| blob | c3cc43a77b7fda1d9c076b445823532cafd9b501 |
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 11/10/2018 Oleh Derevenko
12 * An incorrect optimization to Jacobian Copy building code from #1938
13 that resulted in corrupt data in multi-threaded execution mode was
14 fixed.
16 11/05/2018 Oleh Derevenko
17 * An unintended change from commit #1898 has been reverted.
18 The QuickStep used to solve with randomized constraint order
19 each 8th iteration. The other iterations, the constraints
20 were reset to their natural order, as generated, with the dependent
21 constraints gathered in reverse order at end (the reverse order is
22 somehow important). With the commit #1898 the constraints were
23 randomly reordered each 8th iteration but then remained
24 in that randomized order and only were re-randomized on subsequent
25 multiples of 8.
27 10/09/2017 Markus Rickert
28 * CMake support for project file generation has been added.
30 06/14/2017 Oleh Derevenko
31 * dxHashSpace::collide() has been changed to fault host program
32 if scene gets too large and causes integer overflow.
34 06/06/2017 Oleh Derevenko
35 * Memory and pointer size integer type use has been changed so that
36 internal typedefs are used instead of "_t" suffixed types.
38 05/09/2017 Oleh Derevenko
39 * Introduction of cooperative algorithms API.
40 L*D*LT cooperative factorization and linear equation system
41 cooperative solving have been implemented.
42 * AtomicReadReorderBarrier, AtomicStore, AtomicStorePointer functions
43 have been added and some atomic function implementations have been
44 improved in OU.
46 02/20/2017 Oleh Derevenko
47 * Project generation options have been changed to have built-in
48 multithreaded threading implementation enabled by default.
50 02/19/2017 Oleh Derevenko
51 * dWorldStep threaded implementation has been extended to the final
52 steps of constraint force applications and body position updates
53 after the LCP solving. Note that body callbacks (if set) may be
54 called from multiple threads if threaded execution is enabled.
55 * OU atomicord32 type has been fixed to be unsigned on all supported
56 platforms.
58 01/09/2017 Oleh Derevenko
59 * dGeomTriMeshDataPreprocess2() public function has been added to
60 replace dGeomTriMeshDataPreprocess(). Face angles pre-computation
61 for triangle meshes has been implemented.
63 11/13/2016 Oleh Derevenko
64 * dGeomTriMeshDataGetBuff and dGeomTriMeshDataSetBuff have been marked
65 deprecated and their functionality implemented via
66 dGeomTriMeshDataGet and dGeomTriMeshDataSet. Extra function variant
67 dGeomTriMeshDataGet2() has been added to allow returning data size.
69 11/07/2016 Oleh Derevenko
70 * The implementation of OPCODE TriMesh data pre-processing
71 (dGeomTriMeshDataPreprocess()) has been optimized to only contain
72 a sort and a single pass over edges (used to be a sort and O(N^2)).
74 10/29/2016 Oleh Derevenko
75 * dGeomTriMeshDataPreprocess() public function has been changed to
76 return a boolean status (it can fail in low memory conditions).
78 07/10/2016 Oleh Derevenko
79 * The correct handling of dJOINT_REVERSE mode for AngularMotor Joint
80 implemented (issue #37).
82 06/29/2016 Oleh Derevenko
83 * A bug fixed with HashSpace calling big boxes collision twice
84 (both straight and reverse geometries order) since revision #1831.
86 06/03/2016 Oleh Derevenko
87 * dJointSetHinge2Axes public function has been added and
88 dJointSetHinge2Axis1/2 have been marked deprecated due to being
89 unsafe.
91 05/13/2016 Oleh Derevenko
92 * ICE Container class allocation strategy fixed to avoid reserving
93 excess memory with large collections.
95 05/10/2016 Oleh Derevenko
96 * dSafeNormalize3 and dSafeNormalize4 functions changed to leave the
97 parameter intact instead of replacing it with the X-axis unit in case
98 of fault.
100 04/12/2016 Oleh Derevenko
101 * A function to create a self-threaded threading implementation object
102 has been moved back to public headers as there could be a use for it
103 while running several worlds in parallel threads.
105 01/09/2016 Oleh Derevenko
106 * Hinge2 joint corected to avoid faulting asserts when the axes get
107 temporarily invalid during assignments (suggested by David Mansolino)
109 01/03/2016 Oleh Derevenko
110 * An invalid memory access fixed in dxSAPSpace::BoxPruning() in case
111 if there were NaN values in AABBs to be sorted.
113 12/25/2015 Oleh Derevenko
114 * Unexpected joint mode assignment (instead of comparison) fixed within
115 an dUASSERT in dJointSetTransmissionAxis2() of transmission joint
117 11/28/2015 Oleh Derevenko
118 * Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki)
119 * dCreateConvex() and dGeomSetConvex() public APIs changed to expect
120 their parameter arrays as const pointers
122 11/01/2015 Oleh Derevenko
123 * OPCODE mesh colliders' input coordinates have been offset to
124 mesh-relative frames to decrease potential computational errors
125 (suggested by luckytrashsc2@g***l.com)
127 08/05/2015 Oleh Derevenko
128 * Implemented change to return highest depth contacts subset for GIMPACT
129 in cases if contacts count exceeds requested maximum (as suggested in
130 the issue #36 by Piotr Piastucki)
132 11/17/2014 Daniel K. O.
133 * Added support for using libccd from the system (if found via
134 pkg-config)
136 11/10/2014 Oleh Derevenko
137 * Floating point division by zero in capsule-ray collision routine
138 in case if the ray axis was parallel the cylinder and the ray started
139 from within it fixed (issue #26)
141 11/08/2014 Oleh Derevenko
142 * Threading support has been extended to complete implementation
143 of QuickStep
145 10/29/2014 Daniel K. O.
146 * Added dJointSetDBallDistance
148 10/19/2014 Oleh Derevenko
149 * Built-in threading implementation compilation fixed for OSX
150 (clock_gettime() is missing from the system - reported by Bram)
152 08/10/2014 Oleh Derevenko
153 * Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and
154 dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed
155 from public headers (were orphaned since rev.1052)
157 07/16/2014 Oleh Derevenko
158 * Two fixes by Francesco Cat applied (fixes for mistakes made during
159 code style improvements in the past)
161 02/27/14 Daniel K. O.
162 * Added dODE_VERSION macro to public headers (issue #24).
164 02/11/14 Daniel K. O.
165 * Added dJointGetHinge2Angle2 (issue #12).
167 02/07/14 Daniel K. O.
168 * Added dWorldSetData/dWorldGetData (issue #21).
170 01/31/14 Daniel K. O.
171 * Applied patch #185: Stable, implicit gyroscopic forces.
173 01/27/14 Daniel K. O.
174 * Fixed cylinder AABB computation.
176 01/25/14 Daniel K. O.
177 * Removed ALLOCA calls from dHashSpace; it should not depend
178 on stack size limits anymore.
180 12/06/13 Daniel K. O.
181 * Applied patch #181: fix some bugs in AMotor joint.
182 * Applied patch #186: fix some bugs in PU joint.
183 * Applied patch #182: Transmission joint.
184 * Applied patch #184: implement rolling friction for contacts.
186 08/08/13 Oleh Derevenko
187 * Joint feedback forces application fixed in QuickStep implementation
188 (was broken since revision #1919 in old repository (#1927 in new one))
190 08/04/13 Oleh Derevenko
191 * Bugfix #89 by Luc applied (dJointAddSliderForce() adds a zero force
192 when the parent body is NULL)
194 05/18/13 Oleh Derevenko
195 * OU library has been included in ODE at revision #46 instead of
196 being used as an external link due to difficulties using external
197 references with new protocol used for storage at SF.
199 03/03/13 Oleh Derevenko
200 * Fixed issue with "findex==-1" constraints being intermixed with
201 "findex!=-1" ones during constraints random reordering in QuickStep.
203 02/03/13 Oleh Derevenko
204 * [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
205 was not polluted with these names unconditionally.
206 If your project depended on these types other than just for passing
207 parameters to ODE calls, add similar typedefs for yourself in some
208 of your project's global headers.
210 01/02/13 Oleh Derevenko
211 * Applied patch #183 by Joseph Cooper (complementary matrix
212 calculation fix).
214 12/28/12 Oleh Derevenko
215 * A bug with heightfield data assigned to a wrong field in
216 dGeomHeightfieldSetHeightfieldData fixed (bug report #88 by Luc).
218 12/18/12 Oleh Derevenko
219 * Fixed issue with some kinds of joints (Ball, DBall, DHinge, Fixed)
220 might overwrite world ERP value with their custom ERP during
221 getInfo2() call and that inappropriate value would then be passed
222 to subsequent joints in solver instead of world ERP.
224 12/01/12 Oleh Derevenko
225 * Fixed issues reported in patches #151 and #22 (collisions with
226 SAPSpace and QuadTreeSpace might not work because geometries list
227 was misused in them).
228 * Applied patch #160 "IsPointInPolygon in convex.cpp returns wrong
229 results" (by Janis Rucis)
231 11/25/12 Oleh Derevenko
232 * Configuration option --disable-threading-intf added
233 (--no-threading-intf for Windows/Premake). This allows disabling
234 threading interface support (external implementations may not be
235 assigned) but eliminates dependency on OU and use of atomics in
236 steppers.
238 11/05/12 Oleh Derevenko
239 * Fixed zero comparisons in OPCODE to use relative error instead of
240 absolute epsilon value (found by Bill Sellers)
242 06/08/12 Daniel K. O.
243 * Removed the need for defining dSINGLE/dDOUBLE; this is stored now in
244 the generated ode/precision.h header.
245 * Some code cleanup to get rid of GCC warnings.
247 05/30/12 Daniel K. O.
248 * Made drawstuff draw shadows for lines.
249 * Fixed dhinge's last constraint to properly handle rotations.
251 05/03/12 Daniel K. O.
252 * Added two new joints: Double Ball and Double Hinge.
254 04/22/12 Daniel K. O.
255 * Fixed plane2d joint: uninitialized variables (reported by Dimitris
256 Papavasiliou)
258 04/14/12 Oleh Derevenko
259 * Assertion checking macros moved into library private headers.
261 04/13/12 Daniel K. O.
262 * Applied patch from bug #3431829 - better handling of capsule-box with
263 deep penetrations.
264 * Fixed zero-mu issues: now either mu or mu2 can be set to zero.
266 03/17/12 Oleh Derevenko
267 * Threaded execution support interface added. Optional built-in threading
268 implementation added.
269 Internal threading implementation is excluded by default and to be used,
270 it must be enabled with configure/premake.
271 At present, if threading interface is assigned to a world, island
272 selection and stepping is performed in multiple threads (one thread per
273 island).
275 03/12/12 Oleh Derevenko
276 * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of
277 dNextAfter()/dCopySign() corrected to avoid creating conflicts with
278 other libraries.
280 02/03/12 Oleh Derevenko
281 * Assertion checking macros moved from common.h to error.h
283 12/18/11 Oleh Derevenko
284 * dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
285 expression in release mode) to be used to assert variable value
286 which is not used further in text while avoiding compiler warning.
287 * dICHECK macro added (same as dIASSERT but evaluates its expression and
288 raises assertion fault regardless of compilation mode) to be used to
289 generate a fault in cases when error is very unlikely but must be
290 handled and handling is very troublesome (e.g. failure to lock a mutex
291 due to lack of resources).
293 12/07/11 Oleh Derevenko
294 * Partially fixed size_t to integer conversion warnings
295 * Fixed type signedness and added casts to size_t wherever necessary
296 in Step/QuickStep
298 11/04/11 Daniel K. O.
299 * Applied patch #3429454 - fix compilation on some platforms.
301 10/28/11 Daniel K. O.
302 * Fixed a box-capsule bug: more reasonable normal for deep penetrations
303 (contributed by Georg Martius.)
305 10/27/11 Daniel K. O.
306 * Disabled merging of contacts for trimesh-sphere by default.
307 * Added new demo: demo_tracks.
309 10/17/11 Daniel K. O.
310 * Added python bindings, contributed by Gideon Klompje.
311 * Updated some build scripts.
312 * Changed spheres distribution in demo_space_stress.
314 05/17/11 Oleh Derevenko
315 * A typo in step.cpp fixed (assignment operator in a conditional
316 instead of comparison) (reported by Bram Stolk)
318 01/29/11 Oleh Derevenko
319 * Heightfield zone boundaries calculation code fixed to also consider
320 whole next cell after the AABB if the AABB ends exactly at the cell
321 boundary.
323 01/23/11 Daniel K. O.
324 * Applied patch from Daniel Fiser, add libccd collider for
325 box-cylinder.
327 01/20/11 Daniel K. O.
328 * Applied patch from Daniel Fiser, fix infinite loop in libccd caused
329 by numerical problems.
331 01/06/11 Daniel K. O.
332 * Applied patch from Daniel Fiser, efficient libccd tests when using
333 CONTACTS_UNIMPORTANT.
335 12/17/10 Daniel K. O.
336 * Applied patches from Daniel Fiser for new colliders based on libccd.
338 11/08/10 Daniel K. O.
339 * Applied patches from Daniel Fiser to incorporate libccd for
340 Cylinder-Cylinder collision tests.
342 08/21/10 Oleh Derevenko
343 * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo
344 which caused segmentation fault (by Kyle McKay).
345 dTestSolveLCP() fixed to avoid exceeding allocated memory pool
346 (by Kyle McKay).
348 07/19/10 Oleh Derevenko
349 * Patch applied (#3030783) to fix drawstuff dimensions being ignored
350 in OSX GLUT port (by Danny Price).
352 Daniel K. O.
353 * Applied patch #2991622: dGeomGetRelPointPos, dGeomGetPosRelPoint,
354 dGeomVectorToWorld, and dGeomVectorFromWorld.
356 07/16/10 Daniel K. O.
357 * Fixed bug #2937076: don't try to build demos if drawstuff is disabled.
359 05/02/10 Oleh Derevenko
360 * Missing extern "C" wrapper has been added to include/ode/export-dif.h
361 (reported by Danny Price). The change affects dWorldExportDIF() public
362 function.
364 05/02/10 Oleh Derevenko
365 * Patch applied (#2995450) to generate up to four contacts for box-
366 plane collision test (by alexdu) and fix contact depths.
368 05/02/10 Oleh Derevenko
369 * dGeomLowLevelControl function added with ability to change/query OPCODE
370 trimesh-sphere contact merging behavior at runtime.
372 02/18/10 Daniel K. O.
373 * Fixed bug affecting disabled joints and dWorldStep.
375 01/16/10 Oleh Derevenko
376 * Patch applied (#2931174) to make demos work for recent MacOS.
377 * Patch applied (#2931177) to fix the demos' framerate on X11.
379 12/20/09 Oleh Derevenko
380 * QuadTreeSpace implementation corrected to avoid object-block relation
381 ambiguity due to numeric errors.
383 12/04/09 Oleh Derevenko
384 * odecpp classes changed to be inheritable and easily expandable
386 11/29/09 Oleh Derevenko
387 * Improvement for trimesh-plane collision (also used in trimesh-heightfield)
388 to exclude mesh vertices that have already generated contacts from further
389 examination and contact generation in other triangles (suggested by LR).
391 10/25/09 Oleh Derevenko
392 * Macros changed to static inline functions in odemath.h and related files.
393 Some code duplication has been eliminated across the files.
395 * Fixed handling of --disable-asserts and --enable-double-precision
396 (absence of --enable-double-precision) in configure script. The script
397 was not appending compiler defines correctly.
399 * dWorldStep implementation changed to remove allocation on stack.
400 dUSE_MALLOC_FOR_ALLOCA define has been removed as well as corresponding
401 configuration parameter. Also dMemoryFlag public variable has been removed.
402 (look for presence of ODE_EXT_malloc_not_alloca configuration string if
403 your application is dependent on that variable).
405 09/05/09 Oleh Derevenko
406 * dWorldStepFast1 API removed along with dWorld[Get/Set]AutoEnableDepthSF1
408 08/29/09 Oleh Derevenko
409 * Fixed uninitialized floating point array used in computations.
411 08/12/09 Oleh Derevenko
412 * A typo fixed in dGeomCopyOffsetRotation() (final_posr was used instead
413 of offset_posr). Reported by Tilmann.
415 08/11/09 Daniel K. O.
416 * Made sure neither dSINGLE or dDOUBLE is defined by default; the user
417 should always explicitly specify the precision.
419 06/27/09 Oleh Derevenko
420 * New functions have been added:
421 - dWorldUseSharedWorkingMemory
422 - dWorldCleanupWorkingMemory
423 - dWorldSetStepMemoryReservationPolicy
424 - dWorldSetStepMemoryManager
426 06/25/09 Remi Ricard (papaDoc)
427 * Add limit to the to the second axis of the universal joint
428 for the pu joint.
430 06/14/09 Oleh Derevenko
431 * dWorldQuickStep re-implemented to avoid memory allocation on stack.
432 Also several optimizations have been made to decrease memory
433 requirements and optimize algorithm implementation of dWorldQuickStep.
434 dWorldStep still remains with old memory allocation however new APIs
435 mentioned below are fully functional for it.
436 Both dWorldStep and dWorldQuickStep have been changed to return boolean
437 success status.
439 * dInitODE2() changed to automatically call
440 AllocateODEDataForThread(dAllocateFlagBasicData) after library
441 initialization as this is a required initialization minimum that
442 must always be performed anyway.
444 06/05/09 Daniel K. O.
445 * Removed aliasing issues from OPCODE/Ice, plus some other warnings.
446 Now it builds on gcc 4.3.2 with '-Wall -Werror -O3".
448 05/30/09 Oleh Derevenko
449 * A minor memory usage optimization for QuickStep.
451 05/24/09 Daniel K. O.
452 * Made the new trimesh collider the default.
453 * Added a "-texturepath" option to drawstuff.
455 05/18/09 Oleh Derevenko
456 * Heightfield rotation fixed to avoid NaNs while rotating infinite
457 MIN/MAX heights.
459 05/03/09 Oleh Derevenko
460 * Incorrect parameter order fixed on contact merging in Sphere-Trimesh
461 collisions. The bug resulted in merged contact remaining with normal
462 of first contact found. Thanks to Dimitris Papavasiliou for reporting.
464 04/23/09 Daniel K. O.
465 * Fixed bug #2685170: use the C99 __func__ instead of __FUNCTION__ when
466 a C99 implementation is available.
468 04/07/09 Remi Ricard (papaDoc)
469 * Remove unused code in demo_joints.cpp, reported by Tilmann.
471 04/07/09 Remi Ricard (papaDoc)
472 * Fix bug in collision categories in demo_jointPU, reported by Tilmann
474 03/14/09 Oleh Derevenko
475 * A possibility to initialize/close ODE multiple times recursively has
476 been added.
477 Also, now a call to dSpaceSetManualCleanup() is required for each
478 space right after creation if ODE has been initialized in thread data
479 manual cleanup mode.
481 03/07/09 Oleh Derevenko
482 * Thread local data has been cleaned up from OPCODE and OdeTls as it is
483 not used (OPC_SweepAndPrune.* and OPC_BoxPruning.* have been removed
484 - rebuilding project files is necessary).
486 02/07/09 Daniel K. O.
487 * New house of cards demo, which stresses the friction handling stability.
489 01/29/09 Remi Ricard (papaDoc)
490 * Fix bug: Fix problem when attaching no body to a joint. Before calling
491 setRelativeValues a check is made for bodies.
492 * Add unittest
494 01/28/09 Daniel K. O.
495 * Applied patch #2538046: Heightfield AABB bounds patch.
497 01/23/09 Remi Ricard (papaDoc)
498 * Add new function dJointSetUniversalAxis1Offset and dJointSetUniversalAxis2Offset
499 * Add unittest for those funcitons.
501 01/23/09 Remi Ricard (papaDoc)
502 * Fix problem with dJointGetUniversalAngle2 when the joint is attached to
503 only a body 2. The sign was inverted.
504 * Add unit test to verify for this problem
506 01/21/09 Remi Ricard (papaDoc)
507 * Fix bug reported by Tilman: dxJointPU::getInfo1 was setting twice the
508 limit of limot1 to zero and not limot2
510 01/17/09 Daniel K. O.
511 * Fixed a bug in dSpaceCollide2: if both geoms are not in spaces they would
512 not have valid AABBs.
514 12/20/08 Daniel K. O.
515 * New functions: dJointEnable, dJointDisable, dJointIsEnabled
516 (patch #2454764).
518 12/19/08 Daniel K. O.
519 * Removed inline asm statements that break builds on 64-bit VC++.
521 12/09/08 Daniel K. O.
522 * Applied patch #2381592, which adds support for Kinematic Bodies.
524 12/06/08 Oleh Derevenko
526 * Applied a patch by Martijn Buijs to make GIMPACT trimesh-ray collisions to
527 be consistent with those in OPCODE.
528 * Swapped geometries returned in contacts for OPCODE Trimesh-Plane collisions
529 as they were returned in unnatural order being different from that in GIMPACT
530 * Applied a patch by Martijn Buijs to make side1, side2 fields of contact
531 structure be always initialized, either with -1 for non-trmesh geometries
532 or with triangle index for trimeshes. These fields were only assigned for
533 trimesh-trimesh collisions before.
534 * dGeomTriMeshSetTriMergeCallback/dGeomTriMeshGetTriMergeCallback API added
535 to set/get user defined callback procedure for trimeshes that would be
536 invoked when contacts are merged to let user code accumulate attributes of
537 original contact triangles and generate a fake index by which it would
538 later be able to determine those attributes. If the callback is not
539 assigned (the default) -1 is generated as triangle index for merged
540 contacts (there was an index of first of merged triangles before!!!).
541 The callback is currently used within OPCODE trimesh-sphere and OPCODE
542 new trimesh-trimesh collisions.
544 11/20/08 Remi Ricard (papaDoc)
545 * Fix problem with dJointGetPUPosition and
546 dJointGetPUPositionRate when the joint is attached to only
547 a body 2. The sign was inverted.
548 * Fix bug: When a pu joint had only one body attached to position 2,
549 dJointAttach(jId, 0, bId). The body was not push in the right direction to
550 move back between the limits.
551 * Add unit test to check the above problem
552 * Add the function void dJointSetPUAnchorOffset
553 * Make the function void dJointSetPUAnchorDelta deprecated
555 11/19/08 Remi Ricard (papaDoc)
556 * Fix bug: When a pr joint had only one body attached to position 2,
557 dJointAttach(jId, 0, bId). The body was not push in the right direction to
558 move back between the limits.
559 * Add unit test to check the above problem
561 11/19/08 Remi Ricard (papaDoc)
562 * Fix problem with dJointGetPRPosition and
563 dJointGetPRPositionRate when the joint is attached to only
564 a body 2. The sign was inverted.
565 * Add unit test to check the above problem
566 * Increase the tolerance to remove failure in unit test
567 * Remove compilation warning in unit test with the use of REAL()
569 11/18/08 Remi Ricard (papaDoc)
570 * Fix bug: When a piston joint had only one body attached to position 2,
571 dJointAttach(jId, 0, bId). The body was not push in the right direction to
572 move back between the limits.
573 * Add more functionality to demo_piston.cpp
574 * Run astyle on modified files.
576 11/18/08 Remi Ricard (papaDoc)
577 * Fix bug: When a slider joint had only one body attached to position 2,
578 dJointAttach(jId, 0, bId). The body was not push in the right direction to
579 move back between the limits.
581 10/29/08 Oleh Derevenko
583 * Premake scripts changed to only include chosen collision library
584 sources in project on Windows. --all-collis-libs premake option
585 added to allow inclusion of all collision library sources into the
586 project
588 10/15/08 Remi Ricard (papaDoc)
589 * Applying patch #2158425 64-bit GIMPACT provided by Mark
590 William. This patch enable GIMPACT to works on 64-bit machine.
592 10/15/08 Remi Ricard (papaDoc)
593 * Add function dJointGetPRAngle and dJointGetPRAngleRate
595 10/15/08 Remi Ricard (papaDoc)
596 * Enable the motor on the rotoide part of the PR joint
598 10/15/08 Remi Ricard (papaDoc)
599 * Add unit test to check if using directly a joint
600 or using after setting with default values is the same.
601 * Add function setRelativeValues called in dJointAttach for
602 all joints.
604 10/10/08 Remi Ricard (papaDoc)
605 * Fix bug in dJointGetPUAxis2. The axis was not multiplied with the
606 the rotation matrix of the good body.
607 * Fix bug if there is only one body on the PU joint the axis returned
608 was not the right one.
609 * Add unit test to verify previous bug.
611 10/03/08 Rodrigo Hernandez (Kwizatz)
612 * Added Blender script to create ODE convex geoms under tools.
614 10/01/08 Rodrigo Hernandez (Kwizatz)
615 * Convex-Convex collision detection code is finally stable.
617 08/31/08 Daniel K. O.
618 * Applied patch 2080674: Improved dBodySetRotation; now exact rotation
619 matrices are preserved until the next simulation step.
621 08/07/08 Daniel K. O.
622 * Fixed strict aliasing issue that was breaking the new trimesh collider.
624 07/24/08 Daniel K. O.
625 * New functions: dBodyGetGyroscopicMode and dBodySetGyroscopicMode
626 (patch #2019242).
628 07/15/08 Remi Ricard (papaDoc)
629 * Add a new define ODE_API_DEPRECATED to mark function as deprecated
630 when necessary.
632 07/14/08 Remi Ricard (papaDoc)
633 * Finish adding patch 1336066: Joint feedback in quickstep by jsinecky
634 * demo_boxstack.cpp can now print joint feedback
636 07/11/08 Daniel K. O.
637 * Bumped version for 0.10.1
638 * Added proper usage of libtool's version info.
640 07/10/08 Remi Ricard (papaDoc)
641 * Add new function dJointSetPistonAnchorOffset
642 * Add unittest for the piston joint
643 * Fix problem with dJointGetPistonPosition and
644 dJointGetPistonPositionRate when the joint is attached to only
645 a body 2. The sign was inverted.
647 07/09/08 Remi Ricard (papaDoc)
648 * Optimize function Multiply1_12q1 in quickstep
649 Patch proposed by Riemer v.d. Zee and modified by Patrick Baggett
651 07/08/08 Remi Ricard (papaDoc)
652 * Update the slider joint to have the same behavior as the other joint
653 when there is only a body2 attached to it.
654 * Update documentation for the slider joint.
655 * Remove warning by using REAL()
656 * Add new unittest for dJointGetSliderPositionRate
658 07/08/08 Remi Ricard (papaDoc)
659 * Update unittest for the slider.
660 * Rename the new function dJointSetHingeAxisDelta to
661 dJointSetHingeAxisOffset. This remove will remove confusion with
662 the old function dJointSetHingeAnchorDelta
663 * Update documentation for the Hinge unittest
664 * Remove warning by using REAL()
666 07/07/08 Daniel K. O.
667 * Max Correcting Vel doesn't affect bounciness, as before.
669 07/03/08 Remi Ricard (papaDoc)
670 * Add new function dJointSetHingeAxisDelta
671 * Add unittest for this new function
673 06/17/08 Remi Ricard (papaDoc)
675 * Move the computation of the Relative Rotation for the slider joint
676 into a function.
677 * Add unittest for to check qrel
679 06/17/08 Remi Ricard (papaDoc)
681 * Remove unused variables.
682 * Remove a conversion warning between unsigned int and int
684 06/17/08 Remi Ricard (papaDoc)
686 * Move the function hingeComputeRelativeRotation as a member of
687 the hinge structure/class.
689 06/17/08 Remi Ricard (papaDoc)
691 * Move the computation of the Relative Rotation for the fixed joint
692 into a function.
694 06/16/08 Remi Ricard (papaDoc)
696 * Add testunit for the dxJointFixed
698 06/04/08 Daniel K. O.
700 * Moved joints to ode/src/joints, converted them to true virtual
701 methods.
703 06/02/08 Daniel K. O.
705 * Added an Auto<T> template to step.cpp to handle memory deallocation.
707 05/09/08 Daniel K. O.
709 * Applied patch #1335202: Contact Joint Motion (with some corrections),
710 and added demo_motion.
712 05/01/08 Oleh Derevenko
714 * Memory leak in GIMPACT fixed (reported by Derek)
716 04/28/08 Oleh Derevenko
718 * Added possibility to collide a space of lower sublevel as a geometry
719 against another space of a higher level with dSpaceCollide2.
720 dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/
721 retrieval.
723 04/27/08 Oleh Derevenko
725 * Fixed incorrect memory copying which could lead to memory corruption
726 in GIMPACT (luckily, in unused code)
727 * Fixed possible memory read beyond the end of allocated buffer along
728 with unnecessary extra memory copying in GIMPACT.
729 * Fixed buffer reserve being incorrectly reset to zero for bitsets
730 what resulted in unnecessary memory reallocations in GIMPACT.
731 * Implemented support for ability to run collision detection from
732 multiple threads for separate spaces.
734 04/14/08 Oleh Derevenko
736 * Fixed possible memory corruption in new trimesh-trimesh collider
737 in case if two degenerated triangles are checked against each other.
739 04/12/08 Oleh Derevenko
741 * Fixed sporadic assertion failure on vector normalization caused
742 by small triangles degenerating into segments during space
743 transformations.
745 03/28/08 Remi
747 * Fix a bug in dJointXXXGetInfo. The value in limot.limit was not
748 always updated. (Ex: If hi and lo limit were changed).
750 03/27/08 Remi
752 * Added a new Joint: Prismatic Universal (patch #1828454).
754 Daniel K. O.
756 * Fixed bug #1841309: collide2() method buggy.
758 03/18/08 Rodrigo
760 * New function: dVector4Copy.
762 03/14/08 david
764 * Added stub calls for trimesh functions.
765 * Applied patch #1914232: dGetConfiguration.
766 * Applied patch #1655333: Optimize the function dNormalize3.
767 * New function: dSetColliderOverride.
768 * New function: dCheckConfiguration.
770 Daniel K. O.
772 * Disabled building shared library by default with autotools.
774 03/13/08 david
776 * New function: dJointGetNumBodies (patch #1901550).
777 * New function: dSpaceGetClass (patch #1901637).
778 * Applied patch #1901649: Add missing function in the export
780 03/12/08 Rodrigo
782 * Fixed drawstuff build issues on OSX.
784 01/12/08 Daniel K. O.
786 * Fixed a typedef bug in configure.in.
787 * Added dCylinder to the C++ wrappers.
788 * Applied patch 1851394: support for GIMPACT with double precision,
789 dCollide fix.
790 * Moved bunny geometry to bunny_geom.h.
792 12/11/07 Daniel K. O.
794 * Added damping and MaxAngularVel() functions.
795 * Const-correctness: added const qualifier to some dWorldGet and dBodyGet
796 functions.
797 * Updated the odecpp.h header.
799 12/07/07 Daniel K. O.
801 * Removed most of the compiler warnings from Drawstuff, ODE and
802 OPCODE
803 * Upgraded automake requirement to 1.10, and change some Makefile.am
805 12/06/07 Rodrigo
807 * Modified autotools to use libtool for
808 library generation and administration
809 * Removed release and debug flags for configure.in
810 CPPFLAGS, CFLAGS, CXXFLAGS should be set by the
811 user to their liking, respecting autotools policies.
813 11/30/07 Daniel K. O.
814 * Applied patch 1813079 (moved callback)
815 * Replaced moveAndRotateBody by dxStepBody in stepfast.cpp
817 11/10/07 david
819 * Added 'Sweep and Prune' collision space.
820 * New Piston joint type with demo, by Remi Ricard
821 * Added build option to use 16-bit indices for OPCODE trimesh
823 11/03/06 david
825 * Integrated Christoph Beyer's average based sampling system for body
826 disabling.
828 10/26/06 Francisco Leon
830 * Totally refactored trimesh collision system.
831 Using GIMPACT instead of OPCODE. Now works correctly, and faster.
832 Visit http://gimpact.sourceforge.net.
834 * Finally, test_moving_trimesh.exe works nicely.
836 * Fixed autodisable system. Now is possible to set bigger sleeping
837 threshold values and objects won't be sleeping on the air. They will
838 rest on the floor properly.
840 * dInitODE function added.
842 * Is Obligatory to call dInitODE() at the beginning for initialize ODE,
843 and calling dCloseODE() when the program ends.
845 09/20/06 bram
847 * Fixed two bugs in cyl/plane collision test.
849 09/13/06 Remi
851 * New Rotoide - Prismatic joint type
852 * dJointGetUniversalAngles for efficient angle retrieval.
854 08/09/06 david
856 * Integrated plane2d joint type which constrains bodies to z == 0.
858 07/06/06 david
860 * Added heightfield primitive collision code. Simple test available in
861 ode/test/test_heightfield
863 04/03/06 rodrigo
865 * Added Convex primitive collision code,
866 currently only convex-sphere and convex-plane work
868 04/01/06 bram
870 * Added program to test trimesh vs sphere: ode/test/test_basket
872 03/20/06 jason379
874 * Added new autogenerated Visual Studio projects, with Premake scripts
876 03/17/06 bram
878 * Added plane/cyl intersection test
879 * Renamed CCylinder to Capsule
881 02/04/06 gcarlton
883 * Added support for geom offsets.
885 10/26/05 rodrigo
887 * Removed LIBTOOL from autotools since it was not really required.
888 * Added a target to build ODE as a shared library, this shared
889 library gets build alongside the static one, no flags required.
891 10/24/05 tfautre
893 (Backported patches from STABLE branch, applied by Adam)
895 * dRandInt changed for a non-double all-int version.
896 * mics minor fixes and improvements.
898 04/05/05 tfautre
900 * Fixed segmentation fault with OPCODE on 64 bits systems.
902 03/31/05 tfautre
904 * Fixed timer.cpp compiler error on x86-64 using GCC.
906 03/29/05 colin
908 * Added trimesh preprocessing to mark unneeded edges and verts. Also
909 added support for preprocessed info to the ccylinder-trimesh
910 collider.
912 12/07/04 adam
914 * Important AMotors bugfix
916 09/22/04 jeff
918 * Assorted small bugfixes and tweaks for
919 trimesh_{box,ccylinder,trimesh} collisions
921 09/21/04 jeff
923 * added functions to joint.cpp to allow joint attachment to moving
924 geoms.
926 * added malloc-based memory allocation in step.cpp & lcp.cpp (turned
927 on with a #define switch in common.h)
929 05/29/04 russ
931 * added joint feedback to the QuickStep solver
933 05/18/04 russ
935 * added warm starting to the QuickStep solver
937 05/18/04 russ
939 * added the QuickStep solver
941 * added contact parameter functions.
943 05/05/04 adam
945 * use dRandInt instead of rand() in stepfast.
947 04/21/04 russ
949 * added auto-disable support from Aras Pranckevicius (with
950 modifications by russ). this useful feature can speed up
951 simulation significantly in some cases.
953 * various internal tidyups.
955 04/20/04 russ
957 * changed the meaning of the 'index' argument to dJointGetBody():
958 it was the only remaining API function that does not respect
959 dJOINT_REVERSE (spotted by Matthew D. Hancher).
961 * updated the C++ headers: fixed two minor bugs and added
962 support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
963 (from Matthew D. Hancher).
965 04/18/04 russ
967 * changed the way that the dInfinity constant is implemented: now it
968 is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
969 a large numeric constant. previously it was a variable that was
970 exported from the library. this simplifies the configuration and
971 build process quite a bit, especially in the case of DLLs.
973 * removed the old, deprecated collision system (geom.cpp,space.cpp,
974 geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
975 configuration setting no longer has any meaning.
977 * removed support for dGeomGroups, which have been deprecated for
978 a while and are equivalent to 'spaces' anyway.
980 04/13/04 russ
982 * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.
984 04/08/04 russ
986 * added trimesh-CCylinder capability, from Vadim Macagon
987 <vadim_mcagon@hotmail.com>.
989 04/04/04 adam
991 * yet another rewrite of triangle-box collision code, this
992 time based on code donated by Croteam, ported by asko@jetti.org
993 and tweaked by Erwin.
995 04/04/04 adam
997 * merged trimesh-trimesh collision code by
998 Jeffrey Smith <jeffreys@Softimage.com>.
1000 * changed it to not break the trimesh interface, fix
1001 some GCC compilation problems, bring it up to date with
1002 ODE changes from 2003-11-15 -> 2004-04-04.
1004 * add ability to drop meshes on meshes in test_moving_trimesh,
1005 not as good as it could be but it's illustrative.
1007 01/16/04 adam
1009 * implement a bunch of ultra-simple TriMesh functions that were
1010 in the headers but not in the code -- patch by
1011 Vadim Macagon <vadim_mcagon@hotmail.com>
1013 * disable temporal coherence on trimeshes by default, since
1014 it has scaleability issues that don't make it a general clear win.
1016 12/01/03 adam
1018 * implement dxHashSpace::collide2(), not particularly efficiently.
1020 11/14/03 adam
1022 * applied several Trimesh fixes and improvements from
1023 Aras Pranckevicius <nearaz@interamotion.com>
1025 10/22/03 adam
1027 * apply Nguyen Binh's work for removing many dSetZero() calls
1028 and some other extraneous initializations.
1030 07/29/03 martin
1032 * added dJointAdd*Torque/Force().
1034 07/10/03 russ
1036 * added the StepFast code, by David Whittaker.
1038 07/02/03 martin
1040 * added dMassSet*Total().
1042 07/01/03 martin
1044 * added joint limits and motors to universal joints.
1046 * reversed the polarity of the dJOINT_REVERSE flag.
1048 06/30/03 russ
1050 * added the TriMesh geom class and the quad tree space to the ODE
1051 core. both of these were developed by Erwin de Vries. added OPCODE
1052 to the ODE distribution, this is required by TriMesh.
1054 06/23/03 martin
1056 * added dGeomSetQuaternion() and dGeomGetQuaternion()
1058 * added dJointGet*Anchor2()
1060 05/07/03 russ
1062 * added dGeomGetSpace().
1064 02/05/03 russ
1066 * added dMassSetCylinder().
1068 12/07/02 russ
1070 * added dAreConnectedExcluding().
1072 11/30/02 russ
1074 * added the ray geom class.
1076 * added the dGeomXXXPointDepth() functions.
1078 * added a collision test infrastructure, and some more tests.
1080 11/24/02 russ
1082 * added support for multiple box-box contacts.
1084 11/10/02 russ
1086 * added new collision system. select between the old/new system by
1087 setting the ODE_OLD_COLLISION variable in config/user-settings.
1089 10/28/02 russ
1091 * fixed two problems in the LCP code to improve the reliability of
1092 the dContactApprox1 contact mode.
1094 * added a FAQ question about rolling bodies getting stuck when they
1095 hit multiple geoms.
1097 09/08/02 russ
1099 * added dClosestLineSegmentPoints().
1100 * implemented dCollideCB().
1102 08/28/02 russ
1104 * added dJointSetFeedback() and dJointGetFeedback().
1106 08/05/02 russ
1108 * added dGeomTransformSetInfo() and dGeomTransformGetInfo().
1110 07/13/02 russ
1112 * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
1113 dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
1114 dBodyVectorFromWorld().
1116 * added dBodyGetPointVel() (thanks to Colin Reed).
1118 * added a new C++ interface (from Martin C. Martin, with modifications
1119 by russ). the old C++ interface is now in odecpp_old.h.
1121 06/25/02 russ
1123 * added an additional BSD-style licensing option for ODE.
1125 06/23/02 russ
1127 * added dCloseODE(), contributed by Nate Waddoups and David McClurg.
1129 05/16/02 russ
1131 * added dSpaceQuery(), contributed by Nate Waddoups.
1133 04/07/02 russ
1135 * added a section to the documentation for universal joints.
1136 this includes a picture of the joint.
1138 04/05/02 russ
1140 * added a universal joint class (generously contributed by
1141 Martin C. Martin). it doesn't (yet) have a motor or joint limits,
1142 but it does come with tests.
1144 03/11/02 russ
1146 * makefile changes to accomodate OSs with command line length
1147 limitations (thanks to Norman Lin).
1149 01/06/02 russ
1151 * added the dBodySetGravityMode() and dBodyGetGravityMode()
1152 functions, which change the dxBodyNoGravity body flag.
1154 * added support for building a DLL with MSVC - there is now a
1155 msvc-dll target. thanks to Norman Lin for doing this.
1157 12/28/01 russ
1159 * added the dParamCFM joint parameter.
1161 12/24/01 russ
1163 * reworked the build system to make it more cross-platform.
1164 there is now a single top-level makefile and a configurator.c
1165 program. see the INSTALL file for details.
1167 12/04/01 russ
1169 * the "angular motor" joint has been completed, and a new section
1170 has been added to the documentation.
1172 11/26/01 russ
1174 * added a new joint type: "angular motor". using this joint is a good
1175 way to get ball-joint motors and limits. this is work in progress -
1176 it has not been fully implemented or tested yet.
1178 11/22/01 russ
1180 * replaced the mmap()-based joint group stack (stack.cpp) with a
1181 malloc()-based arena stack (obstack.cpp). this will be more
1182 portable and should not impact performance.
1184 11/12/01 russ
1186 * changed the meaning of the 'flags' parameter to dCollide() and
1187 related functions: now the size of the contact buffer is kept in
1188 the lower 16 bits. this change will be backward compatible.
1190 * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis().
1192 * added dBodyAddForceAtRelPos() function.
1194 11/11/01 russ
1196 * added the ability to manually enable and disable bodies.
1197 see dBodyEnable(), dBodyDisable(), dBodyIsEnabled().
1199 * fixed a potential bug: when a world is destroyed that contains
1200 joints in joint groups, those joints are marked as "deactivated" in
1201 the joint group, so when the joint group is destroyed they can be
1202 ignored.
1204 * the test_boxstack demo has new options to enable and disable bodies.
1206 * new configuration parameter in config.h: dEFFICIENT_SIZE.
1208 11/11/01 russ
1210 * started the change log for ODE. changes older than today were added
1211 to this file by inspecting the CVS logs.
1213 11/05/01 russ
1215 * added REAL() constructions for floating point numbers, to prevent
1216 many warnings when compiling under VC++.
1218 11/03/01 russ
1220 * added geometry transform class, documented composite objects.
1222 * added collision rule: no contacts if both geoms on the same body.
1223 this is not the best rule, may have to remove this in the future.
1225 * new dMassAdd() function.
1227 * capped cylinder to capped cylinder collision function.
1229 10/31/01 russ
1231 * increase CFM in some demos to make them more robust.
1233 10/29/01 russ
1235 * added new accessor functions.
1237 10/19/01 russ
1239 * added the dJOINT_TWOBODIES flag to the joint, that says it can not
1240 be attached to just one body.
1242 10/12/01 russ
1244 * fixed a collision bug in dCollide() that was causing memory
1245 corruption when multiple contacts were being returned.
1247 10/11/01 russ
1249 * joints can now return m=0 to be "inactive". added a "null" joint
1250 to test this.
1252 10/09/01 russ
1254 * in the LCP solver, try to fail gracefully when s <= 0.
1256 * dAABBTestFn() API change.
1258 10/08/01 russ
1260 * fixed a contact swapping bug in dCollide().
1262 10/07/01 russ
1264 * added capped cylinder geometry object.
1266 09/30/01 russ
1268 * the test_buggy demo now uses geometry groups.
1270 * added a dAABBTestFn field in the geometry classes.
1272 09/29/01 russ
1274 * added geometry groups.
1276 09/20/01 russ
1278 * added finite rotation stuff.