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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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11
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -44,8 +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_EWERT=4,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO=8,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD=4,
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY=8,
};
@@ -533,8 +533,11 @@ public:
btVector3 computeGyroscopicImpulseImplicit_Ewert(btScalar dt) const;
btVector3 computeGyroscopicImpulseImplicit_Catto(btScalar step) const;
///perform implicit force computation in world space
btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
///perform implicit force computation in body space (inertial frame)
btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
///explicit version is best avoided, it gains energy
btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;