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remove Cooper implicit (it was just for comparison, it is buggy)

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add btMatrix3x3::solve33, thanks to Erin Catto, and added safety against division by zero
This commit is contained in:
Erwin Coumans
2015-03-25 19:33:02 -07:00
parent 2ddd8f78c2
commit 9931dd9684
5 changed files with 40 additions and 114 deletions
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7
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1271,7 +1271,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btVector3 gyroForce (0,0,0);
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
{
gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT)
@@ -1279,11 +1279,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
gyroForce = body->computeGyroscopicImpulseImplicit_Ewert(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}
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);