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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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9
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -43,9 +43,10 @@ enum btRigidBodyFlags
BT_DISABLE_WORLD_GRAVITY = 1,
///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
BT_ENABLE_GYROPSCOPIC_FORCE_EXPLICIT = 2,
BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_COOPER=4,
BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_EWERT=8
BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_COOPER=4,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT=8,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO=16,
};
@@ -535,6 +536,8 @@ public:
btVector3 computeGyroscopicImpulseImplicit_Ewert(btScalar dt) const;
btVector3 computeGyroscopicImpulseImplicit_Cooper(btScalar step) const;
btVector3 computeGyroscopicImpulseImplicit_Catto(btScalar step) const;
btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;//explicit version is best avoided, it gains energy
btVector3 getLocalInertia() const;