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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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63
examples/testbed/framework/main.cpp
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@@ -16,13 +16,18 @@
* 3. This notice may not be removed or altered from any source distribution.
*/
#if defined(__APPLE_CC__)
#include <OpenGL/gl3.h>
#else
#include <glad/glad.h>
#include <glfw/glfw3.h>
#endif
#include <imgui/imgui.h>
#include <imgui/imgui_impl_glfw_gl3.h>
#include <testbed/tests/test.h>
#include <glfw/glfw3.h>
GLFWwindow* g_window;
Settings g_settings;
Test* g_test;
@@ -35,13 +40,13 @@ bool g_rightDown;
bool g_shiftDown;
b3Vec2 g_ps0;
void WindowSize(int w, int h)
static void WindowSize(int w, int h)
{
g_camera.m_width = float32(w);
g_camera.m_height = float32(h);
}
void MouseMove(GLFWwindow* w, double x, double y)
static void MouseMove(GLFWwindow* w, double x, double y)
{
b3Vec2 ps;
ps.Set(float32(x), float32(y));
@@ -83,7 +88,7 @@ void MouseMove(GLFWwindow* w, double x, double y)
}
}
void MouseWheel(GLFWwindow* w, double dx, double dy)
static void MouseWheel(GLFWwindow* w, double dx, double dy)
{
float32 n = b3Clamp(float32(dy), -1.0f, 1.0f);
if (g_shiftDown)
@@ -92,7 +97,7 @@ void MouseWheel(GLFWwindow* w, double dx, double dy)
}
}
void MouseButton(GLFWwindow* w, int button, int action, int mods)
static void MouseButton(GLFWwindow* w, int button, int action, int mods)
{
double x, y;
glfwGetCursorPos(w, &x, &y);
@@ -147,7 +152,7 @@ void MouseButton(GLFWwindow* w, int button, int action, int mods)
}
}
void KeyButton(GLFWwindow* w, int button, int scancode, int action, int mods)
static void KeyButton(GLFWwindow* w, int button, int scancode, int action, int mods)
{
switch (action)
{
@@ -163,12 +168,12 @@ void KeyButton(GLFWwindow* w, int button, int scancode, int action, int mods)
{
if (button == GLFW_KEY_DOWN)
{
g_camera.m_zoom += 0.05f;
g_camera.m_zoom += 0.2f;
}
if (button == GLFW_KEY_UP)
{
g_camera.m_zoom -= 0.05f;
g_camera.m_zoom -= 0.2f;
}
}
else
@@ -199,30 +204,30 @@ void KeyButton(GLFWwindow* w, int button, int scancode, int action, int mods)
}
}
void Char(GLFWwindow* w, unsigned int codepoint)
static void Char(GLFWwindow* w, unsigned int codepoint)
{
ImGui_ImplGlfwGL3_CharCallback(w, codepoint);
}
void CreateInterface()
static void CreateInterface()
{
ImGui_ImplGlfwGL3_Init(g_window, false);
ImGuiIO& io = ImGui::GetIO();
io.Fonts[0].AddFontDefault();
}
void DestroyInterface()
static void DestroyInterface()
{
ImGui_ImplGlfwGL3_Shutdown();
}
bool GetTestName(void*, int idx, const char** name)
static bool GetTestName(void*, int idx, const char** name)
{
*name = g_tests[idx].name;
return true;
}
void Interface()
static void Interface()
{
ImGui::SetNextWindowPos(ImVec2(g_camera.m_width, 0.0f));
ImGui::SetNextWindowSize(ImVec2(250.0f, g_camera.m_height));
@@ -255,11 +260,18 @@ void Interface()
g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(g_testCount) - 1);
g_settings.lastTestID = -1;
}
if (ImGui::Button("Dump", buttonSize))
{
if (g_test)
{
g_test->Dump();
}
}
if (ImGui::Button("Exit", buttonSize))
{
glfwSetWindowShouldClose(g_window, true);
}
ImGui::Separator();
ImGui::Text("Step");
@@ -271,8 +283,8 @@ void Interface()
ImGui::Text("Position Iterations");
ImGui::SliderInt("#Position Iterations", &g_settings.positionIterations, 0, 50);
ImGui::Checkbox("Sleep", &g_settings.sleep);
ImGui::Checkbox("Convex Cache", &g_settings.convexCache);
ImGui::Checkbox("Warm Start", &g_settings.warmStart);
//ImGui::Checkbox("Convex Cache", &g_settings.convexCache);
if (ImGui::Button("Play/Pause", buttonSize))
{
@@ -283,7 +295,7 @@ void Interface()
g_settings.pause = true;
g_settings.singleStep = true;
}
ImGui::Separator();
ImGui::Text("View");
@@ -296,6 +308,7 @@ void Interface()
ImGui::Checkbox("Contact Points", &g_settings.drawContactPoints);
ImGui::Checkbox("Contact Normals", &g_settings.drawContactNormals);
ImGui::Checkbox("Contact Tangents", &g_settings.drawContactTangents);
ImGui::Checkbox("Contact Areas", &g_settings.drawContactAreas);
ImGui::Checkbox("Statistics", &g_settings.drawStats);
ImGui::Checkbox("Profile", &g_settings.drawProfile);
@@ -303,10 +316,16 @@ void Interface()
ImGui::PopStyleVar();
}
void Step()
static void Step()
{
if (g_settings.drawGrid)
{
b3Color color(0.2f, 0.2f, 0.2f, 1.0f);
b3Vec3 pn(0.0f, 1.0f, 0.0f);
b3Vec3 p(0.0f, 0.0f, 0.0f);
g_debugDraw->DrawCircle(pn, p, 1.0f, color);
int n = 20;
b3Vec3 t;
@@ -314,7 +333,6 @@ void Step()
t.y = 0.0f;
t.z = -0.5f * float32(n);
b3Color color(0.5f, 0.5f, 0.5f, 1.0f);
for (int i = 0; i < n; i += 1)
{
for (int j = 0; j < n; j += 1)
@@ -347,16 +365,16 @@ void Step()
g_debugDraw->Submit();
}
void Run()
static void Run()
{
glFrontFace(GL_CCW);
glCullFace(GL_BACK);
glEnable(GL_CULL_FACE);
glEnable(GL_DEPTH_TEST);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glClearColor(0.2f, 0.2f, 0.2f, 1.0f);
glClearColor(0.3f, 0.3f, 0.3f, 1.0f);
glClearDepth(1.0f);
double t1 = glfwGetTime();
@@ -489,5 +507,6 @@ int main(int argc, char** args)
// Destroy g_window
glfwTerminate();
return 0;
}