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

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

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

9
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -44,9 +44,8 @@ enum btRigidBodyFlags
///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
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,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT=4,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO=8,
};
@@ -535,10 +534,10 @@ 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
///explicit version is best avoided, it gains energy
btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
btVector3 getLocalInertia() const;
///////////////////////////////////////////////