From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:48 +0000 Subject: one more for the gipper --- libraries/ode-0.9/OPCODE/ReadMe.txt | 171 ++++++++++++++++++++++++++++++++++++ 1 file changed, 171 insertions(+) create mode 100644 libraries/ode-0.9/OPCODE/ReadMe.txt (limited to 'libraries/ode-0.9/OPCODE/ReadMe.txt') diff --git a/libraries/ode-0.9/OPCODE/ReadMe.txt b/libraries/ode-0.9/OPCODE/ReadMe.txt new file mode 100644 index 0000000..8a39eff --- /dev/null +++ b/libraries/ode-0.9/OPCODE/ReadMe.txt @@ -0,0 +1,171 @@ + + OPCODE distribution 1.3 (june 2003) + ----------------------- + + New in Opcode 1.3: + - fixed the divide by 0 bug that was happening when all centers where located on a coordinate axis (thanks to Jorrit T) + - linearized "complete" vanilla AABB trees + - ANSI-compliant "for" loops (for the ones porting it to Linux...) + - callbacks & pointers moved to mesh interface + - support for triangle & vertex strides + - optimized the sphere-triangle overlap code a bit + - dynamic trees (refit) + - more builders + - ValidateSubdivision in builders + - LSS collider + - primitive-bv tests can now be skipped in most volume queries + - temporal coherence now also works for airborne objects + - temporal coherence completed for boxes / all contacts, LSS, etc + - ray-collider now uses a callback + - some common "usages" have been introduced (only picking for now) + - SPLIT_COMPLETE removed (now implicitely using mLimit = 1) + - hybrid collision models + - sweep-and-prune code added, moved from my old Z-Collide lib + - it now works with meshes made of only 1 triangle (except in mesh-mesh case!) + + Disclaimer: + + - I forced myself to actually *do* the release today no matter what. Else it would never have been done. That's + why the code may not be very polished. I also removed a *lot* of things (more usages, distance queries, etc...) + that weren't ready for prime-time (or that were linked to too many of my supporting libs) + + - Some comments may also be obsolete here and there. The old User Manual for Opcode 1.2 may not fit version 1.3 + either, since there's a new "mesh interface" to support strides, etc. + + - Everything in the "Ice" directory has been hacked out of my engine and edited until everything compiled. Don't + expect anything out there to be cute or something. In particular, some CPP files are not even included when not + needed, so you can expect some linker errors if you try messing around with them... + + Otherwise, it should be just like previous version, only better. In particular, hybrid models can be very + memory-friendly (sometimes using like 10 times less ram than the best trees from version 1.2). The possible + speed hit is often invisible (if it even exists), especially using temporal coherence in "all contacts" mode. + (Admittedly, this depends on your particular usage pattern / what you do on collided triangles). + + The sweep-and-prune code is similar to the "vanilla" version found in V-Collide (but that one's better IMHO...) + The simple "radix" version is often just as good, see for yourself. + + OPCODE distribution 1.2 (august 2002) + ----------------------- + + New in Opcode 1.2: + - new VolumeCollider base class + - simplified callback setup + - you can now use callbacks or pointers (setup at compile time) + - destination array not needed anymore in the RayCollider (faster in-out tests) + - renamed classes: AABBRayCollider => RayCollider, AABBSphereCollider => SphereCollider + - the sphere query now only returns a list of faces (extra info discarded). On the other hand it's a lot faster. + - OBB, AABB and planes queries. Original OBB and AABB queries contributed by Erwin de Vries. + - cosmetic changes in OPC_BoxBoxOverlap.h contributed by Gottfried Chen + - some inlining problems fixed + - faster ray-mesh tests using the separating axis theorem + - new split value in AABB tree construction (contributed by Igor Kravtchenko). Provides faster queries most of the time. + - improved temporal coherence for sphere & AABB queries (works in "All contacts" mode) + + Notes: + + - Everything in the "Ice code" directory (in VC++) is basically copy-pasted from my engine, with a lot + of code removed until there was no link error anymore. Don't expect those files to be cute or anything, + they've never been meant to be released and they're often updated/modified/messy. + - Some experimental features have been removed as well. Else I would never have released the 1.2... + - Not as polished/optimal as I would like it to be, but that's life. I promised myself to release it + before october 2002 (one YEAR later ?!).... That's the only reason why it's there. + - Some people reported ColDet was faster. Uh, come on. They were using Opcode in + "All contacts" mode whereas ColDet was doing "first contact"... + + OPCODE distribution 1.1 (october 2001) + ----------------------- + + New in Opcode 1.1: + - stabbing queries + - sphere queries + - abtract base class for colliders + - settings validation methods + - compilation flags now grouped in OPC_Settings.h + - smaller files, new VC++ virtual dirs (cleaner) + + Notes: + + - "override(baseclass)" is a personal cosmetic thing. It's the same as "virtual", but provides more info. + - I code in 1600*1200, so some lines may look a bit long.. + - This version is not as polished as the previous one due to lack of time. The stabbing & sphere queries + can still be optimized: for example by trying other atomic overlap tests. I'm using my first ray-AABB + code, but the newer one seems better. Tim Schröder's one is good as well. See: www.codercorner.com/RayAABB.cpp + - The trees can easily be compressed even more, I save this for later (lack of time, lack of time!) + - I removed various tests before releasing this one: + - a separation line, a.k.a. "front" in QuickCD, because gains were unclear + - distance queries in a PQP style, because it was way too slow + - support for deformable models, too slow as well + - You can easily use Opcode to do your player-vs-world collision detection, in a Nettle/Telemachos way. + If someone out there wants to donate some art / level for the cause, I'd be glad to release a demo. (current + demo uses copyrighted art I'm not allowed to spread) + - Sorry for the lack of real docs and/or solid examples. I just don't have enough time. + + OPCODE distribution 1.0 (march 2001) + ----------------------- + + - First release + + =============================================================================== + + WHAT ? + + OPCODE means OPtimized COllision DEtection. + So this is a collision detection package similar to RAPID. Here's a + quick list of features: + + - C++ interface, developed for Windows systems using VC++ 6.0 + - Works on arbitrary meshes (convex or non-convex), even polygon soups + - Current implementation uses AABB-trees + - Introduces Primitive-BV overlap tests during recursive collision queries (whereas + standard libraries only rely on Primitive-Primitive and BV-BV tests) + - Introduces no-leaf trees, i.e. collision trees whose leaf nodes have been removed + - Supports collision queries on quantized trees (decompressed on-the-fly) + - Supports "first contact" or "all contacts" modes (ā la RAPID) + - Uses temporal coherence for "first contact" mode (~10 to 20 times faster, useful + in rigid body simulation during bisection) + - Memory footprint is 7.2 times smaller than RAPID's one, which is ideal for console + games with limited ram (actually, if you use the unmodified RAPID code using double + precision, it's more like 13 times smaller...) + - And yet it often runs faster than RAPID (according to RDTSC, sometimes more than 5 + times faster when objects are deeply overlapping) + - Performance is usually close to RAPID's one in close-proximity situations + - Stabbing, planes & volume queries (sphere, AABB, OBB, LSS) + - Sweep-and-prune + - Now works with deformable meshes + - Hybrid trees + + + What it can be used for: + - standard mesh-mesh collision detection (similar to RAPID, SOLID, QuickCD, PQP, ColDet...) + - N-body collisions (similar to V-Collide) + - camera-vs-world collisions (similar to Telemachos/Paul Nettle/Stan Melax articles) + - shadow feelers to speed up lightmap computations + - in-out tests to speed up voxelization processes + - picking + - rigid body simulation + - view frustum culling + - etc + + WHY ? + + - Because RAPID uses too many bytes. + - Because the idea was nice... + + WHEN ? + + It's been coded in march 2001 following a thread on the GD-Algorithms list. + + GDAlgorithms-list mailing list + GDAlgorithms-list@lists.sourceforge.net + http://lists.sourceforge.net/lists/listinfo/gdalgorithms-list + + WHO ? + + Pierre Terdiman + June, 1, 2003 + + p.terdiman@wanadoo.fr + p.terdiman@codercorner.com + + http://www.codercorner.com + http://www.codercorner.com/Opcode.htm -- cgit v1.1