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ODE CHANGELOG
------------- the rules for this file: * entries are sorted newest-first. * summarize sets of changes - dont reproduce every CVS log comment here. * don't ever delete anything. * keep the format consistent (79 char width, M/D/Y date format). ------------------------------------------------------------------------------ 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. |