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fix a lot of issues, add gyroscopic force integrator, add contact polygon winding, add some quaternion constraints, add more tests

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This commit is contained in:
Irlan
2017-03-24 18:49:41 -03:00
parent dd6ca355e9
commit 8defab9945
103 changed files with 3840 additions and 3355 deletions
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26
examples/testbed/framework/debug_draw.h
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@ -20,7 +20,6 @@
#define DEBUG_DRAW_H
#include <bounce/bounce.h>
#include "mat44.h"
struct DrawPoints;
struct DrawLines;
@ -28,6 +27,23 @@ struct DrawTriangles;
struct DrawWire;
struct DrawSolid;
struct Ray3
{
b3Vec3 A() const
{
return origin;
}
b3Vec3 B() const
{
return origin + fraction * direction;
}
b3Vec3 direction;
b3Vec3 origin;
float32 fraction;
};
class Camera
{
public:
@ -38,15 +54,15 @@ public:
m_width = 1024.0f;
m_height = 768.0f;
m_zNear = 1.0f;
m_zFar = 500.0f;
m_zFar = 1000.0f;
m_fovy = 0.25f * B3_PI;
m_zoom = 10.0f;
}
Mat44 BuildProjectionMatrix() const;
Mat44 BuildViewMatrix() const;
b3Mat44 BuildProjectionMatrix() const;
b3Mat44 BuildViewMatrix() const;
b3Transform BuildViewTransform() const;
Mat44 BuildWorldMatrix() const;
b3Mat44 BuildWorldMatrix() const;
b3Transform BuildWorldTransform() const;
b3Vec2 ConvertWorldToScreen(const b3Vec3& pw) const;