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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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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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30
examples/testbed/tests/collide_test.h
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@@ -38,33 +38,33 @@ public:
cache.featureCache.m_featurePair.state = b3SATCacheType::e_empty;
b3Manifold manifold;
manifold.GuessImpulses();
manifold.Initialize();
b3CollideShapeAndShape(manifold, m_xfA, m_shapeA, m_xfB, m_shapeB, &cache);
b3WorldManifold wm;
wm.Initialize(&manifold, m_xfA, m_shapeA->m_radius, m_xfB, m_shapeB->m_radius);
for (u32 i = 0; i < wm.pointCount; ++i)
for (u32 i = 0; i < manifold.pointCount; ++i)
{
b3WorldManifoldPoint* wmp = wm.points + i;
b3Vec3 pw = wmp->point;
b3WorldManifold wm;
wm.Initialize(&manifold, m_shapeA->m_radius, m_xfA, m_shapeB->m_radius, m_xfB);
b3Vec3 pw = wm.points[i].point;
b3Vec2 ps = g_camera.ConvertWorldToScreen(pw);
g_debugDraw->DrawPoint(pw, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(pw, pw + wmp->normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSegment(pw, pw + wm.points[i].normal, b3Color(1.0f, 1.0f, 1.0f));
}
if (wm.pointCount > 0)
if (g_settings.drawFaces)
{
g_debugDraw->DrawPoint(wm.center, 4.0f, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.normal, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent1, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent2, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawShape(m_shapeA, b3Color(1.0f, 1.0f, 1.0f, 0.5f), m_xfA);
g_debugDraw->DrawShape(m_shapeB, b3Color(1.0f, 1.0f, 1.0f, 0.5f), m_xfB);
}
m_world.DrawShape(m_xfA, m_shapeA);
m_world.DrawShape(m_xfB, m_shapeB);
if (g_settings.drawVerticesEdges)
{
m_world.DrawShape(m_xfA, m_shapeA);
m_world.DrawShape(m_xfB, m_shapeB);
}
}
virtual void KeyDown(int key)