Commit df934f1
committed
ode: update to 0.16.5.
Update provided by Anthony Mallet on pkgsrc-users.
* dJointAddPUTorques() was added to replace orphaned declaration of
dJointAddPUTorque()
* Fixed wrong face index being returned in convex-trimesh libCCD
collision check routine.
* Fixed use of potentially outdated AABBs in GIIMPACT cylinder-trimesh
collision check routine.
* dGeomBoxPointDepth implementation was fixed for locations outside of
the box.
* A fault on method call from within Joint class destructor in Python
bindings fixed (by Tyler Limkemann)
* A threaded job data race fixed on job release (issue #70).
* GIMPACT math macros were changed to use standard floating point math
rather than custom "optimized" implementations.
* libCCD configuration description strings have been added for
use with dGetConfiguration() and dCheckConfiguration().
* dWorldAttachQuickStepDynamicIterationStatisticsSink public function
was added to allow dynamic step count adjustment monitoring for
world instances.
* Dynamic step count adjustment was implemented for dWorldQuickStep
with dWorldSetQuickStepDynamicIterationParameters and
dWorldGetQuickStepDynamicIterationParameters new API functions
to control the feature.
* x86 targets have been changed to generate SSE2 code for calculations
by default with possibility to explicitly configure back for FPU.
* An incorrect optimization to Jacobian Copy building code from #1938
that resulted in corrupt data in multi-threaded execution mode was
fixed.
* CMake support for project file generation has been added.
* dxHashSpace::collide() has been changed to fault host program
if scene gets too large and causes integer overflow.
* Introduction of cooperative algorithms API.
L*D*LT cooperative factorization and linear equation system
cooperative solving have been implemented.
* Project generation options have been changed to have built-in
multithreaded threading implementation enabled by default.
* dWorldStep threaded implementation has been extended to the final
steps of constraint force applications and body position updates
after the LCP solving. Note that body callbacks (if set) may be
called from multiple threads if threaded execution is enabled.
* OU atomicord32 type has been fixed to be unsigned on all supported
platforms.
* dGeomTriMeshDataPreprocess2() public function has been added to
replace dGeomTriMeshDataPreprocess(). Face angles pre-computation
for triangle meshes has been implemented.
* dGeomTriMeshDataGetBuff and dGeomTriMeshDataSetBuff have been marked
deprecated and their functionality implemented via
dGeomTriMeshDataGet and dGeomTriMeshDataSet. Extra function variant
dGeomTriMeshDataGet2() has been added to allow returning data size.
* The implementation of OPCODE TriMesh data pre-processing
(dGeomTriMeshDataPreprocess()) has been optimized to only contain
a sort and a single pass over edges (used to be a sort and O(N^2)).
* dGeomTriMeshDataPreprocess() public function has been changed to
return a boolean status (it can fail in low memory conditions).
* The correct handling of dJOINT_REVERSE mode for AngularMotor Joint
implemented (issue #37).
* A bug fixed with HashSpace calling big boxes collision twice
(both straight and reverse geometries order) since revision #1831.
* dJointSetHinge2Axes public function has been added and
dJointSetHinge2Axis1/2 have been marked deprecated due to being
unsafe.
* ICE Container class allocation strategy fixed to avoid reserving
excess memory with large collections.
* dSafeNormalize3 and dSafeNormalize4 functions changed to leave the
parameter intact instead of replacing it with the X-axis unit in case
of fault.
* A function to create a self-threaded threading implementation object
has been moved back to public headers as there could be a use for it
while running several worlds in parallel threads.
* Hinge2 joint corected to avoid faulting asserts when the axes get
temporarily invalid during assignments (suggested by David Mansolino)
* An invalid memory access fixed in dxSAPSpace::BoxPruning() in case
if there were NaN values in AABBs to be sorted.
* Unexpected joint mode assignment (instead of comparison) fixed within
an dUASSERT in dJointSetTransmissionAxis2() of transmission joint
* Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki)
* dCreateConvex() and dGeomSetConvex() public APIs changed to expect
their parameter arrays as const pointers
* OPCODE mesh colliders' input coordinates have been offset to
mesh-relative frames to decrease potential computational errors
(suggested by luckytrashsc2@g***l.com)
* Implemented change to return highest depth contacts subset for GIMPACT
in cases if contacts count exceeds requested maximum (as suggested in
the issue #36 by Piotr Piastucki)
* Added support for using libccd from the system (if found via
pkg-config)
* Floating point division by zero in capsule-ray collision routine
in case if the ray axis was parallel the cylinder and the ray started
from within it fixed (issue #26)
* Threading support has been extended to complete implementation
of QuickStep
* Added dJointSetDBallDistance
* Built-in threading implementation compilation fixed for OSX
(clock_gettime() is missing from the system - reported by Bram)
* Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and
dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed
from public headers (were orphaned since rev.1052)
* Added dODE_VERSION macro to public headers (issue #24).1 parent 9ed0117 commit df934f1
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