Library
Additions:
-Collision detection
special cases added for sphere-sphere, sphere-box, sphere-triangle, and
box-box.
-Buffered states for momentum and velocity, along with improvements to
the previously added buffered states, now provide thread safe entity
access.
-Common engine access points now thread safe.
-Synchronization objects are now available to keep code from interfering
with the engine's internal computations.
-Compound bodies now use an internal bounding volume hierarchy to
accelerate collision detection, allowing for much more complicated
concave bodies.
-Two different kinds of friction now available; dynamic and static.
-Event hooks for when entities are updated are now available.
-Slightly higher quality contact manifolds can once again be used (at a
cost) by setting Space.simulationSettings.useOneShotManifolds to true.
Changes:
-Extensive optimizations to all performance critical sections
of the engine have been made, boosting performance considerably.
-The inertia tensor fields of entities have been replaced with
properties Entity.localSpaceInertiaTensor and
Entity.localSpaceInertiaTensorInverse.
-Entities with isDetector enabled will now still create controllers and
contacts even if both entities in the collision are nondynamic.
-ConvexPolyhedron entity type and its associated helper types removed;
ConvexHull used as its replacement.
-Various methods in Toolbox removed, mostly involving
PolyhedronTriangles.
-PrimitiveToolbox removed.
Bug Fixes:
-Entity.makePhysical should no longer cause issues when the entity
is colliding with static geometry.
-Toolbox.getConvexHull should no longer occasionally miss hull points.
-Vehicle
wheels no longer attempt to use intangible or detector entities as
supports.
-Large compound bodies should no longer cause severe jerky performance.
-High angular velocities on irregular bodies should now work much better
in all cases.
-Dynamic triangles should no longer throw exceptions during construction
given odd dimensions.
Changes:
-"Lots o' Cubes" is now "Lots o' Spheres" and has many spheres in
lieu of many cubes.
-"Tetrahedra" is now "Colosseum," a circular tower simulation.
-DisplayConvexPolyhedron removed.
-DisplayModel now uses entity CenterPosition.
Bug Fixes:
-Fixed a hotkey listing on the controls picture.
_____
v0.6.2
Library
Additions:
-Springs
can now be used in either the traditional force = constant * compression
mode or the velocity mode.
Changes:
-Toolbox.findPenetrationDepth is now more robust.
-Springs, vehicle suspension, and the grab constraint all now use frame
rate independent forces.
-Required forces for joint breakage should now be more consistent.
-A small arbitrary delay before sleeping has been removed, slightly
increasing the rest speed.
-UprightConstraint is now frame rate independent and works on angular
velocity instead of torque.
Bug Fixes:
-Raycasts against PersistentUniformGrid, UniformGrid, StaticGroup,
and Terrain should no longer cause occasional momentary hangs.
-Toolbox.getDistanceBetweenObjects should no longer cause occasional
freezes.
-CompoundBody subbodies now receive the default margin and allowed
penetration if they are added to the space with 0 margin/allowed
penetration.
-DistanceConstraint now properly breaks when force exceeds its limit in
either direction.
-When entities are removed or constraints are added or removed, the
associated simulation island is now activated, preventing floating
resting objects.
Additions:
-The
CharacterController is now included, offering more robust character
physics.
-Simulation #31, "Earthquake!" has been added.
Library
Additions:
-A new entry in
Space.simulationSettings,
useInternalTimeStepping, now allows for smooth, consistent
simulation given variable framerate.
-The CombinedUpdateable type is now available,
providing the abilities of both the SolverUpdateable and Updateable.
Changes:
-Compound bodies now behave slightly better with continuous collision
detection.
-Velocity clamping is now based on a time below the threshold rather
than framecount, both of which can be changed in
Space.simulationSettings.
-Updateables now have three separate update methods; one runs during
force integration near the beginning of the frame (between broadphase
and collision detection), another at the end of each update, and one at
the very end of the frame as managed by the engine. Usually the
end-of-update and end-of-frame methods will run essentially side by
side, but if internal timestepping is used the end-of-frame update only
runs once per external Space.update call while the end-of-update method
will run as many times as the engine internally steps.
-Contact caching heuristic improved.
-A few more fields and properties have been exposed in the Wheel class.
-Entity.rotationMatrix changed to Entity.orientationMatrix.
-centerPosition, centerOfMass, orientationQuaternion, and
orientationMatrix are now all buffered states which are updated at the
end of the frame from the internal values. Additionally, these
states include an interpolation component when useInternalTimeStepping
is enabled. The raw states can be accessed through
internalCenterPosition, internalCenterOfMass,
internalOrientationQuaternion, and internalOrientationMatrix.
-orientationMatrix is now a get/set property instead of the previously
get-only rotationMatrix property.
Bug Fixes:
-PersistentUniformGrid.removeEntity will no longer occasionally
leave out of date entries in the grid.
-Nested compound bodies and removing entities from compound bodies now
works properly.
Bug Fixes:
-Wrapped bodies will no longer cause a crash in the display system
when using CPU instancing.
v0.6.0
Library
Additions:
-New collision detection
method, enabling faster and more robust detection and contact
generation, especially during deep interpenetration.
-Improved continuous collision detection and multiple collision
detection methods available in a space's SimulationSettings.
-Multiple collision events are now available in entities.
-New 'wrapped' body entity type available. Forms an implicit
convex hull around a set of entities.
-New DistanceConstraint, DistanceRangeConstraint, and Springs!
-StaticTriangleGroup now has additional raycasting methods that
identify the indices of vertices composing triangles hit by the ray.
-Position correction velocity can now be capped.
-Triangles can now use their own normals in lieu of proper contact
normals in a collision. This can be enabled for smoother sliding
on terrains and static triangle groups.
-Entities now have a new centerOfMass property that can be modified to
change the rotational behavior of objects.
-Different friction/bounciness combination methods are now available in
a space's SimulationSettings.
Changes:
-All simulation settings now reside in the SimulationSettings class.
-An entity's linearMomentum and angularMomentum are now properties and
update velocities when changed.
-Joints can now have null passed in their constructor as a connection
entity; the joint will connect to a special hidden entity at the anchor
point.
-Compound-prefixed methods have been removed for the most part from the
Entity class; getParent() replaces their functionality.
-Removed one-shot manifolds due to new detection methods; may return
later.
-Fluid volumes now produce more consistent floating behavior.
-Damping for entities and fluids now properly takes the specified
fraction of momentum away per second.
-Minkowski Sum and CompoundBody inertia tensor calculations sped up
significantly.
-Slight runtime memory allocation reduction related to
StaticTriangleGroups.
-Controller collision detection and solver methods are now public.
Bug Fixes:
-Joints now correctly break according to total impulse, not a
per-iteration corrective impulse.
-Entity's angularVelocity property now properly returns angular
velocity, not linear velocity.
-Terrain's single hit raycast method now works properly at the edge of
the terrain.
-CompoundBodies with differently oriented subbodies should now maintain
their correct orientations.
-Large bodies should no longer cause issues with terrain triangle
generation.
-Contacts no longer keep their former accumulated impulses when pulled
through the ResourcePool.
-MaximumSpeedConstraint should no longer cause periodic crashes.
-FluidVolume constructor now properly sets dimension sample count.
-Force.isActive now actually does something.
Additions:
-Added in a wrapped body
class to the renderer and plopped a few down in the "Fancy Shapes" demo.
-New "Fish in a Barrel" demo, showcasing a simple usage of the new event
system.
-Added
examples of the Spring, DistanceConstraint, and DistanceRangeConstraint
to the "More Constraints" demo.
Changes:
-Changed static-connected joints in "More Constraints" to connect to
null entities.
-Removed the double-dynamic point on line constraint in the "More
Constraints" demo.
Bug Fixes:
-CompoundBodies
should now be oriented correctly when subbodies are oriented differently
during initialization.
-Removed Jenga's DynamicIterationCount of 200-300 iterations, reducing
it to the default 15 and vastly improving performance.
-Specular highlights should no longer cause weird little ghost blobs.
_____
v0.5.2
Library
Additions:
-Added two new shape types, the ConvexHull
and MinkowskiSum.
-Vehicles can now use ConvexCastWheels
for smoother contact.
Changes:
-Entity tags are now just objects instead of Dictionaries.
Bug Fixes:
-Broadphase's isValidPair returned
to previous ordering, providing extra speed with static geometry.
-Hit locations
returned by the swept areObjectsColliding method are
now more accurate and no longer fails in certain situations.
Additions:
-New display objects for MinkowskiSums
and ConvexHulls.
-Extra comments now cover some details in the
simulation setups.
Library
Additions:
-StaticTriangleGroups can now be
built based on a full model, or individual meshes (with or without
parent bone transforms).
-StaticTriangleGroups can now output a list of
worldspace vertex positions.
Bug Fixes:
-Moving
entities no longer have hash code issues.
-The constructor for compound bodies which takes a list of entities
should now function correctly.
Additions:
-Rendering in wireframe mode can now be toggled.
Changes:
-DisplayModel now correctly transforms individual
meshes by parent bones.
Bug Fixes:
-Highly
triangulated objects are now properly textured in CPU instancing mode.
v0.5.0
Library
Additions:
-Optimized StaticTriangleGroup added.
-Framework for space-updated types, solver-updated types, single
body constraints, and force fields added.
-PushField, Tornado, GravitationalField added.
-MaximumSpeedConstraint,
RotationalAxisConstraint, UprightConstraint,
and GrabConstraint added.
-Buoyancy support and associated entity data (density, volume)
added.
-New deactivation system based on simulation islands added.
-Efficient ray casts against the entire environment and parts now
available.
-Vehicles based on ray casts are now available.
-Collisions between entities can now be filtered using the Entity.collisionFilter bitmask and the
Entity.nonCollidableEntities list.
-RK4 angular integration is now available as an option (useRK4AngularIntegration
in Space).
-Entities can now have a set of associated tags for storing information
locally.
-New interfaces, RayCastableContainer and
RayCastableContainerWithoutMargins, denote classes containing
ray-intersectable contents which can be tested against.
-Preexisting quad formats for Terrain within the QuadFormats
class now available.
Changes:
-Massive reduction in runtime memory allocation.
-Numerous field, class, and function name changes:
PhysicallySimulated interface removed, entities
can switch between nondynamic and dynamic without being recreated
"Phys" and "Static" prefixes removed, entity types are simply
"Box," "Cylinder," etc.
Entity now contains all information necessary for
dynamic and nondynamic objects.
Revised access permission for and renamed rotationMatrix
and orientationQuaternion.
Exposed inertia tensor fields for modification.
Previously "ineffective" changes of derived fields now have the
expected effect (changing velocity of a dynamic object, setting the
orientation quaternion, etc.).
Toolbox.rayCast cleans up and replaces the old ray
casting methods.
Space.addEntity, Space.addConstraint
and other add___ methods are now simply Space.add(object
to add).
Cleaned up Entity.compound____ methods and
clarified their use in XML documentation.
-Cleaned up the PrimitiveToolbox, removing many
redundant construction methods in favor of always using their identical
constructor counterparts.
-Significant speedup in grid-based broadphases, UniformGrid
and PersistentUniformGrid.
-Entity.force and Entity.torque now
represent all changes of linear momentum and angular momentum during a
frame.
-Collision response position correction impulse 'overestimates' less
frequently.
-Adjusted swept collision detection (Toolbox.areObjectsColliding)
to be more intuitive and use forward swept motion instead of a backwards
velocity.
-XML documentation has been filled in for all public methods and fields.
Bug Fixes:
-GJK-based ray casts should no longer enter infinite loops.
-Split Impulse position correction method (useSplitImpulsePositionCorrection)
now appropriately uses angular correction.
-Compound bodies under split impulse position correction no longer cause
sporadic crashes.
-Certain edges of terrain no longer let objects fall through.
v0.5.0
Demos
Additions:
-Source for Xbox360 demos now available.
-Example
vehicle input methods added. Press V to jump in!
-Character controller demo based on dynamic entity and associated
input methods added. Press C to walk around!
-"Grabber" added; right click to pull objects around.
-New display type, DisplayModel, for displaying loaded models.
-New "Buoyancy" demo.
-New "Gravitational Fields" demo.
-New "Static Triangle Group" demo.
-New demo showing off collision filtering, replacing the old "Double
Ramp Slam" demo.
Changes:
-Camera can now enter a "chase camera" mode which follows an entity,
used by default in vehicles.
-Screen text minimized, controls and information put into a temporary
menu overlay.
Bug Fixes:
-Fixed a crash that could occur when removing display objects
from the entity drawer.
-Fixed a problem which would cause mismatched graphics when removing
display objects from the entity drawer.
v0.4.1
Demos
Changes:
-Backface culling is now enabled.
-DisplayTriangles now use two triangles for representation.
-Display object normals are now consistent.
Bug Fixes:
-Vertex buffers are manually disposed of after starting a new
simulation, preventing frequent OutOfVideoMemoryExceptions on some
cards.
Library
Additions:
-Continuous collision detection is now available.
-Spatial partitioning methods are now available; try out
PersistentUniformGrid, its per-frame recalculated sibling
UniformGrid, and the old BruteForce
method.
Other custom broad phases can be derived from the BroadPhase
class.
-Terrain can now be created from heightmaps.
Supports runtime deformation.
-Large numbers of static objects can now be added to
StaticGroups which dynamically add and remove static entities
from the space as needed, increasing performance greatly.
-New Capsule and Box primitives.
-Explosions can now be created and detonated.
-One-shot manifolds are now available for objects, increasing stability.
-Added an early out mechanism for collision detection, drastically
increasing performance in stable simulations.
-Entities now can be rotated given a velocity by using the
rotate(Vector3 w) function.
-Entities may now have unique margins and allowed penetration depths.
The defaults are stored within (Space).defaultMargin
and (Space).defaultAllowedPenetration, which default to
.04f and .025f respectively.
Changes:
-Collision detection optimized and tuned.
-linearVelocityClamping and
angularVelocityClamping now both default to .01f.
-Center of masses for cones are now properly one fourth the way up from
the base, rather than halfway up.
-Entities are no longer activated by neighboring entities if they share
no controller.
-Coefficient of restitution within a collision is now calculated by
using the maximum bounciness of either involved body.
-Disabled the formerly added bisection deep contact resolution
method due to improvements in the related systems, marginally improving
performance.
Bug Fixes:
-An errant multiplier causing clamping to fail at high framerates has
been removed.
-A formerly required but now troublesome negation has been removed from
Toolbox.getSegmentPlaneIntersection().
v0.4.0
Demos
Additions:
-All display systems formerly contained in the BEPUphysics.dll are
now open source within the demos project.
-For SM3.0 enabled cards, shader instancing is now used for rendering.
For others, CPU instancing is used.
-"Broad Phase Stress Test" pushes the provided broad phase to its
limits with thousands of objects.
-"Ball Pit:" shove boxes into a sphere-filled pit, realistically
simulating the fate of many a child.
-"Terrain" showcases the new terrain system on a sine-based heightmap.
-"Bowl o' Cubes" showcases cubes, in a bowl.
-Rendering now supports textures, though default texture coordinates may
be suboptimal for any detailed texture.
Changes:
-Graphics for cones, spheres, cylinders, and capsules now use
a much greater level of tessellation. The number of faces per
object can be adjusted easily within the source.
-By default, demos now run with a non-fixed game timestep with a
60hz physics update rate.
-"Ramp Series" has been replaced.
-"Small Heightmap" has been replaced.
Bug Fixes:
-Resolved an occasional flickering due to UI drawing.
v0.3.0
Library
Additions:
-BallSocketJoint and PointOnLineJoint added, with
maximum force limits available.
-Performance increased substantially with impulse short circuiting
method.
-Dynamic iteration counts now allow for adaptive collision response
quality depending on the current performance of the game.
To use it, call activateDynamicIterationCount(float desiredFPS, int
minIterations, int maxIterations) or
deactivateDynamicIterationCount() to turn it off.
-Artifacts caused by deep contact resolution reduced with the
addition of a secondary bisection algorithm.
Changes:
-Default angular velocity clamping changed to .02.
-Clarified Toolbox.getSegmentPlaneIntersection parameters.
Bug Fixes:
-Entities are now forced awake when applyImpulse is
called.
-Deep contact now forces objects awake, preventing occasional
inappropriate freezing associated with objects being shoved deeply into
the ground.
-move(Vector3 v) and moveTo(Vector3 v) now wake up the
entity.
-Objects floating in space can now fall asleep appropriately.
v0.3.0
Demos
Additions:
-'Bridge' simulation added; 200 cubes in a chain form a long curve.
-'More Constraints' simulation added; shows breakable and non-breakable
point on line joints, ball and socket joints, emulated sliders/prismatic
joints, welds, and hinges.
Changes:
-Changed line rendering to use vertex coloring.
-'Simple Pendulum' is now 'Multipendulum.'
-Demo background color is now dark gray.
-Ground size changed on stacking, tetrahedra, and jenga demos.
-Masses changed on tetrahedra and lots o' cubes demos.
-Change made to simulation switching via keyboard input; now more easily
supports more without dozens of special cases.
v0.2.0
Library
Additions:
-Deactivation/activation for objects added; should improve
performance under normal circumstances considerably.
-New ray casting functions added; Toolbox.findRayEntityHit
and Toolbox.findFiniteRayEntityHit.
-Compound bodies can now be nested within other compound bodies.
-All physically simulated objects now have the applyImpulse
method.
-Space.update may now be provided either a float representing the
time between frames (regardless of performance) or the GameTime object.
-Forces may now be put on a timer for expiration.
Changes:
-Velocity clamping will no longer inappropriately freeze objects
with momentary low velocity. The default velocity clamping values
have been increased accordingly, allowing objects to discontinue motion
more robustly.
-Inconsistent parameter order for position in PrimitiveToolbox
revised. Position vector is now first parameter in all cases.
-Removed redundant PrimitiveToolbox functionality.
-The default value of angular damping on objects has been increased.
-Various low-level, externally unhelpful methods removed from public
visibility.
-DisplayObject changed into an abstract class from an interface.
-Everything has become a little more colorful.
Bug Fixes:
-An error which would cause compound bodies to sometimes teleport has
been resolved.
-Compound bodies will now function properly with joints.
-Graphics of Triangles and ConvexPolyhedrons should no
longer become desynchronized from their collision mesh when rotated with
the applyQuaternion method.
v0.2.0
Demos
Additions:
-New spaceship simulation, showcasing a practical object created
using compound bodies with a force applied.
-Obligatory Jenga simulation added; see how many you can knock out with
your sphere launcher before it falls!
-Deactivation stress test added; 420 objects fall in sequence and fall
asleep.
Changes:
-Premade bowling ball removed from bowling simulation.
-Camera controls for ascent and descent changed from W/X to A/Z.
v0.1.0
Library:
Additions:
-New CompoundBody type, composed of multiple PhysicallySimulated types.
* New properties compoundPosition, compoundLinearVelocity, and compoundAngularVelocity for referencing an object's compound body's properties if existent. If no compound body is available, the current object's data is referenced.
Changes:
-velocityClamping split into linear and angular components with default values .006f for linearVelocityClamping and .0001f for angularVelocityClamping.
-Default Space.iteration count increased to 10.
Bug Fixes:
-An infinite loop when running without debugging with ConvexPolyhedrons should no longer occur.
-Degenerate GJK simplices will no longer trigger NaN exceptions.
v0.1.0
Demos:
Additions:
-High-mass/velocity sphere launchable by clicking.
-New display options for bounding boxes of objects, contacts,
joints, and screen font.
-A camera class has been implemented for easier simulation
observation.
v0.0.1
Initial release.