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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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45
examples/testbed/tests/hinge_motor.h
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@@ -41,50 +41,60 @@ public:
{
b3BodyDef bd;
bd.position.Set(-2.0f, 5.05f, 0.0f);
bd.type = b3BodyType::e_staticBody;
bd.position.Set(0.0f, 7.0f, 0.0f);
hinge = m_world.CreateBody(bd);
b3CapsuleShape shape;
shape.m_centers[0].Set(0.0f, -3.5f, 0.0f);
shape.m_centers[1].Set(0.0f, 3.5f, 0.0f);
shape.m_centers[0].Set(0.0f, 0.0f, -4.0f);
shape.m_centers[1].Set(0.0f, 0.0f, 4.0f);
shape.m_radius = 0.5f;
b3ShapeDef sd;
sd.shape = &shape;
sd.density = 1.0f;
hinge->CreateShape(sd);
m_hinge = hinge;
m_body = hinge;
}
{
b3BodyDef bd;
bd.type = b3BodyType::e_dynamicBody;
bd.position.Set(1.0f, 5.05f, 0.0f);
bd.position.Set(2.0f, 7.0f, 0.0f);
door = m_world.CreateBody(bd);
m_doorBox.Set(1.0f, 0.5f, 4.0f);
b3HullShape hull;
hull.m_hull = &m_doorHull;
hull.m_hull = &m_doorBox;
b3ShapeDef sdef;
sdef.shape = &hull;
sdef.density = 2.0f;
sdef.density = 1.0f;
door->CreateShape(sdef);
}
{
b3Vec3 hingeAxis(0.0f, 1.0f, 0.0f);
b3Vec3 hingeAnchor(-2.0f, 5.0f, 0.0f);
b3Vec3 axis(0.0f, 0.0f, 1.0f);
b3Vec3 anchor(0.0f, 7.0f, 0.0f);
b3RevoluteJointDef jd;
jd.Initialize(hinge, door, hingeAxis, hingeAnchor, 0.0f, 0.5f * B3_PI);
jd.Initialize(hinge, door, axis, anchor, 0.0f, B3_PI);
jd.motorSpeed = B3_PI;
jd.maxMotorTorque = 10000.0f;
jd.maxMotorTorque = door->GetMass() * 10000.0f;
jd.enableMotor = true;
m_rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
}
// Invalidate the orientation
b3Vec3 axis(1.0f, 0.0f, 0.0f);
float32 angle = B3_PI;
door->SetTransform(door->GetPosition(), axis, angle);
}
void KeyDown(int button)
@@ -101,17 +111,17 @@ public:
if (button == GLFW_KEY_D)
{
m_hinge->SetType(e_dynamicBody);
m_body->SetType(e_dynamicBody);
}
if (button == GLFW_KEY_S)
{
m_hinge->SetType(e_staticBody);
m_body->SetType(e_staticBody);
}
if (button == GLFW_KEY_K)
{
m_hinge->SetType(e_kinematicBody);
m_body->SetType(e_kinematicBody);
}
}
@@ -120,7 +130,8 @@ public:
return new HingeMotor();
}
b3Body* m_hinge;
b3BoxHull m_doorBox;
b3Body* m_body;
b3RevoluteJoint* m_rj;
};