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1 ODE CHANGELOG
2 -------------
4 the rules for this file:
5 * entries are sorted newest-first.
6 * summarize sets of changes - dont reproduce every CVS log comment here.
7 * don't ever delete anything.
8 * keep the format consistent (79 char width, M/D/Y date format).
10 ------------------------------------------------------------------------------
11 10/09/2017 Markus Rickert
12 * CMake support for project file generation has been added.
14 06/14/2017 Oleh Derevenko
15 * dxHashSpace::collide() has been changed to fault host program
16 if scene gets too large and causes integer overflow.
18 06/06/2017 Oleh Derevenko
19 * Memory and pointer size integer type use has been changed so that
20 internal typedefs are used instead of "_t" suffixed types.
22 05/09/2017 Oleh Derevenko
23 * Introduction of cooperative algorithms API.
24 L*D*LT cooperative factorization and linear equation system
25 cooperative solving have been implemented.
26 * AtomicReadReorderBarrier, AtomicStore, AtomicStorePointer functions
27 have been added and some atomic function implementations have been
28 improved in OU.
30 02/20/2017 Oleh Derevenko
31 * Project generation options have been changed to have built-in
32 multithreaded threading implementation enabled by default.
34 02/19/2017 Oleh Derevenko
35 * dWorldStep threaded implementation has been extended to the final
36 steps of constraint force applications and body position updates
37 after the LCP solving. Note that body callbacks (if set) may be
38 called from multiple threads if threaded execution is enabled.
39 * OU atomicord32 type has been fixed to be unsigned on all supported
40 platforms.
42 01/09/2017 Oleh Derevenko
43 * dGeomTriMeshDataPreprocess2() public function has been added to
44 replace dGeomTriMeshDataPreprocess(). Face angles pre-computation
45 for triangle meshes has been implemented.
47 11/13/2016 Oleh Derevenko
48 * dGeomTriMeshDataGetBuff and dGeomTriMeshDataSetBuff have been marked
49 deprecated and their functionality implemented via
50 dGeomTriMeshDataGet and dGeomTriMeshDataSet. Extra function variant
51 dGeomTriMeshDataGet2() has been added to allow returning data size.
53 11/07/2016 Oleh Derevenko
54 * The implementation of OPCODE TriMesh data pre-processing
55 (dGeomTriMeshDataPreprocess()) has been optimized to only contain
56 a sort and a single pass over edges (used to be a sort and O(N^2)).
58 10/29/2016 Oleh Derevenko
59 * dGeomTriMeshDataPreprocess() public function has been changed to
60 return a boolean status (it can fail in low memory conditions).
62 07/10/2016 Oleh Derevenko
63 * The correct handling of dJOINT_REVERSE mode for AngularMotor Joint
64 implemented (issue #37).
66 06/29/2016 Oleh Derevenko
67 * A bug fixed with HashSpace calling big boxes collision twice
68 (both straight and reverse geometries order) since revision #1831.
70 06/03/2016 Oleh Derevenko
71 * dJointSetHinge2Axes public function has been added and
72 dJointSetHinge2Axis1/2 have been marked deprecated due to being
73 unsafe.
75 05/13/2016 Oleh Derevenko
76 * ICE Container class allocation strategy fixed to avoid reserving
77 excess memory with large collections.
79 05/10/2016 Oleh Derevenko
80 * dSafeNormalize3 and dSafeNormalize4 functions changed to leave the
81 parameter intact instead of replacing it with the X-axis unit in case
82 of fault.
84 04/12/2016 Oleh Derevenko
85 * A function to create a self-threaded threading implementation object
86 has been moved back to public headers as there could be a use for it
87 while running several worlds in parallel threads.
89 01/09/2016 Oleh Derevenko
90 * Hinge2 joint corected to avoid faulting asserts when the axes get
91 temporarily invalid during assignments (suggested by David Mansolino)
93 01/03/2016 Oleh Derevenko
94 * An invalid memory access fixed in dxSAPSpace::BoxPruning() in case
95 if there were NaN values in AABBs to be sorted.
97 12/25/2015 Oleh Derevenko
98 * Unexpected joint mode assignment (instead of comparison) fixed within
99 an dUASSERT in dJointSetTransmissionAxis2() of transmission joint
101 11/28/2015 Oleh Derevenko
102 * Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki)
103 * dCreateConvex() and dGeomSetConvex() public APIs changed to expect
104 their parameter arrays as const pointers
106 11/01/2015 Oleh Derevenko
107 * OPCODE mesh colliders' input coordinates have been offset to
108 mesh-relative frames to decrease potential computational errors
109 (suggested by luckytrashsc2@g***l.com)
111 08/05/2015 Oleh Derevenko
112 * Implemented change to return highest depth contacts subset for GIMPACT
113 in cases if contacts count exceeds requested maximum (as suggested in
114 the issue #36 by Piotr Piastucki)
116 11/17/2014 Daniel K. O.
117 * Added support for using libccd from the system (if found via
118 pkg-config)
120 11/10/2014 Oleh Derevenko
121 * Floating point division by zero in capsule-ray collision routine
122 in case if the ray axis was parallel the cylinder and the ray started
123 from within it fixed (issue #26)
125 11/08/2014 Oleh Derevenko
126 * Threading support has been extended to complete implementation
127 of QuickStep
129 10/29/2014 Daniel K. O.
130 * Added dJointSetDBallDistance
132 10/19/2014 Oleh Derevenko
133 * Built-in threading implementation compilation fixed for OSX
134 (clock_gettime() is missing from the system - reported by Bram)
136 08/10/2014 Oleh Derevenko
137 * Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and
138 dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed
139 from public headers (were orphaned since rev.1052)
141 07/16/2014 Oleh Derevenko
142 * Two fixes by Francesco Cat applied (fixes for mistakes made during
143 code style improvements in the past)
145 02/27/14 Daniel K. O.
146 * Added dODE_VERSION macro to public headers (issue #24).
148 02/11/14 Daniel K. O.
149 * Added dJointGetHinge2Angle2 (issue #12).
151 02/07/14 Daniel K. O.
152 * Added dWorldSetData/dWorldGetData (issue #21).
154 01/31/14 Daniel K. O.
155 * Applied patch #185: Stable, implicit gyroscopic forces.
157 01/27/14 Daniel K. O.
158 * Fixed cylinder AABB computation.
160 01/25/14 Daniel K. O.
161 * Removed ALLOCA calls from dHashSpace; it should not depend
162 on stack size limits anymore.
164 12/06/13 Daniel K. O.
165 * Applied patch #181: fix some bugs in AMotor joint.
166 * Applied patch #186: fix some bugs in PU joint.
167 * Applied patch #182: Transmission joint.
168 * Applied patch #184: implement rolling friction for contacts.
170 08/08/13 Oleh Derevenko
171 * Joint feedback forces application fixed in QuickStep implementation
172 (was broken since revision #1919 in old repository (#1927 in new one))
174 08/04/13 Oleh Derevenko
175 * Bugfix #89 by Luc applied (dJointAddSliderForce() adds a zero force
176 when the parent body is NULL)
178 05/18/13 Oleh Derevenko
179 * OU library has been included in ODE at revision #46 instead of
180 being used as an external link due to difficulties using external
181 references with new protocol used for storage at SF.
183 03/03/13 Oleh Derevenko
184 * Fixed issue with "findex==-1" constraints being intermixed with
185 "findex!=-1" ones during constraints random reordering in QuickStep.
187 02/03/13 Oleh Derevenko
188 * [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
189 was not polluted with these names unconditionally.
190 If your project depended on these types other than just for passing
191 parameters to ODE calls, add similar typedefs for yourself in some
192 of your project's global headers.
194 01/02/13 Oleh Derevenko
195 * Applied patch #183 by Joseph Cooper (complementary matrix
196 calculation fix).
198 12/28/12 Oleh Derevenko
199 * A bug with heightfield data assigned to a wrong field in
200 dGeomHeightfieldSetHeightfieldData fixed (bug report #88 by Luc).
202 12/18/12 Oleh Derevenko
203 * Fixed issue with some kinds of joints (Ball, DBall, DHinge, Fixed)
204 might overwrite world ERP value with their custom ERP during
205 getInfo2() call and that inappropriate value would then be passed
206 to subsequent joints in solver instead of world ERP.
208 12/01/12 Oleh Derevenko
209 * Fixed issues reported in patches #151 and #22 (collisions with
210 SAPSpace and QuadTreeSpace might not work because geometries list
211 was misused in them).
212 * Applied patch #160 "IsPointInPolygon in convex.cpp returns wrong
213 results" (by Janis Rucis)
215 11/25/12 Oleh Derevenko
216 * Configuration option --disable-threading-intf added
217 (--no-threading-intf for Windows/Premake). This allows disabling
218 threading interface support (external implementations may not be
219 assigned) but eliminates dependency on OU and use of atomics in
220 steppers.
222 11/05/12 Oleh Derevenko
223 * Fixed zero comparisons in OPCODE to use relative error instead of
224 absolute epsilon value (found by Bill Sellers)
226 06/08/12 Daniel K. O.
227 * Removed the need for defining dSINGLE/dDOUBLE; this is stored now in
228 the generated ode/precision.h header.
229 * Some code cleanup to get rid of GCC warnings.
231 05/30/12 Daniel K. O.
232 * Made drawstuff draw shadows for lines.
233 * Fixed dhinge's last constraint to properly handle rotations.
235 05/03/12 Daniel K. O.
236 * Added two new joints: Double Ball and Double Hinge.
238 04/22/12 Daniel K. O.
239 * Fixed plane2d joint: uninitialized variables (reported by Dimitris
240 Papavasiliou)
242 04/14/12 Oleh Derevenko
243 * Assertion checking macros moved into library private headers.
245 04/13/12 Daniel K. O.
246 * Applied patch from bug #3431829 - better handling of capsule-box with
247 deep penetrations.
248 * Fixed zero-mu issues: now either mu or mu2 can be set to zero.
250 03/17/12 Oleh Derevenko
251 * Threaded execution support interface added. Optional built-in threading
252 implementation added.
253 Internal threading implementation is excluded by default and to be used,
254 it must be enabled with configure/premake.
255 At present, if threading interface is assigned to a world, island
256 selection and stepping is performed in multiple threads (one thread per
257 island).
259 03/12/12 Oleh Derevenko
260 * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of
261 dNextAfter()/dCopySign() corrected to avoid creating conflicts with
262 other libraries.
264 02/03/12 Oleh Derevenko
265 * Assertion checking macros moved from common.h to error.h
267 12/18/11 Oleh Derevenko
268 * dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
269 expression in release mode) to be used to assert variable value
270 which is not used further in text while avoiding compiler warning.
271 * dICHECK macro added (same as dIASSERT but evaluates its expression and
272 raises assertion fault regardless of compilation mode) to be used to
273 generate a fault in cases when error is very unlikely but must be
274 handled and handling is very troublesome (e.g. failure to lock a mutex
275 due to lack of resources).
277 12/07/11 Oleh Derevenko
278 * Partially fixed size_t to integer conversion warnings
279 * Fixed type signedness and added casts to size_t wherever necessary
280 in Step/QuickStep
282 11/04/11 Daniel K. O.
283 * Applied patch #3429454 - fix compilation on some platforms.
285 10/28/11 Daniel K. O.
286 * Fixed a box-capsule bug: more reasonable normal for deep penetrations
287 (contributed by Georg Martius.)
289 10/27/11 Daniel K. O.
290 * Disabled merging of contacts for trimesh-sphere by default.
291 * Added new demo: demo_tracks.
293 10/17/11 Daniel K. O.
294 * Added python bindings, contributed by Gideon Klompje.
295 * Updated some build scripts.
296 * Changed spheres distribution in demo_space_stress.
298 05/17/11 Oleh Derevenko
299 * A typo in step.cpp fixed (assignment operator in a conditional
300 instead of comparison) (reported by Bram Stolk)
302 01/29/11 Oleh Derevenko
303 * Heightfield zone boundaries calculation code fixed to also consider
304 whole next cell after the AABB if the AABB ends exactly at the cell
305 boundary.
307 01/23/11 Daniel K. O.
308 * Applied patch from Daniel Fiser, add libccd collider for
309 box-cylinder.
311 01/20/11 Daniel K. O.
312 * Applied patch from Daniel Fiser, fix infinite loop in libccd caused
313 by numerical problems.
315 01/06/11 Daniel K. O.
316 * Applied patch from Daniel Fiser, efficient libccd tests when using
317 CONTACTS_UNIMPORTANT.
319 12/17/10 Daniel K. O.
320 * Applied patches from Daniel Fiser for new colliders based on libccd.
322 11/08/10 Daniel K. O.
323 * Applied patches from Daniel Fiser to incorporate libccd for
324 Cylinder-Cylinder collision tests.
326 08/21/10 Oleh Derevenko
327 * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo
328 which caused segmentation fault (by Kyle McKay).
329 dTestSolveLCP() fixed to avoid exceeding allocated memory pool
330 (by Kyle McKay).
332 07/19/10 Oleh Derevenko
333 * Patch applied (#3030783) to fix drawstuff dimensions being ignored
334 in OSX GLUT port (by Danny Price).
336 Daniel K. O.
337 * Applied patch #2991622: dGeomGetRelPointPos, dGeomGetPosRelPoint,
338 dGeomVectorToWorld, and dGeomVectorFromWorld.
340 07/16/10 Daniel K. O.
341 * Fixed bug #2937076: don't try to build demos if drawstuff is disabled.
343 05/02/10 Oleh Derevenko
344 * Missing extern "C" wrapper has been added to include/ode/export-dif.h
345 (reported by Danny Price). The change affects dWorldExportDIF() public
346 function.
348 05/02/10 Oleh Derevenko
349 * Patch applied (#2995450) to generate up to four contacts for box-
350 plane collision test (by alexdu) and fix contact depths.
352 05/02/10 Oleh Derevenko
353 * dGeomLowLevelControl function added with ability to change/query OPCODE
354 trimesh-sphere contact merging behavior at runtime.
356 02/18/10 Daniel K. O.
357 * Fixed bug affecting disabled joints and dWorldStep.
359 01/16/10 Oleh Derevenko
360 * Patch applied (#2931174) to make demos work for recent MacOS.
361 * Patch applied (#2931177) to fix the demos' framerate on X11.
363 12/20/09 Oleh Derevenko
364 * QuadTreeSpace implementation corrected to avoid object-block relation
365 ambiguity due to numeric errors.
367 12/04/09 Oleh Derevenko
368 * odecpp classes changed to be inheritable and easily expandable
370 11/29/09 Oleh Derevenko
371 * Improvement for trimesh-plane collision (also used in trimesh-heightfield)
372 to exclude mesh vertices that have already generated contacts from further
373 examination and contact generation in other triangles (suggested by LR).
375 10/25/09 Oleh Derevenko
376 * Macros changed to static inline functions in odemath.h and related files.
377 Some code duplication has been eliminated across the files.
379 * Fixed handling of --disable-asserts and --enable-double-precision
380 (absence of --enable-double-precision) in configure script. The script
381 was not appending compiler defines correctly.
383 * dWorldStep implementation changed to remove allocation on stack.
384 dUSE_MALLOC_FOR_ALLOCA define has been removed as well as corresponding
385 configuration parameter. Also dMemoryFlag public variable has been removed.
386 (look for presence of ODE_EXT_malloc_not_alloca configuration string if
387 your application is dependent on that variable).
389 09/05/09 Oleh Derevenko
390 * dWorldStepFast1 API removed along with dWorld[Get/Set]AutoEnableDepthSF1
392 08/29/09 Oleh Derevenko
393 * Fixed uninitialized floating point array used in computations.
395 08/12/09 Oleh Derevenko
396 * A typo fixed in dGeomCopyOffsetRotation() (final_posr was used instead
397 of offset_posr). Reported by Tilmann.
399 08/11/09 Daniel K. O.
400 * Made sure neither dSINGLE or dDOUBLE is defined by default; the user
401 should always explicitly specify the precision.
403 06/27/09 Oleh Derevenko
404 * New functions have been added:
405 - dWorldUseSharedWorkingMemory
406 - dWorldCleanupWorkingMemory
407 - dWorldSetStepMemoryReservationPolicy
408 - dWorldSetStepMemoryManager
410 06/25/09 Remi Ricard (papaDoc)
411 * Add limit to the to the second axis of the universal joint
412 for the pu joint.
414 06/14/09 Oleh Derevenko
415 * dWorldQuickStep re-implemented to avoid memory allocation on stack.
416 Also several optimizations have been made to decrease memory
417 requirements and optimize algorithm implementation of dWorldQuickStep.
418 dWorldStep still remains with old memory allocation however new APIs
419 mentioned below are fully functional for it.
420 Both dWorldStep and dWorldQuickStep have been changed to return boolean
421 success status.
423 * dInitODE2() changed to automatically call
424 AllocateODEDataForThread(dAllocateFlagBasicData) after library
425 initialization as this is a required initialization minimum that
426 must always be performed anyway.
428 06/05/09 Daniel K. O.
429 * Removed aliasing issues from OPCODE/Ice, plus some other warnings.
430 Now it builds on gcc 4.3.2 with '-Wall -Werror -O3".
432 05/30/09 Oleh Derevenko
433 * A minor memory usage optimization for QuickStep.
435 05/24/09 Daniel K. O.
436 * Made the new trimesh collider the default.
437 * Added a "-texturepath" option to drawstuff.
439 05/18/09 Oleh Derevenko
440 * Heightfield rotation fixed to avoid NaNs while rotating infinite
441 MIN/MAX heights.
443 05/03/09 Oleh Derevenko
444 * Incorrect parameter order fixed on contact merging in Sphere-Trimesh
445 collisions. The bug resulted in merged contact remaining with normal
446 of first contact found. Thanks to Dimitris Papavasiliou for reporting.
448 04/23/09 Daniel K. O.
449 * Fixed bug #2685170: use the C99 __func__ instead of __FUNCTION__ when
450 a C99 implementation is available.
452 04/07/09 Remi Ricard (papaDoc)
453 * Remove unused code in demo_joints.cpp, reported by Tilmann.
455 04/07/09 Remi Ricard (papaDoc)
456 * Fix bug in collision categories in demo_jointPU, reported by Tilmann
458 03/14/09 Oleh Derevenko
459 * A possibility to initialize/close ODE multiple times recursively has
460 been added.
461 Also, now a call to dSpaceSetManualCleanup() is required for each
462 space right after creation if ODE has been initialized in thread data
463 manual cleanup mode.
465 03/07/09 Oleh Derevenko
466 * Thread local data has been cleaned up from OPCODE and OdeTls as it is
467 not used (OPC_SweepAndPrune.* and OPC_BoxPruning.* have been removed
468 - rebuilding project files is necessary).
470 02/07/09 Daniel K. O.
471 * New house of cards demo, which stresses the friction handling stability.
473 01/29/09 Remi Ricard (papaDoc)
474 * Fix bug: Fix problem when attaching no body to a joint. Before calling
475 setRelativeValues a check is made for bodies.
476 * Add unittest
478 01/28/09 Daniel K. O.
479 * Applied patch #2538046: Heightfield AABB bounds patch.
481 01/23/09 Remi Ricard (papaDoc)
482 * Add new function dJointSetUniversalAxis1Offset and dJointSetUniversalAxis2Offset
483 * Add unittest for those funcitons.
485 01/23/09 Remi Ricard (papaDoc)
486 * Fix problem with dJointGetUniversalAngle2 when the joint is attached to
487 only a body 2. The sign was inverted.
488 * Add unit test to verify for this problem
490 01/21/09 Remi Ricard (papaDoc)
491 * Fix bug reported by Tilman: dxJointPU::getInfo1 was setting twice the
492 limit of limot1 to zero and not limot2
494 01/17/09 Daniel K. O.
495 * Fixed a bug in dSpaceCollide2: if both geoms are not in spaces they would
496 not have valid AABBs.
498 12/20/08 Daniel K. O.
499 * New functions: dJointEnable, dJointDisable, dJointIsEnabled
500 (patch #2454764).
502 12/19/08 Daniel K. O.
503 * Removed inline asm statements that break builds on 64-bit VC++.
505 12/09/08 Daniel K. O.
506 * Applied patch #2381592, which adds support for Kinematic Bodies.
508 12/06/08 Oleh Derevenko
510 * Applied a patch by Martijn Buijs to make GIMPACT trimesh-ray collisions to
511 be consistent with those in OPCODE.
512 * Swapped geometries returned in contacts for OPCODE Trimesh-Plane collisions
513 as they were returned in unnatural order being different from that in GIMPACT
514 * Applied a patch by Martijn Buijs to make side1, side2 fields of contact
515 structure be always initialized, either with -1 for non-trmesh geometries
516 or with triangle index for trimeshes. These fields were only assigned for
517 trimesh-trimesh collisions before.
518 * dGeomTriMeshSetTriMergeCallback/dGeomTriMeshGetTriMergeCallback API added
519 to set/get user defined callback procedure for trimeshes that would be
520 invoked when contacts are merged to let user code accumulate attributes of
521 original contact triangles and generate a fake index by which it would
522 later be able to determine those attributes. If the callback is not
523 assigned (the default) -1 is generated as triangle index for merged
524 contacts (there was an index of first of merged triangles before!!!).
525 The callback is currently used within OPCODE trimesh-sphere and OPCODE
526 new trimesh-trimesh collisions.
528 11/20/08 Remi Ricard (papaDoc)
529 * Fix problem with dJointGetPUPosition and
530 dJointGetPUPositionRate when the joint is attached to only
531 a body 2. The sign was inverted.
532 * Fix bug: When a pu joint had only one body attached to position 2,
533 dJointAttach(jId, 0, bId). The body was not push in the right direction to
534 move back between the limits.
535 * Add unit test to check the above problem
536 * Add the function void dJointSetPUAnchorOffset
537 * Make the function void dJointSetPUAnchorDelta deprecated
539 11/19/08 Remi Ricard (papaDoc)
540 * Fix bug: When a pr joint had only one body attached to position 2,
541 dJointAttach(jId, 0, bId). The body was not push in the right direction to
542 move back between the limits.
543 * Add unit test to check the above problem
545 11/19/08 Remi Ricard (papaDoc)
546 * Fix problem with dJointGetPRPosition and
547 dJointGetPRPositionRate when the joint is attached to only
548 a body 2. The sign was inverted.
549 * Add unit test to check the above problem
550 * Increase the tolerance to remove failure in unit test
551 * Remove compilation warning in unit test with the use of REAL()
553 11/18/08 Remi Ricard (papaDoc)
554 * Fix bug: When a piston joint had only one body attached to position 2,
555 dJointAttach(jId, 0, bId). The body was not push in the right direction to
556 move back between the limits.
557 * Add more functionality to demo_piston.cpp
558 * Run astyle on modified files.
560 11/18/08 Remi Ricard (papaDoc)
561 * Fix bug: When a slider joint had only one body attached to position 2,
562 dJointAttach(jId, 0, bId). The body was not push in the right direction to
563 move back between the limits.
565 10/29/08 Oleh Derevenko
567 * Premake scripts changed to only include chosen collision library
568 sources in project on Windows. --all-collis-libs premake option
569 added to allow inclusion of all collision library sources into the
570 project
572 10/15/08 Remi Ricard (papaDoc)
573 * Applying patch #2158425 64-bit GIMPACT provided by Mark
574 William. This patch enable GIMPACT to works on 64-bit machine.
576 10/15/08 Remi Ricard (papaDoc)
577 * Add function dJointGetPRAngle and dJointGetPRAngleRate
579 10/15/08 Remi Ricard (papaDoc)
580 * Enable the motor on the rotoide part of the PR joint
582 10/15/08 Remi Ricard (papaDoc)
583 * Add unit test to check if using directly a joint
584 or using after setting with default values is the same.
585 * Add function setRelativeValues called in dJointAttach for
586 all joints.
588 10/10/08 Remi Ricard (papaDoc)
589 * Fix bug in dJointGetPUAxis2. The axis was not multiplied with the
590 the rotation matrix of the good body.
591 * Fix bug if there is only one body on the PU joint the axis returned
592 was not the right one.
593 * Add unit test to verify previous bug.
595 10/03/08 Rodrigo Hernandez (Kwizatz)
596 * Added Blender script to create ODE convex geoms under tools.
598 10/01/08 Rodrigo Hernandez (Kwizatz)
599 * Convex-Convex collision detection code is finally stable.
601 08/31/08 Daniel K. O.
602 * Applied patch 2080674: Improved dBodySetRotation; now exact rotation
603 matrices are preserved until the next simulation step.
605 08/07/08 Daniel K. O.
606 * Fixed strict aliasing issue that was breaking the new trimesh collider.
608 07/24/08 Daniel K. O.
609 * New functions: dBodyGetGyroscopicMode and dBodySetGyroscopicMode
610 (patch #2019242).
612 07/15/08 Remi Ricard (papaDoc)
613 * Add a new define ODE_API_DEPRECATED to mark function as deprecated
614 when necessary.
616 07/14/08 Remi Ricard (papaDoc)
617 * Finish adding patch 1336066: Joint feedback in quickstep by jsinecky
618 * demo_boxstack.cpp can now print joint feedback
620 07/11/08 Daniel K. O.
621 * Bumped version for 0.10.1
622 * Added proper usage of libtool's version info.
624 07/10/08 Remi Ricard (papaDoc)
625 * Add new function dJointSetPistonAnchorOffset
626 * Add unittest for the piston joint
627 * Fix problem with dJointGetPistonPosition and
628 dJointGetPistonPositionRate when the joint is attached to only
629 a body 2. The sign was inverted.
631 07/09/08 Remi Ricard (papaDoc)
632 * Optimize function Multiply1_12q1 in quickstep
633 Patch proposed by Riemer v.d. Zee and modified by Patrick Baggett
635 07/08/08 Remi Ricard (papaDoc)
636 * Update the slider joint to have the same behavior as the other joint
637 when there is only a body2 attached to it.
638 * Update documentation for the slider joint.
639 * Remove warning by using REAL()
640 * Add new unittest for dJointGetSliderPositionRate
642 07/08/08 Remi Ricard (papaDoc)
643 * Update unittest for the slider.
644 * Rename the new function dJointSetHingeAxisDelta to
645 dJointSetHingeAxisOffset. This remove will remove confusion with
646 the old function dJointSetHingeAnchorDelta
647 * Update documentation for the Hinge unittest
648 * Remove warning by using REAL()
650 07/07/08 Daniel K. O.
651 * Max Correcting Vel doesn't affect bounciness, as before.
653 07/03/08 Remi Ricard (papaDoc)
654 * Add new function dJointSetHingeAxisDelta
655 * Add unittest for this new function
657 06/17/08 Remi Ricard (papaDoc)
659 * Move the computation of the Relative Rotation for the slider joint
660 into a function.
661 * Add unittest for to check qrel
663 06/17/08 Remi Ricard (papaDoc)
665 * Remove unused variables.
666 * Remove a conversion warning between unsigned int and int
668 06/17/08 Remi Ricard (papaDoc)
670 * Move the function hingeComputeRelativeRotation as a member of
671 the hinge structure/class.
673 06/17/08 Remi Ricard (papaDoc)
675 * Move the computation of the Relative Rotation for the fixed joint
676 into a function.
678 06/16/08 Remi Ricard (papaDoc)
680 * Add testunit for the dxJointFixed
682 06/04/08 Daniel K. O.
684 * Moved joints to ode/src/joints, converted them to true virtual
685 methods.
687 06/02/08 Daniel K. O.
689 * Added an Auto<T> template to step.cpp to handle memory deallocation.
691 05/09/08 Daniel K. O.
693 * Applied patch #1335202: Contact Joint Motion (with some corrections),
694 and added demo_motion.
696 05/01/08 Oleh Derevenko
698 * Memory leak in GIMPACT fixed (reported by Derek)
700 04/28/08 Oleh Derevenko
702 * Added possibility to collide a space of lower sublevel as a geometry
703 against another space of a higher level with dSpaceCollide2.
704 dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/
705 retrieval.
707 04/27/08 Oleh Derevenko
709 * Fixed incorrect memory copying which could lead to memory corruption
710 in GIMPACT (luckily, in unused code)
711 * Fixed possible memory read beyond the end of allocated buffer along
712 with unnecessary extra memory copying in GIMPACT.
713 * Fixed buffer reserve being incorrectly reset to zero for bitsets
714 what resulted in unnecessary memory reallocations in GIMPACT.
715 * Implemented support for ability to run collision detection from
716 multiple threads for separate spaces.
718 04/14/08 Oleh Derevenko
720 * Fixed possible memory corruption in new trimesh-trimesh collider
721 in case if two degenerated triangles are checked against each other.
723 04/12/08 Oleh Derevenko
725 * Fixed sporadic assertion failure on vector normalization caused
726 by small triangles degenerating into segments during space
727 transformations.
729 03/28/08 Remi
731 * Fix a bug in dJointXXXGetInfo. The value in limot.limit was not
732 always updated. (Ex: If hi and lo limit were changed).
734 03/27/08 Remi
736 * Added a new Joint: Prismatic Universal (patch #1828454).
738 Daniel K. O.
740 * Fixed bug #1841309: collide2() method buggy.
742 03/18/08 Rodrigo
744 * New function: dVector4Copy.
746 03/14/08 david
748 * Added stub calls for trimesh functions.
749 * Applied patch #1914232: dGetConfiguration.
750 * Applied patch #1655333: Optimize the function dNormalize3.
751 * New function: dSetColliderOverride.
752 * New function: dCheckConfiguration.
754 Daniel K. O.
756 * Disabled building shared library by default with autotools.
758 03/13/08 david
760 * New function: dJointGetNumBodies (patch #1901550).
761 * New function: dSpaceGetClass (patch #1901637).
762 * Applied patch #1901649: Add missing function in the export
764 03/12/08 Rodrigo
766 * Fixed drawstuff build issues on OSX.
768 01/12/08 Daniel K. O.
770 * Fixed a typedef bug in configure.in.
771 * Added dCylinder to the C++ wrappers.
772 * Applied patch 1851394: support for GIMPACT with double precision,
773 dCollide fix.
774 * Moved bunny geometry to bunny_geom.h.
776 12/11/07 Daniel K. O.
778 * Added damping and MaxAngularVel() functions.
779 * Const-correctness: added const qualifier to some dWorldGet and dBodyGet
780 functions.
781 * Updated the odecpp.h header.
783 12/07/07 Daniel K. O.
785 * Removed most of the compiler warnings from Drawstuff, ODE and
786 OPCODE
787 * Upgraded automake requirement to 1.10, and change some Makefile.am
789 12/06/07 Rodrigo
791 * Modified autotools to use libtool for
792 library generation and administration
793 * Removed release and debug flags for configure.in
794 CPPFLAGS, CFLAGS, CXXFLAGS should be set by the
795 user to their liking, respecting autotools policies.
797 11/30/07 Daniel K. O.
798 * Applied patch 1813079 (moved callback)
799 * Replaced moveAndRotateBody by dxStepBody in stepfast.cpp
801 11/10/07 david
803 * Added 'Sweep and Prune' collision space.
804 * New Piston joint type with demo, by Remi Ricard
805 * Added build option to use 16-bit indices for OPCODE trimesh
807 11/03/06 david
809 * Integrated Christoph Beyer's average based sampling system for body
810 disabling.
812 10/26/06 Francisco Leon
814 * Totally refactored trimesh collision system.
815 Using GIMPACT instead of OPCODE. Now works correctly, and faster.
816 Visit http://gimpact.sourceforge.net.
818 * Finally, test_moving_trimesh.exe works nicely.
820 * Fixed autodisable system. Now is possible to set bigger sleeping
821 threshold values and objects won't be sleeping on the air. They will
822 rest on the floor properly.
824 * dInitODE function added.
826 * Is Obligatory to call dInitODE() at the beginning for initialize ODE,
827 and calling dCloseODE() when the program ends.
829 09/20/06 bram
831 * Fixed two bugs in cyl/plane collision test.
833 09/13/06 Remi
835 * New Rotoide - Prismatic joint type
836 * dJointGetUniversalAngles for efficient angle retrieval.
838 08/09/06 david
840 * Integrated plane2d joint type which constrains bodies to z == 0.
842 07/06/06 david
844 * Added heightfield primitive collision code. Simple test available in
845 ode/test/test_heightfield
847 04/03/06 rodrigo
849 * Added Convex primitive collision code,
850 currently only convex-sphere and convex-plane work
852 04/01/06 bram
854 * Added program to test trimesh vs sphere: ode/test/test_basket
856 03/20/06 jason379
858 * Added new autogenerated Visual Studio projects, with Premake scripts
860 03/17/06 bram
862 * Added plane/cyl intersection test
863 * Renamed CCylinder to Capsule
865 02/04/06 gcarlton
867 * Added support for geom offsets.
869 10/26/05 rodrigo
871 * Removed LIBTOOL from autotools since it was not really required.
872 * Added a target to build ODE as a shared library, this shared
873 library gets build alongside the static one, no flags required.
875 10/24/05 tfautre
877 (Backported patches from STABLE branch, applied by Adam)
879 * dRandInt changed for a non-double all-int version.
880 * mics minor fixes and improvements.
882 04/05/05 tfautre
884 * Fixed segmentation fault with OPCODE on 64 bits systems.
886 03/31/05 tfautre
888 * Fixed timer.cpp compiler error on x86-64 using GCC.
890 03/29/05 colin
892 * Added trimesh preprocessing to mark unneeded edges and verts. Also
893 added support for preprocessed info to the ccylinder-trimesh
894 collider.
896 12/07/04 adam
898 * Important AMotors bugfix
900 09/22/04 jeff
902 * Assorted small bugfixes and tweaks for
903 trimesh_{box,ccylinder,trimesh} collisions
905 09/21/04 jeff
907 * added functions to joint.cpp to allow joint attachment to moving
908 geoms.
910 * added malloc-based memory allocation in step.cpp & lcp.cpp (turned
911 on with a #define switch in common.h)
913 05/29/04 russ
915 * added joint feedback to the QuickStep solver
917 05/18/04 russ
919 * added warm starting to the QuickStep solver
921 05/18/04 russ
923 * added the QuickStep solver
925 * added contact parameter functions.
927 05/05/04 adam
929 * use dRandInt instead of rand() in stepfast.
931 04/21/04 russ
933 * added auto-disable support from Aras Pranckevicius (with
934 modifications by russ). this useful feature can speed up
935 simulation significantly in some cases.
937 * various internal tidyups.
939 04/20/04 russ
941 * changed the meaning of the 'index' argument to dJointGetBody():
942 it was the only remaining API function that does not respect
943 dJOINT_REVERSE (spotted by Matthew D. Hancher).
945 * updated the C++ headers: fixed two minor bugs and added
946 support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
947 (from Matthew D. Hancher).
949 04/18/04 russ
951 * changed the way that the dInfinity constant is implemented: now it
952 is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
953 a large numeric constant. previously it was a variable that was
954 exported from the library. this simplifies the configuration and
955 build process quite a bit, especially in the case of DLLs.
957 * removed the old, deprecated collision system (geom.cpp,space.cpp,
958 geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
959 configuration setting no longer has any meaning.
961 * removed support for dGeomGroups, which have been deprecated for
962 a while and are equivalent to 'spaces' anyway.
964 04/13/04 russ
966 * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.
968 04/08/04 russ
970 * added trimesh-CCylinder capability, from Vadim Macagon
971 <vadim_mcagon@hotmail.com>.
973 04/04/04 adam
975 * yet another rewrite of triangle-box collision code, this
976 time based on code donated by Croteam, ported by asko@jetti.org
977 and tweaked by Erwin.
979 04/04/04 adam
981 * merged trimesh-trimesh collision code by
982 Jeffrey Smith <jeffreys@Softimage.com>.
984 * changed it to not break the trimesh interface, fix
985 some GCC compilation problems, bring it up to date with
986 ODE changes from 2003-11-15 -> 2004-04-04.
988 * add ability to drop meshes on meshes in test_moving_trimesh,
989 not as good as it could be but it's illustrative.
991 01/16/04 adam
993 * implement a bunch of ultra-simple TriMesh functions that were
994 in the headers but not in the code -- patch by
995 Vadim Macagon <vadim_mcagon@hotmail.com>
997 * disable temporal coherence on trimeshes by default, since
998 it has scaleability issues that don't make it a general clear win.
1000 12/01/03 adam
1002 * implement dxHashSpace::collide2(), not particularly efficiently.
1004 11/14/03 adam
1006 * applied several Trimesh fixes and improvements from
1007 Aras Pranckevicius <nearaz@interamotion.com>
1009 10/22/03 adam
1011 * apply Nguyen Binh's work for removing many dSetZero() calls
1012 and some other extraneous initializations.
1014 07/29/03 martin
1016 * added dJointAdd*Torque/Force().
1018 07/10/03 russ
1020 * added the StepFast code, by David Whittaker.
1022 07/02/03 martin
1024 * added dMassSet*Total().
1026 07/01/03 martin
1028 * added joint limits and motors to universal joints.
1030 * reversed the polarity of the dJOINT_REVERSE flag.
1032 06/30/03 russ
1034 * added the TriMesh geom class and the quad tree space to the ODE
1035 core. both of these were developed by Erwin de Vries. added OPCODE
1036 to the ODE distribution, this is required by TriMesh.
1038 06/23/03 martin
1040 * added dGeomSetQuaternion() and dGeomGetQuaternion()
1042 * added dJointGet*Anchor2()
1044 05/07/03 russ
1046 * added dGeomGetSpace().
1048 02/05/03 russ
1050 * added dMassSetCylinder().
1052 12/07/02 russ
1054 * added dAreConnectedExcluding().
1056 11/30/02 russ
1058 * added the ray geom class.
1060 * added the dGeomXXXPointDepth() functions.
1062 * added a collision test infrastructure, and some more tests.
1064 11/24/02 russ
1066 * added support for multiple box-box contacts.
1068 11/10/02 russ
1070 * added new collision system. select between the old/new system by
1071 setting the ODE_OLD_COLLISION variable in config/user-settings.
1073 10/28/02 russ
1075 * fixed two problems in the LCP code to improve the reliability of
1076 the dContactApprox1 contact mode.
1078 * added a FAQ question about rolling bodies getting stuck when they
1079 hit multiple geoms.
1081 09/08/02 russ
1083 * added dClosestLineSegmentPoints().
1084 * implemented dCollideCB().
1086 08/28/02 russ
1088 * added dJointSetFeedback() and dJointGetFeedback().
1090 08/05/02 russ
1092 * added dGeomTransformSetInfo() and dGeomTransformGetInfo().
1094 07/13/02 russ
1096 * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
1097 dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
1098 dBodyVectorFromWorld().
1100 * added dBodyGetPointVel() (thanks to Colin Reed).
1102 * added a new C++ interface (from Martin C. Martin, with modifications
1103 by russ). the old C++ interface is now in odecpp_old.h.
1105 06/25/02 russ
1107 * added an additional BSD-style licensing option for ODE.
1109 06/23/02 russ
1111 * added dCloseODE(), contributed by Nate Waddoups and David McClurg.
1113 05/16/02 russ
1115 * added dSpaceQuery(), contributed by Nate Waddoups.
1117 04/07/02 russ
1119 * added a section to the documentation for universal joints.
1120 this includes a picture of the joint.
1122 04/05/02 russ
1124 * added a universal joint class (generously contributed by
1125 Martin C. Martin). it doesn't (yet) have a motor or joint limits,
1126 but it does come with tests.
1128 03/11/02 russ
1130 * makefile changes to accomodate OSs with command line length
1131 limitations (thanks to Norman Lin).
1133 01/06/02 russ
1135 * added the dBodySetGravityMode() and dBodyGetGravityMode()
1136 functions, which change the dxBodyNoGravity body flag.
1138 * added support for building a DLL with MSVC - there is now a
1139 msvc-dll target. thanks to Norman Lin for doing this.
1141 12/28/01 russ
1143 * added the dParamCFM joint parameter.
1145 12/24/01 russ
1147 * reworked the build system to make it more cross-platform.
1148 there is now a single top-level makefile and a configurator.c
1149 program. see the INSTALL file for details.
1151 12/04/01 russ
1153 * the "angular motor" joint has been completed, and a new section
1154 has been added to the documentation.
1156 11/26/01 russ
1158 * added a new joint type: "angular motor". using this joint is a good
1159 way to get ball-joint motors and limits. this is work in progress -
1160 it has not been fully implemented or tested yet.
1162 11/22/01 russ
1164 * replaced the mmap()-based joint group stack (stack.cpp) with a
1165 malloc()-based arena stack (obstack.cpp). this will be more
1166 portable and should not impact performance.
1168 11/12/01 russ
1170 * changed the meaning of the 'flags' parameter to dCollide() and
1171 related functions: now the size of the contact buffer is kept in
1172 the lower 16 bits. this change will be backward compatible.
1174 * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis().
1176 * added dBodyAddForceAtRelPos() function.
1178 11/11/01 russ
1180 * added the ability to manually enable and disable bodies.
1181 see dBodyEnable(), dBodyDisable(), dBodyIsEnabled().
1183 * fixed a potential bug: when a world is destroyed that contains
1184 joints in joint groups, those joints are marked as "deactivated" in
1185 the joint group, so when the joint group is destroyed they can be
1186 ignored.
1188 * the test_boxstack demo has new options to enable and disable bodies.
1190 * new configuration parameter in config.h: dEFFICIENT_SIZE.
1192 11/11/01 russ
1194 * started the change log for ODE. changes older than today were added
1195 to this file by inspecting the CVS logs.
1197 11/05/01 russ
1199 * added REAL() constructions for floating point numbers, to prevent
1200 many warnings when compiling under VC++.
1202 11/03/01 russ
1204 * added geometry transform class, documented composite objects.
1206 * added collision rule: no contacts if both geoms on the same body.
1207 this is not the best rule, may have to remove this in the future.
1209 * new dMassAdd() function.
1211 * capped cylinder to capped cylinder collision function.
1213 10/31/01 russ
1215 * increase CFM in some demos to make them more robust.
1217 10/29/01 russ
1219 * added new accessor functions.
1221 10/19/01 russ
1223 * added the dJOINT_TWOBODIES flag to the joint, that says it can not
1224 be attached to just one body.
1226 10/12/01 russ
1228 * fixed a collision bug in dCollide() that was causing memory
1229 corruption when multiple contacts were being returned.
1231 10/11/01 russ
1233 * joints can now return m=0 to be "inactive". added a "null" joint
1234 to test this.
1236 10/09/01 russ
1238 * in the LCP solver, try to fail gracefully when s <= 0.
1240 * dAABBTestFn() API change.
1242 10/08/01 russ
1244 * fixed a contact swapping bug in dCollide().
1246 10/07/01 russ
1248 * added capped cylinder geometry object.
1250 09/30/01 russ
1252 * the test_buggy demo now uses geometry groups.
1254 * added a dAABBTestFn field in the geometry classes.
1256 09/29/01 russ
1258 * added geometry groups.
1260 09/20/01 russ
1262 * added finite rotation stuff.