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

examples/testbed/tests/hull_collision_2.h

@@ -0,0 +1,60 @@
+/*
+* 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 HULL_HULL2_H
+#define HULL_HULL2_H
+
+class HullAndHull2 : public Collide
+{
+public:
+	HullAndHull2()
+	{
+		b3Transform xf;
+		xf.position.SetZero();
+		xf.rotation = b3Diagonal(1.0f, 2.0f, 1.0f);
+		m_box.SetTransform(xf);
+
+		m_sA.m_hull = &m_box;
+		m_sB.m_hull = &m_box;
+		
+		m_xfA.position.Set(1.500000, 1.000000, 0.000000);
+		m_xfA.rotation.x.Set(0.707107, 0.000000, -0.707107);
+		m_xfA.rotation.y.Set(0.000000, 1.000000, 0.000000);
+		m_xfA.rotation.z.Set(0.707107, 0.000000, 0.707107);
+
+		m_xfB.position.Set(-1.300000, 0.000000, 0.000000);
+		m_xfB.rotation.x.Set(0.809017, 0.266849, -0.523721);
+		m_xfB.rotation.y.Set(0.000000, 0.891007, 0.453991);
+		m_xfB.rotation.z.Set(0.587785, -0.367286, 0.720840);
+
+		m_cache.count = 0;
+		m_shapeA = &m_sA;
+		m_shapeB = &m_sB;
+	}
+	
+	static Test* Create()
+	{
+		return new HullAndHull2();
+	}
+
+	b3BoxHull m_box;
+	b3HullShape m_sA;
+	b3HullShape m_sB;
+};
+
+#endif