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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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26
examples/testbed/tests/hull_collision.h
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@@ -24,21 +24,24 @@ class HullAndHull : public Collide
public:
HullAndHull()
{
b3Transform xf;
xf.rotation = b3Diagonal(1.0f, 2.0f, 1.0f);
xf.position.SetZero();
b3Transform m;
m.rotation = b3Diagonal(1.0f, 2.0f, 1.0f);
m.position.Set(0.0f, 2.0f, 0.0f);
m_box1.SetTransform(m);
m_box.SetTransform(xf);
m.rotation = b3Diagonal(1.0f, 1.0f, 1.0f);
m.position.Set(0.0f, 0.0f, 0.0f);
m_box2.SetTransform(m);
b3Quat qA(0.0f, 1.0f, 0.0f, 0.025f * B3_PI);
m_xfA.SetIdentity();
m_xfA.position.Set(0.0186814368f, 1.96078217f, 0.0253920462f);
m_xfA.rotation = b3ConvertQuatToRot(qA);
m_sA.m_hull = &m_box;
m_xfA.position.SetZero();
m_xfA.rotation.SetIdentity();
m_sA.m_hull = &m_box1;
m_xfB.SetIdentity();
m_xfB.position.Set(0.f, 0.0f, 0.0f);
m_sB.m_hull = &m_box;
m_xfB.position.Set(0.0f, 0.0f, 0.0f);
m_xfB.rotation.SetIdentity();
m_sB.m_hull = &m_box2;
m_cache.count = 0;
m_shapeA = &m_sA;
@@ -50,7 +53,8 @@ public:
return new HullAndHull();
}
b3BoxHull m_box;
b3BoxHull m_box1;
b3BoxHull m_box2;
b3HullShape m_sA;
b3HullShape m_sB;
};