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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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45
examples/testbed/tests/angular_motion.h
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@ -24,56 +24,33 @@ class AngularMotion : public Test
public:
AngularMotion()
{
b3BodyDef bdef;
bdef.type = e_dynamicBody;
bdef.position.Set(0.0f, 0.0f, 0.0f);
b3BodyDef bd;
b3Body* ground = m_world.CreateBody(bd);
m_body = m_world.CreateBody(bdef);
bd.type = e_dynamicBody;
bd.angularVelocity.Set(0.0f, B3_PI, 0.0f);
b3Body* body = m_world.CreateBody(bd);
b3CapsuleShape shape;
shape.m_centers[0].Set(0.0f, 1.0f, 0.0f);
shape.m_centers[1].Set(0.0f, -1.0f, 0.0f);
shape.m_centers[0].Set(0.0f, 0.0f, -1.0f);
shape.m_centers[1].Set(0.0f, 0.0f, 1.0f);
shape.m_radius = 1.0f;
b3ShapeDef sdef;
sdef.shape = &shape;
sdef.density = 1.0f;
m_body->CreateShape(sdef);
b3MassData data;
m_body->GetMassData(&data);
m_body->SetMassData(&data);
b3Vec3 g(0.0f, 0.0f, 0.0f);
m_world.SetGravity(g);
}
void Step()
{
Test::Step();
b3Vec3 v(0.0f, 0.0f, 0.0f);
m_body->SetLinearVelocity(v);
b3Vec3 p = m_body->GetSweep().worldCenter;
b3Quat quat = m_body->GetSweep().orientation;
b3Vec3 axis;
float32 angle;
quat.GetAxisAngle(&axis, &angle);
body->CreateShape(sdef);
b3Vec3 q(0.0f, 0.0f, 0.0f);
m_body->SetTransform(q, axis, angle);
b3SphereJointDef jd;
jd.Initialize(ground, body, b3Vec3(0.0f, 0.0f, 0.0f));
m_world.CreateJoint(jd);
}
static Test* Create()
{
return new AngularMotion();
}
b3Body* m_body;
};
#endif