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prepare to add ForkLiftDemo in App_AllBullet2Demos

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rename Ewert/Catto to World/Body for implicit coriolis forces
This commit is contained in:
erwin coumans
2015-03-27 11:59:22 -07:00
parent 9931dd9684
commit cba140431e
12 changed files with 548 additions and 17 deletions
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8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1274,14 +1274,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT)
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
{
gyroForce = body->computeGyroscopicImpulseImplicit_Ewert(infoGlobal.m_timeStep);
gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO)
if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
{
gyroForce = body->computeGyroscopicImpulseImplicit_Catto(infoGlobal.m_timeStep);
gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
solverBody.m_externalTorqueImpulse += gyroForce;
}