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

examples/testbed/tests/capsule_and_hull_contact_1.h

@@ -0,0 +1,69 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CAPSULE_HULL_CONTACT_1_H
+#define CAPSULE_HULL_CONTACT_1_H
+
+class CapsuleAndHullContact1 : public Test
+{
+public:
+	CapsuleAndHullContact1()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(0.0f, 10.0f, 0.0f);
+			bdef.orientation.Set(b3Vec3(0.0f, 0.0f, -1.0f), 1.5f * B3_PI);
+			bdef.linearVelocity.Set(0.005f, -10.0f, 0.005f);
+			bdef.angularVelocity.Set(2000.0f * B3_PI, 2000.0f * B3_PI, 10000.0f * B3_PI);
+			
+			b3Body* body = m_world.CreateBody(bdef);
+	
+			b3CapsuleShape capsule;
+			capsule.m_centers[0].Set(0.0f, 4.0f, 0.0f);
+			capsule.m_centers[1].Set(0.0f, -4.0f, 0.0f);
+			capsule.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &capsule;
+			sd.density = 0.1f;
+
+			body->CreateShape(sd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new CapsuleAndHullContact1();
+	}
+};
+
+#endif