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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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14
examples/testbed/tests/distance_test.h
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@ -54,22 +54,22 @@ public:
{
b3GJKFeaturePair featurePair = b3GetFeaturePair(m_cache);
for (u32 i = 0; i < featurePair.countA; ++i)
for (u32 i = 0; i < featurePair.count1; ++i)
{
u32 index = featurePair.indexA[i];
u32 index = featurePair.index1[i];
g_debugDraw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
}
for (u32 i = 0; i < featurePair.countB; ++i)
for (u32 i = 0; i < featurePair.count2; ++i)
{
u32 index = featurePair.indexB[i];
u32 index = featurePair.index2[i];
g_debugDraw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
}
}
g_debugDraw->DrawPoint(out.pointA, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.pointB, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(out.pointA, out.pointB, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawPoint(out.point1, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.point2, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(out.point1, out.point2, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawTransform(m_xfA);
g_debugDraw->DrawTransform(m_xfB);