSpace::BoxPruning() in case + if there were NaN values in AABBs to be sorted. + +12/25/2015 Oleh Derevenko + * Unexpected joint mode assignment (instead of comparison) fixed within + an dUASSERT in dJointSetTransmissionAxis2() of transmission joint + +11/28/2015 Oleh Derevenko + * Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki) + * dCreateConvex() and dGeomSetConvex() public APIs changed to expect + their parameter arrays as const pointers + +11/01/2015 Oleh Derevenko + * OPCODE mesh colliders' input coordinates have been offset to + mesh-relative frames to decrease potential computational errors + (suggested by luckytrashsc2@g***l.com) + +08/05/2015 Oleh Derevenko + * Implemented change to return highest depth contacts subset for GIMPACT + in cases if contacts count exceeds requested maximum (as suggested in + the issue #36 by Piotr Piastucki) + +11/17/2014 Daniel K. O. + * Added support for using libccd from the system (if found via + pkg-config) + +11/10/2014 Oleh Derevenko + * Floating point division by zero in capsule-ray collision routine + in case if the ray axis was parallel the cylinder and the ray started + from within it fixed (issue #26) + +11/08/2014 Oleh Derevenko + * Threading support has been extended to complete implementation + of QuickStep + +10/29/2014 Daniel K. O. + * Added dJointSetDBallDistance + +10/19/2014 Oleh Derevenko + * Built-in threading implementation compilation fixed for OSX + (clock_gettime() is missing from the system - reported by Bram) + +08/10/2014 Oleh Derevenko + * Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and + dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed + from public headers (were orphaned since rev.1052) + +07/16/2014 Oleh Derevenko + * Two fixes by Francesco Cat applied (fixes for mistakes made during + code style improvements in the past) + +02/27/14 Daniel K. O. + * Added dODE_VERSION macro to public headers (issue #24). + +02/11/14 Daniel K. O. + * Added dJointGetHinge2Angle2 (issue #12). + +02/07/14 Daniel K. O. + * Added dWorldSetData/dWorldGetData (issue #21). + +01/31/14 Daniel K. O. + * Applied patch #185: Stable, implicit gyroscopic forces. + +01/27/14 Daniel K. O. + * Fixed cylinder AABB computation. + +01/25/14 Daniel K. O. + * Removed ALLOCA calls from dHashSpace; it should not depend + on stack size limits anymore. + +12/06/13 Daniel K. O. + * Applied patch #181: fix some bugs in AMotor joint. + * Applied patch #186: fix some bugs in PU joint. + * Applied patch #182: Transmission joint. + * Applied patch #184: implement rolling friction for contacts. + +08/08/13 Oleh Derevenko + * Joint feedback forces application fixed in QuickStep implementation + (was broken since revision #1919 in old repository (#1927 in new one)) + +08/04/13 Oleh Derevenko + * Bugfix #89 by Luc applied (dJointAddSliderForce() adds a zero force + when the parent body is NULL) + +05/18/13 Oleh Derevenko + * OU library has been included in ODE at revision #46 instead of + being used as an external link due to difficulties using external + references with new protocol used for storage at SF. + +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. + + * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis(). + + * added dBodyAddForceAtRelPos() function. + +11/11/01 russ + + * added the ability to manually enable and disable bodies. + see dBodyEnable(), dBodyDisable(), dBodyIsEnabled(). + + * fixed a potential bug: when a world is destroyed that contains + joints in joint groups, those joints are marked as "deactivated" in + the joint group, so when the joint group is destroyed they can be + ignored. + + * the test_boxstack demo has new options to enable and disable bodies. + + * new configuration parameter in config.h: dEFFICIENT_SIZE. + +11/11/01 russ + + * started the change log for ODE. changes older than today were added + to this file by inspecting the CVS logs. + +11/05/01 russ + + * added REAL() constructions for floating point numbers, to prevent + many warnings when compiling under VC++. + +11/03/01 russ + + * added geometry transform class, documented composite objects. + + * added collision rule: no contacts if both geoms on the same body. + this is not the best rule, may have to remove this in the future. + + * new dMassAdd() function. + + * capped cylinder to capped cylinder collision function. + +10/31/01 russ + + * increase CFM in some demos to make them more robust. + +10/29/01 russ + + * added new accessor functions. + +10/19/01 russ + + * added the dJOINT_TWOBODIES flag to the joint, that says it can not + be attached to just one body. + +10/12/01 russ + + * fixed a collision bug in dCollide() that was causing memory + corruption when multiple contacts were being returned. + +10/11/01 russ + + * joints can now return m=0 to be "inactive". added a "null" joint + to test this. + +10/09/01 russ + + * in the LCP solver, try to fail gracefully when s <= 0. + + * dAABBTestFn() API change. + +10/08/01 russ + + * fixed a contact swapping bug in dCollide(). + +10/07/01 russ + + * added capped cylinder geometry object. + +09/30/01 russ + + * the test_buggy demo now uses geometry groups. + + * added a dAABBTestFn field in the geometry classes. + +09/29/01 russ + + * added geometry groups. + +09/20/01 russ + + * added finite rotation stuff. |