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added Erin Catto's 'local' implicit coriolis/gyroscopic force, next to 'Ewert', Cooper, explicit and none

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Configured the gyroscopic demo to show the Dzhanibekov effect
see also https://www.youtube.com/watch?v=L2o9eBl_Gzw
This commit is contained in:
Erwin Coumans
2015-03-24 23:16:45 -07:00
parent 1e13454511
commit 0a04a745dd
4 changed files with 83 additions and 27 deletions
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12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1269,21 +1269,27 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
btVector3 gyroForce (0,0,0);
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE_EXPLICIT)
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
{
gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_EWERT)
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT)
{
gyroForce = body->computeGyroscopicImpulseImplicit_Ewert(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_COOPER)
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_COOPER)
{
gyroForce = body->computeGyroscopicImpulseImplicit_Cooper(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO)
{
gyroForce = body->computeGyroscopicImpulseImplicit_Catto(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}
}