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

examples/testbed/tests/initial_overlap.h

@@ -0,0 +1,102 @@
+/*
+* 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 INITIAL_OVERLAP_H
+#define INITIAL_OVERLAP_H
+
+class InitialOverlap : public Test
+{
+public:
+	InitialOverlap()
+	{
+		g_camera.m_center.Set(2.0f, -2.0f, 0.0f);
+		g_camera.m_zoom = 10.0f;
+
+		{
+			b3BodyDef bd;
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			body->CreateShape(sd);
+		}
+
+		b3Vec3 boxScale(1.0f, 0.5f, 2.0f);
+
+		static b3BoxHull boxHull;
+
+		b3Transform m;
+		m.rotation = b3Diagonal(boxScale.x, boxScale.y, boxScale.z);
+		m.position.SetZero();
+
+		boxHull.SetTransform(m);
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 1.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.density = 0.1f;
+			sd.friction = 0.3f;
+
+			body->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 1.5f, 0.0f);
+
+			b3Quat q_y(b3Vec3(0.0f, 1.0f, 0.0f), 0.4f * B3_PI);
+			b3Quat q_z(b3Vec3(0.0f, 0.0f, 1.0f), 0.04f * B3_PI);
+			b3Quat q = q_z * q_y;
+
+			bd.orientation = q;
+
+			b3Body* body = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+			sd.density = 0.1f;
+			sd.friction = 0.3f;
+
+			body->CreateShape(sd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new InitialOverlap();
+	}
+};
+
+#endif