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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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338
examples/testbed/framework/test.cpp
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@@ -20,8 +20,8 @@
extern u32 b3_allocCalls, b3_maxAllocCalls;
extern u32 b3_gjkCalls, b3_gjkIters, b3_gjkMaxIters;
extern bool b3_convexCache;
extern u32 b3_convexCalls, b3_convexCacheHits;
extern bool b3_enableConvexCache;
extern b3Draw* b3_debugDraw;
extern Settings g_settings;
@@ -29,21 +29,86 @@ extern DebugDraw* g_debugDraw;
extern Camera g_camera;
extern Profiler* g_profiler;
static void BuildGrid(b3Mesh* mesh, u32 w, u32 h, bool randomY = false)
{
b3Vec3 t;
t.x = -0.5f * float32(w);
t.y = 0.0f;
t.z = -0.5f * float32(h);
mesh->vertexCount = w * h;
mesh->vertices = (b3Vec3*)b3Alloc(mesh->vertexCount * sizeof(b3Vec3));
for (u32 i = 0; i < w; ++i)
{
for (u32 j = 0; j < h; ++j)
{
u32 v1 = i * w + j;
b3Vec3 v;
v.x = float32(i);
v.y = randomY ? RandomFloat(0.0f, 1.0f) : 0.0f;
v.z = float32(j);
v += t;
mesh->vertices[v1] = v;
}
}
mesh->triangleCount = 2 * (w - 1) * (h - 1);
mesh->triangles = (b3Triangle*)b3Alloc(mesh->triangleCount * sizeof(b3Triangle));
u32 triangleCount = 0;
for (u32 i = 0; i < w - 1; ++i)
{
for (u32 j = 0; j < h - 1; ++j)
{
u32 v1 = i * w + j;
u32 v2 = (i + 1) * w + j;
u32 v3 = (i + 1) * w + (j + 1);
u32 v4 = i * w + (j + 1);
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t1 = mesh->triangles + triangleCount;
++triangleCount;
t1->v1 = v3;
t1->v2 = v2;
t1->v3 = v1;
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t2 = mesh->triangles + triangleCount;
++triangleCount;
t2->v1 = v1;
t2->v2 = v4;
t2->v3 = v3;
}
}
B3_ASSERT(triangleCount == mesh->triangleCount);
mesh->BuildTree();
}
Test::Test()
{
b3_allocCalls = 0;
b3_gjkCalls = 0;
b3_gjkIters = 0;
b3_gjkMaxIters = 0;
b3_convexCache = g_settings.convexCache;
b3_convexCalls = 0;
b3_convexCacheHits = 0;
b3_enableConvexCache = g_settings.convexCache;
b3_debugDraw = g_debugDraw;
m_world.SetContactListener(this);
g_camera.m_q = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.15f * B3_PI);
g_camera.m_q = g_camera.m_q * b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.15f * B3_PI);
b3Quat q_y(b3Vec3(0.0f, 1.0f, 0.0f), 0.15f * B3_PI);
b3Quat q_x(b3Quat(b3Vec3(1.0f, 0.0f, 0.0f), -0.15f * B3_PI));
g_camera.m_q = q_y * q_x;
g_camera.m_zoom = 50.0f;
g_camera.m_center.SetZero();
@@ -51,255 +116,17 @@ Test::Test()
m_mouseJoint = NULL;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(50.0f, 1.0f, 50.0f);
m_groundHull.SetTransform(xf);
b3Transform m;
m.position.SetZero();
m.rotation = b3Diagonal(50.0f, 1.0f, 50.0f);
m_groundHull.SetTransform(m);
}
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(1.0f, 1.0f, 1.0f);
m_boxHull.SetTransform(xf);
}
m_boxHull.SetIdentity();
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(1.0f, 5.0f, 1.0f);
m_tallHull.SetTransform(xf);
}
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
m_doorHull.SetTransform(xf);
}
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(25.0f, 0.5f, 25.0f);
m_rampHull.SetTransform(xf);
}
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(1.0f, 0.5f, 3.0f);
m_plankHull.SetTransform(xf);
}
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(4.05f, 2.0f * B3_LINEAR_SLOP, 4.05f);
m_thinHull.SetTransform(xf);
}
{
const u32 w = 5;
const u32 h = 5;
b3Vec3 t;
t.x = -0.5f * float32(w);
t.y = 0.0f;
t.z = -0.5f * float32(h);
b3Mesh* mesh = m_meshes + e_clothMesh;
mesh->vertexCount = w * h;
mesh->vertices = (b3Vec3*)b3Alloc(mesh->vertexCount * sizeof(b3Vec3));
for (u32 i = 0; i < w; ++i)
{
for (u32 j = 0; j < h; ++j)
{
u32 v1 = i * w + j;
b3Vec3 v;
v.x = float32(i);
v.y = RandomFloat(0.0f, 0.5f);
v.z = float32(j);
v += t;
mesh->vertices[v1] = v;
}
}
mesh->triangleCount = 2 * (w - 1) * (h - 1);
mesh->triangles = (b3Triangle*)b3Alloc(mesh->triangleCount * sizeof(b3Triangle));
u32 triangleCount = 0;
for (u32 i = 0; i < w - 1; ++i)
{
for (u32 j = 0; j < h - 1; ++j)
{
u32 v1 = i * w + j;
u32 v2 = (i + 1) * w + j;
u32 v3 = (i + 1) * w + (j + 1);
u32 v4 = i * w + (j + 1);
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t1 = mesh->triangles + triangleCount;
++triangleCount;
t1->v1 = v3;
t1->v2 = v2;
t1->v3 = v1;
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t2 = mesh->triangles + triangleCount;
++triangleCount;
t2->v1 = v1;
t2->v2 = v4;
t2->v3 = v3;
}
}
B3_ASSERT(triangleCount == mesh->triangleCount);
mesh->BuildTree();
}
{
const u32 w = 50;
const u32 h = 50;
b3Vec3 t;
t.x = -0.5f * float32(w);
t.y = 0.0f;
t.z = -0.5f * float32(h);
b3Mesh* mesh = m_meshes + e_gridMesh;
mesh->vertexCount = w * h;
mesh->vertices = (b3Vec3*)b3Alloc(mesh->vertexCount * sizeof(b3Vec3));
for (u32 i = 0; i < w; ++i)
{
for (u32 j = 0; j < h; ++j)
{
u32 v1 = i * w + j;
b3Vec3 v;
v.x = float32(i);
v.y = 0.0f;
v.z = float32(j);
v += t;
mesh->vertices[v1] = v;
}
}
// 2 triangles per quad
mesh->triangleCount = 2 * (w - 1) * (h - 1);
mesh->triangles = (b3Triangle*)b3Alloc(mesh->triangleCount * sizeof(b3Triangle));
u32 triangleCount = 0;
for (u32 i = 0; i < w - 1; ++i)
{
for (u32 j = 0; j < h - 1; ++j)
{
u32 v1 = i * w + j;
u32 v2 = (i + 1) * w + j;
u32 v3 = (i + 1) * w + (j + 1);
u32 v4 = i * w + (j + 1);
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t1 = mesh->triangles + triangleCount;
++triangleCount;
t1->v1 = v3;
t1->v2 = v2;
t1->v3 = v1;
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t2 = mesh->triangles + triangleCount;
++triangleCount;
t2->v1 = v1;
t2->v2 = v4;
t2->v3 = v3;
}
}
B3_ASSERT(triangleCount == mesh->triangleCount);
mesh->BuildTree();
}
{
const u32 w = 50;
const u32 h = 50;
b3Vec3 t;
t.x = -0.5f * float32(w);
t.y = 0.0f;
t.z = -0.5f * float32(h);
b3Mesh* mesh = m_meshes + e_terrainMesh;
mesh->vertexCount = w * h;
mesh->vertices = (b3Vec3*)b3Alloc(mesh->vertexCount * sizeof(b3Vec3));
for (u32 i = 0; i < w; ++i)
{
for (u32 j = 0; j < h; ++j)
{
u32 v1 = i * w + j;
b3Vec3 v;
v.x = 2.0f * float32(i);
v.y = RandomFloat(0.0f, 0.5f);
v.z = 2.0f *float32(j);
v += t;
mesh->vertices[v1] = v;
}
}
mesh->triangleCount = 2 * (w - 1) * (h - 1);
mesh->triangles = (b3Triangle*)b3Alloc(mesh->triangleCount * sizeof(b3Triangle));
u32 triangleCount = 0;
for (u32 i = 0; i < w - 1; ++i)
{
for (u32 j = 0; j < h - 1; ++j)
{
u32 v1 = i * w + j;
u32 v2 = (i + 1) * w + j;
u32 v3 = (i + 1) * w + (j + 1);
u32 v4 = i * w + (j + 1);
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t1 = mesh->triangles + triangleCount;
++triangleCount;
t1->v1 = v3;
t1->v2 = v2;
t1->v3 = v1;
B3_ASSERT(triangleCount < mesh->triangleCount);
b3Triangle* t2 = mesh->triangles + triangleCount;
++triangleCount;
t2->v1 = v1;
t2->v2 = v4;
t2->v3 = v3;
}
}
B3_ASSERT(triangleCount == mesh->triangleCount);
mesh->BuildTree();
}
BuildGrid(m_meshes + e_gridMesh, 50, 50);
BuildGrid(m_meshes + e_terrainMesh, 50, 50, true);
BuildGrid(m_meshes + e_clothMesh, 10, 10);
}
Test::~Test()
@@ -345,10 +172,10 @@ void Test::Step()
b3_gjkCalls = 0;
b3_gjkIters = 0;
b3_gjkMaxIters = 0;
b3_convexCache = g_settings.convexCache;
b3_convexCalls = 0;
b3_convexCacheHits = 0;
b3_enableConvexCache = g_settings.convexCache;
// Step
ProfileBegin();
@@ -369,6 +196,7 @@ void Test::Step()
drawFlags += g_settings.drawContactPoints * b3Draw::e_contactPointsFlag;
drawFlags += g_settings.drawContactNormals * b3Draw::e_contactNormalsFlag;
drawFlags += g_settings.drawContactTangents * b3Draw::e_contactTangentsFlag;
drawFlags += g_settings.drawContactAreas * b3Draw::e_contactAreasFlag;
g_debugDraw->SetFlags(drawFlags);
m_world.DebugDraw();
@@ -448,7 +276,7 @@ void Test::MouseMove(const Ray3& pw)
float32 w1 = 1.0f - t;
float32 w2 = t;
b3Vec3 target = w1 * pw.Start() + w2 * pw.End();
b3Vec3 target = w1 * pw.A() + w2 * pw.B();
m_mouseJoint->SetTarget(target);
}
}
@@ -468,8 +296,8 @@ void Test::MouseLeftDown(const Ray3& pw)
}
// Perform the ray cast
b3Vec3 p1 = pw.Start();
b3Vec3 p2 = pw.End();
b3Vec3 p1 = pw.A();
b3Vec3 p2 = pw.B();
b3RayCastSingleOutput out;
if (m_world.RayCastSingle(&out, p1, p2))