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@@ -4,6 +4,7 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
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## Unreleased changes
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## Unreleased changes
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+### New functionality
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* Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. This allows simulating an island at a lower precision than the default.
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* Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. This allows simulating an island at a lower precision than the default.
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* Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used).
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* Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used).
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* Added BodyInterface::SetUseManifoldReduction which will clear the contact cache and ensure that you get consistent contact callbacks in case the body that you're changing already has contacts.
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* Added BodyInterface::SetUseManifoldReduction which will clear the contact cache and ensure that you get consistent contact callbacks in case the body that you're changing already has contacts.
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@@ -12,14 +13,19 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
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* Added wheel index and friction direction to VehicleConstraint::CombineFunction friction callback so you can have more differentiation between wheels.
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* Added wheel index and friction direction to VehicleConstraint::CombineFunction friction callback so you can have more differentiation between wheels.
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* Added ability to disable the lean steering limit for the motorcycle, turning this off makes the motorcycle more unstable, but gives you more control over the final steering angle.
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* Added ability to disable the lean steering limit for the motorcycle, turning this off makes the motorcycle more unstable, but gives you more control over the final steering angle.
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+### Improvements
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+* Multithreading the SetupVelocityConstraints job. This was causing a bottleneck in the case that there are a lot of constraints but very few possible collisions.
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+### Bug fixes
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+* Fixed bug in SixDOFConstraint::RestoreState that would cause motors to not properly turn on.
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+* Fixed a determinism issue in CharacterVirtual. The order of the contacts returned by GetActiveContacts() was not deterministic.
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+
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## v4.0.1
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## v4.0.1
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### New functionality
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### New functionality
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-
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* Ability to stop overriding CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE which is important for Android as it uses a lot of extra flags. Set the OVERRIDE_CXX_FLAGS=NO cmake flag to enable this.
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* Ability to stop overriding CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE which is important for Android as it uses a lot of extra flags. Set the OVERRIDE_CXX_FLAGS=NO cmake flag to enable this.
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* Reduced size of a contact constraint which saves a bit of memory during simulation.
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* Reduced size of a contact constraint which saves a bit of memory during simulation.
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* Can now build a linux shared library using GCC.
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* Can now build a linux shared library using GCC.
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### Bug fixes
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### Bug fixes
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* Fixed mass scaling (as provided by the ContactListener) not applied correctly to CCD objects & during solve position constraints. This led to kinematic objects being pushed by dynamic objects.
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* Fixed mass scaling (as provided by the ContactListener) not applied correctly to CCD objects & during solve position constraints. This led to kinematic objects being pushed by dynamic objects.
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Jorrit Rouwe