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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). ------------------------------------------------------------------------------ 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. |