Question regarding computeGyroscopicImpulseImplicit_World
Posted: Thu Dec 14, 2017 12:39 am
Hi,
I am using bullet physics for my robotics simulator. Since I want to dynamically realistic simulation, I am applying gyroscopic impulse to objects.
I realized explicit gyroscopic impulse (forward euler apprx) is not stable and found great article from Mr. Erin Catto about implicit gyroscopic impulse equation.
http://box2d.org/files/GDC2015/ErinCatt ... ethods.pdf
But my question is, how "computeGyroscopicImpulseImplicit_World" is different with "computeGyroscopicImpulseImplicit_Body"
As I read the code, I guess computeGyroscopicImpulseImplicit_Body is implementation of Mr. Catto's approach,
Besides, computeGyroscopicImpulseImplicit_World seems like uses inertia tensor w.r.t world frame, which can lead to incorrect solution as Mr. Catto mentioned in his slides.
Can someone explain the differences between those two?
I am using bullet physics for my robotics simulator. Since I want to dynamically realistic simulation, I am applying gyroscopic impulse to objects.
I realized explicit gyroscopic impulse (forward euler apprx) is not stable and found great article from Mr. Erin Catto about implicit gyroscopic impulse equation.
http://box2d.org/files/GDC2015/ErinCatt ... ethods.pdf
But my question is, how "computeGyroscopicImpulseImplicit_World" is different with "computeGyroscopicImpulseImplicit_Body"
As I read the code, I guess computeGyroscopicImpulseImplicit_Body is implementation of Mr. Catto's approach,
Besides, computeGyroscopicImpulseImplicit_World seems like uses inertia tensor w.r.t world frame, which can lead to incorrect solution as Mr. Catto mentioned in his slides.
Can someone explain the differences between those two?