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1ODE CHANGELOG
2-------------
3
4the 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).
9
10------------------------------------------------------------------------------
11
1211/03/06 david
13
14 * Integrated Christoph Beyer's average based sampling system for body
15 disabling.
16
1710/26/06 Francisco Leon
18
19 * Totally refactored trimesh collision system.
20 Using GIMPACT instead of OPCODE. Now works correctly, and faster.
21 Visit http://gimpact.sourceforge.net.
22
23 * Finally, test_moving_trimesh.exe works nicely.
24
25 * Fixed autodisable system. Now is possible to set bigger sleeping
26 threshold values and objects won't be sleeping on the air. They will
27 rest on the floor properly.
28
29 * dInitODE function added.
30
31 * Is Obligatory to call dInitODE() at the beginning for initialize ODE,
32 and calling dCloseODE() when the program ends.
33
3409/20/06 bram
35
36 * Fixed two bugs in cyl/plane collision test.
37
3809/13/06 remi
39
40 * New Rotoide - Prismatic joint type
41 * dJointGetUniversalAngles for efficient angle retrieval.
42
4308/09/06 david
44
45 * Integrated plane2d joint type which constrains bodies to z == 0.
46
4707/06/06 david
48
49 * Added heightfield primitive collision code. Simple test available in
50 ode/test/test_heightfield
51
5204/03/06 rodrigo
53
54 * Added Convex primitive collision code,
55 currently only convex-sphere and convex-plane work
56
5704/01/06 bram
58
59 * Added program to test trimesh vs sphere: ode/test/test_basket
60
6103/20/06 jason379
62
63 * Added new autogenerated Visual Studio projects, with Premake scripts
64
6503/17/06 bram
66
67 * Added plane/cyl intersection test
68 * Renamed CCylinder to Capsule
69
7002/04/06 gcarlton
71
72 * Added support for geom offsets.
73
7410/26/05 rodrigo
75
76 * Removed LIBTOOL from autotools since it was not really required.
77 * Added a target to build ODE as a shared library, this shared
78 library gets build alongside the static one, no flags required.
79
8010/24/05 tfautre
81
82 (Backported patches from STABLE branch, applied by Adam)
83
84 * dRandInt changed for a non-double all-int version.
85 * mics minor fixes and improvements.
86
8704/05/05 tfautre
88
89 * Fixed segmentation fault with OPCODE on 64 bits systems.
90
9103/31/05 tfautre
92
93 * Fixed timer.cpp compiler error on x86-64 using GCC.
94
9503/29/05 colin
96
97 * Added trimesh preprocessing to mark unneeded edges and verts. Also
98 added support for preprocessed info to the ccylinder-trimesh
99 collider.
100
10112/07/04 adam
102
103 * Important AMotors bugfix
104
10509/22/04 jeff
106
107 * Assorted small bugfixes and tweaks for
108 trimesh_{box,ccylinder,trimesh} collisions
109
11009/21/04 jeff
111
112 * added functions to joint.cpp to allow joint attachment to moving
113 geoms.
114
115 * added malloc-based memory allocation in step.cpp & lcp.cpp (turned
116 on with a #define switch in common.h)
117
11805/29/04 russ
119
120 * added joint feedback to the QuickStep solver
121
12205/18/04 russ
123
124 * added warm starting to the QuickStep solver
125
12605/18/04 russ
127
128 * added the QuickStep solver
129
130 * added contact parameter functions.
131
13205/05/04 adam
133
134 * use dRandInt instead of rand() in stepfast.
135
13604/21/04 russ
137
138 * added auto-disable support from Aras Pranckevicius (with
139 modifications by russ). this useful feature can speed up
140 simulation significantly in some cases.
141
142 * various internal tidyups.
143
14404/20/04 russ
145
146 * changed the meaning of the 'index' argument to dJointGetBody():
147 it was the only remaining API function that does not respect
148 dJOINT_REVERSE (spotted by Matthew D. Hancher).
149
150 * updated the C++ headers: fixed two minor bugs and added
151 support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
152 (from Matthew D. Hancher).
153
15404/18/04 russ
155
156 * changed the way that the dInfinity constant is implemented: now it
157 is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
158 a large numeric constant. previously it was a variable that was
159 exported from the library. this simplifies the configuration and
160 build process quite a bit, especially in the case of DLLs.
161
162 * removed the old, deprecated collision system (geom.cpp,space.cpp,
163 geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
164 configuration setting no longer has any meaning.
165
166 * removed support for dGeomGroups, which have been deprecated for
167 a while and are equivalent to 'spaces' anyway.
168
16904/13/04 russ
170
171 * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.
172
17304/08/04 russ
174
175 * added trimesh-CCylinder capability, from Vadim Macagon
176 <vadim_mcagon@hotmail.com>.
177
17804/04/04 adam
179
180 * yet another rewrite of triangle-box collision code, this
181 time based on code donated by Croteam, ported by asko@jetti.org
182 and tweaked by Erwin.
183
18404/04/04 adam
185
186 * merged trimesh-trimesh collision code by
187 Jeffrey Smith <jeffreys@Softimage.com>.
188
189 * changed it to not break the trimesh interface, fix
190 some GCC compilation problems, bring it up to date with
191 ODE changes from 2003-11-15 -> 2004-04-04.
192
193 * add ability to drop meshes on meshes in test_moving_trimesh,
194 not as good as it could be but it's illustrative.
195
19601/16/04 adam
197
198 * implement a bunch of ultra-simple TriMesh functions that were
199 in the headers but not in the code -- patch by
200 Vadim Macagon <vadim_mcagon@hotmail.com>
201
202 * disable temporal coherence on trimeshes by default, since
203 it has scaleability issues that don't make it a general clear win.
204
20512/01/03 adam
206
207 * implement dxHashSpace::collide2(), not particularly efficiently.
208
20911/14/03 adam
210
211 * applied several Trimesh fixes and improvements from
212 Aras Pranckevicius <nearaz@interamotion.com>
213
21410/22/03 adam
215
216 * apply Nguyen Binh's work for removing many dSetZero() calls
217 and some other extraneous initializations.
218
21907/29/03 martin
220
221 * added dJointAdd*Torque/Force().
222
22307/10/03 russ
224
225 * added the StepFast code, by David Whittaker.
226
22707/02/03 martin
228
229 * added dMassSet*Total().
230
23107/01/03 martin
232
233 * added joint limits and motors to universal joints.
234
235 * reversed the polarity of the dJOINT_REVERSE flag.
236
23706/30/03 russ
238
239 * added the TriMesh geom class and the quad tree space to the ODE
240 core. both of these were developed by Erwin de Vries. added OPCODE
241 to the ODE distribution, this is required by TriMesh.
242
24306/23/03 martin
244
245 * added dGeomSetQuaternion() and dGeomGetQuaternion()
246
247 * added dJointGet*Anchor2()
248
24905/07/03 russ
250
251 * added dGeomGetSpace().
252
25302/05/03 russ
254
255 * added dMassSetCylinder().
256
25712/07/02 russ
258
259 * added dAreConnectedExcluding().
260
26111/30/02 russ
262
263 * added the ray geom class.
264
265 * added the dGeomXXXPointDepth() functions.
266
267 * added a collision test infrastructure, and some more tests.
268
26911/24/02 russ
270
271 * added support for multiple box-box contacts.
272
27311/10/02 russ
274
275 * added new collision system. select between the old/new system by
276 setting the ODE_OLD_COLLISION variable in config/user-settings.
277
27810/28/02 russ
279
280 * fixed two problems in the LCP code to improve the reliability of
281 the dContactApprox1 contact mode.
282
283 * added a FAQ question about rolling bodies getting stuck when they
284 hit multiple geoms.
285
28609/08/02 russ
287
288 * added dClosestLineSegmentPoints().
289 * implemented dCollideCB().
290
29108/28/02 russ
292
293 * added dJointSetFeedback() and dJointGetFeedback().
294
29508/05/02 russ
296
297 * added dGeomTransformSetInfo() and dGeomTransformGetInfo().
298
29907/13/02 russ
300
301 * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
302 dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
303 dBodyVectorFromWorld().
304
305 * added dBodyGetPointVel() (thanks to Colin Reed).
306
307 * added a new C++ interface (from Martin C. Martin, with modifications
308 by russ). the old C++ interface is now in odecpp_old.h.
309
31006/25/02 russ
311
312 * added an additional BSD-style licensing option for ODE.
313
31406/23/02 russ
315
316 * added dCloseODE(), contributed by Nate Waddoups and David McClurg.
317
31805/16/02 russ
319
320 * added dSpaceQuery(), contributed by Nate Waddoups.
321
32204/07/02 russ
323
324 * added a section to the documentation for universal joints.
325 this includes a picture of the joint.
326
32704/05/02 russ
328
329 * added a universal joint class (generously contributed by
330 Martin C. Martin). it doesn't (yet) have a motor or joint limits,
331 but it does come with tests.
332
33303/11/02 russ
334
335 * makefile changes to accomodate OSs with command line length
336 limitations (thanks to Norman Lin).
337
33801/06/02 russ
339
340 * added the dBodySetGravityMode() and dBodyGetGravityMode()
341 functions, which change the dxBodyNoGravity body flag.
342
343 * added support for building a DLL with MSVC - there is now a
344 msvc-dll target. thanks to Norman Lin for doing this.
345
34612/28/01 russ
347
348 * added the dParamCFM joint parameter.
349
35012/24/01 russ
351
352 * reworked the build system to make it more cross-platform.
353 there is now a single top-level makefile and a configurator.c
354 program. see the INSTALL file for details.
355
35612/04/01 russ
357
358 * the "angular motor" joint has been completed, and a new section
359 has been added to the documentation.
360
36111/26/01 russ
362
363 * added a new joint type: "angular motor". using this joint is a good
364 way to get ball-joint motors and limits. this is work in progress -
365 it has not been fully implemented or tested yet.
366
36711/22/01 russ
368
369 * replaced the mmap()-based joint group stack (stack.cpp) with a
370 malloc()-based arena stack (obstack.cpp). this will be more
371 portable and should not impact performance.
372
37311/12/01 russ
374
375 * changed the meaning of the 'flags' parameter to dCollide() and
376 related functions: now the size of the contact buffer is kept in
377 the lower 16 bits. this change will be backward compatible.
378
379 * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis().
380
381 * added dBodyAddForceAtRelPos() function.
382
38311/11/01 russ
384
385 * added the ability to manually enable and disable bodies.
386 see dBodyEnable(), dBodyDisable(), dBodyIsEnabled().
387
388 * fixed a potential bug: when a world is destroyed that contains
389 joints in joint groups, those joints are marked as "deactivated" in
390 the joint group, so when the joint group is destroyed they can be
391 ignored.
392
393 * the test_boxstack demo has new options to enable and disable bodies.
394
395 * new configuration parameter in config.h: dEFFICIENT_SIZE.
396
39711/11/01 russ
398
399 * started the change log for ODE. changes older than today were added
400 to this file by inspecting the CVS logs.
401
40211/05/01 russ
403
404 * added REAL() constructions for floating point numbers, to prevent
405 many warnings when compiling under VC++.
406
40711/03/01 russ
408
409 * added geometry transform class, documented composite objects.
410
411 * added collision rule: no contacts if both geoms on the same body.
412 this is not the best rule, may have to remove this in the future.
413
414 * new dMassAdd() function.
415
416 * capped cylinder to capped cylinder collision function.
417
41810/31/01 russ
419
420 * increase CFM in some demos to make them more robust.
421
42210/29/01 russ
423
424 * added new accessor functions.
425
42610/19/01 russ
427
428 * added the dJOINT_TWOBODIES flag to the joint, that says it can not
429 be attached to just one body.
430
43110/12/01 russ
432
433 * fixed a collision bug in dCollide() that was causing memory
434 corruption when multiple contacts were being returned.
435
43610/11/01 russ
437
438 * joints can now return m=0 to be "inactive". added a "null" joint
439 to test this.
440
44110/09/01 russ
442
443 * in the LCP solver, try to fail gracefully when s <= 0.
444
445 * dAABBTestFn() API change.
446
44710/08/01 russ
448
449 * fixed a contact swapping bug in dCollide().
450
45110/07/01 russ
452
453 * added capped cylinder geometry object.
454
45509/30/01 russ
456
457 * the test_buggy demo now uses geometry groups.
458
459 * added a dAABBTestFn field in the geometry classes.
460
46109/29/01 russ
462
463 * added geometry groups.
464
46509/20/01 russ
466
467 * added finite rotation stuff.