Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

17
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -41,10 +41,11 @@ extern bool gDisableDeactivation;
enum btRigidBodyFlags
{
BT_DISABLE_WORLD_GRAVITY = 1,
///The BT_ENABLE_GYROPSCOPIC_FORCE can easily introduce instability
///So generally it is best to not enable it.
///If really needed, run at a high frequency like 1000 Hertz: ///See Demos/GyroscopicDemo for an example use
BT_ENABLE_GYROPSCOPIC_FORCE = 2
///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
};
@@ -529,7 +530,13 @@ public:
return m_rigidbodyFlags;
}
btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;
btVector3 computeGyroscopicImpulseImplicit_Ewert(btScalar dt) const;
btVector3 computeGyroscopicImpulseImplicit_Cooper(btScalar step) const;
btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;//explicit version is best avoided, it gains energy
btVector3 getLocalInertia() const;
///////////////////////////////////////////////