btVector3 btRigidBody::computeGyroscopicForce(btScalar maxGyroscopicForce) const
{
btVector3 inertiaLocal;
inertiaLocal[0] = 1.f/getInvInertiaDiagLocal()[0];
inertiaLocal[1] = 1.f/getInvInertiaDiagLocal()[1];
inertiaLocal[2] = 1.f/getInvInertiaDiagLocal()[2];
btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose();
btVector3 tmp = inertiaTensorWorld*getAngularVelocity();
btVector3 gf = getAngularVelocity().cross(tmp);
btScalar l2 = gf.length2();
if (l2>maxGyroscopicForce*maxGyroscopicForce)
{
gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce;
}
return gf;
}
CsRigidBody* CsRigidBody::Clone() {
btScalar cloneMass = btScalar(1.0) / getInvMass();
btVector3 cloneInertia(btScalar(1.0)/getInvInertiaDiagLocal().x(), btScalar(1.0)/getInvInertiaDiagLocal().y(), btScalar(1.0) / getInvInertiaDiagLocal().z());
CsMotionState *motionState = NULL;
if (getMotionState()) {
CsMotionState *oldState = (CsMotionState*) getMotionState();
motionState = new CsMotionState(*oldState);
// set this from outer scope
motionState->mObj = NULL;
}
CsRigidBody *cloneBody = new CsRigidBody(cloneMass, motionState, getCollisionShape(), cloneInertia);
return cloneBody;
// see test CCDphysics project
}
