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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/hinge_chain.h
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@@ -28,6 +28,14 @@ public:
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), -0.15f * B3_PI);
g_camera.m_center.SetZero();
static b3BoxHull doorHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
doorHull.SetTransform(xf);
}
float32 x = -50.0f;
float32 y = 0.0f;
@@ -39,7 +47,7 @@ public:
lastHinge = m_world.CreateBody(bd);
b3HullShape hull;
hull.m_hull = &m_doorHull;
hull.m_hull = &doorHull;
b3ShapeDef sdef;
sdef.shape = &hull;
@@ -57,7 +65,7 @@ public:
b3Body* hinge = m_world.CreateBody(bd);
b3HullShape hull;
hull.m_hull = &m_doorHull;
hull.m_hull = &doorHull;
b3ShapeDef sdef;
sdef.shape = &hull;
@@ -71,7 +79,7 @@ public:
b3RevoluteJointDef jd;
jd.Initialize(lastHinge, hinge, hingeAxis, hingeAnchor, 0.0f, 0.5f * B3_PI);
jd.collideLinked = true;
jd.collideLinked = false;
b3RevoluteJoint* rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
}