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Added experimental implicit gyroscopic force implementation, one by Michael Ewert, and another by Cooper (from OpenDE)

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Will also add Erin Catto's local implicit version from the GDC 2015 tutorial
Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr
Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...)
Use 1,1,1 for local scaling in btStaticPlaneShape
This commit is contained in:
erwin coumans
2015-03-24 15:55:05 -07:00
parent 29949b63cc
commit 1e13454511
17 changed files with 852 additions and 25 deletions
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4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -89,7 +89,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2;//unused as of 2.81
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
}
};
@@ -111,7 +111,7 @@ struct btContactSolverInfoDoubleData
double m_splitImpulseTurnErp;
double m_linearSlop;
double m_warmstartingFactor;
double m_maxGyroscopicForce;
double m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
double m_singleAxisRollingFrictionThreshold;
int m_numIterations;