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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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32
examples/testbed/tests/box_stack.h
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@ -33,7 +33,7 @@ public:
{
g_camera.m_center.Set(2.5f, -2.0f, 5.5f);
g_camera.m_zoom = 40.0f;
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
@ -45,17 +45,22 @@ public:
b3ShapeDef sdef;
sdef.shape = &hs;
sdef.userData = NULL;
sdef.friction = 1.0f;
b3Shape* shape = body->CreateShape(sdef);
body->CreateShape(sdef);
}
b3Vec3 stackOrigin;
stackOrigin.Set(0.0f, 4.05f, 0.0f);
b3Vec3 boxScale(1.0f, 1.0f, 1.0f);
static b3BoxHull boxHull;
b3Transform m;
m.rotation = b3Diagonal(boxScale.x, boxScale.y, boxScale.z);
m.position.SetZero();
b3Vec3 boxScale;
boxScale.Set(2.05f, 2.05f, 2.05f);
boxHull.SetTransform(m);
b3Vec3 stackOrigin(0.0f, 4.05f, 0.0f);
for (u32 i = 0; i < e_rowCount; ++i)
{
@ -65,24 +70,25 @@ public:
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_dynamicBody;
bdef.orientation.Set(b3Vec3(0.0f, 1.0f, 0.0f), 0.5f * B3_PI);
bdef.position.x = float32(i) * boxScale.x;
bdef.position.y = 1.5f * float32(j) * boxScale.y;
bdef.position.y = 2.5f * float32(j) * boxScale.y;
bdef.position.z = float32(k) * boxScale.z;
bdef.position += stackOrigin;
b3Body* body = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_boxHull;
hs.m_hull = &boxHull;
b3ShapeDef sdef;
sdef.density = 0.5f;
sdef.density = 0.1f;
sdef.friction = 0.3f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
body->CreateShape(sdef);
}
}
}
@ -94,4 +100,4 @@ public:
}
};
#endif
#endif