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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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6
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -87,7 +87,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
updateInertiaTensor();
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT;
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;
m_deltaLinearVelocity.setZero();
@@ -311,7 +311,7 @@ void btSetCrossMatrixMinus(btMatrix3x3& res, const btVector3& a)
+a_1, -a_0, 0);
}
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Catto(btScalar step) const
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
{
btVector3 idl = getLocalInertia();
btVector3 omega1 = getAngularVelocity();
@@ -352,7 +352,7 @@ btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Catto(btScalar step) con
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Ewert(btScalar step) const
btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World(btScalar step) const
{
// use full newton-euler equations. common practice to drop the wxIw term. want it for better tumbling behavior.
// calculate using implicit euler step so it's stable.