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

examples/testbed/tests/cone_test.h

@@ -0,0 +1,84 @@
+/*
+* 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 CONE_TEST_H
+#define CONE_TEST_H
+
+class ConeTest : public Test
+{
+public:
+	ConeTest()
+	{
+		g_camera.m_zoom = 15.0f;
+		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), -0.2f * B3_PI);
+		g_camera.m_center.Set(0.0f, 0.0f, 0.0f);
+
+		b3Body* ref;
+		b3Body* head;
+		
+		{
+			b3BodyDef bd;
+			//bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 0.0f, 0.0f);			
+			ref = m_world.CreateBody(bd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 2.0f, 0.0f);
+			bd.angularVelocity.Set(0.0f, 0.05f * B3_PI, 0.0f);
+			head = m_world.CreateBody(bd);
+
+			b3CapsuleShape cs;
+			cs.m_centers[0].Set(0.0f, 0.15f, 0.0f);
+			cs.m_centers[1].Set(0.0f, -0.15f, 0.0f);
+			cs.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &cs;
+			sd.density = 10.0f;
+			head->CreateShape(sd);
+		}
+
+		{
+			b3Vec3 anchor(0.0f, 0.0f, 0.0f);
+			b3Vec3 axis(0.0f, 1.0f, 0.0f);
+			float32 coneAngle = 0.5f * B3_PI;
+
+			b3ConeJointDef cd;
+			cd.Initialize(ref, head, axis, anchor, coneAngle);
+			cd.enableLimit = true;
+			
+			b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
+		}
+		
+		// Invalidate the orientation
+		b3Vec3 axis(1.0f, 0.0f, 0.0f);
+		float32 angle = B3_PI;
+		head->SetTransform(head->GetPosition(), axis, angle);
+	}
+
+	static Test* Create()
+	{
+		return new ConeTest();
+	}
+};
+
+#endif