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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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19
examples/testbed/tests/jenga.h
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@ -46,8 +46,15 @@ public:
body->CreateShape(sd);
}
b3Vec3 boxScale;
boxScale.Set(1.0f, 0.5f, 3.0f);
b3Vec3 boxScale(1.0f, 0.5f, 3.0f);
static b3BoxHull boxHull;
b3Transform m;
m.rotation = b3Diagonal(boxScale.x, boxScale.y, boxScale.z);
m.position.SetZero();
boxHull.SetTransform(m);
float32 y = 2.0f;
@ -65,12 +72,12 @@ public:
b3Body* body = m_world.CreateBody(bd);
b3HullShape hs;
hs.m_hull = &m_plankHull;
hs.m_hull = &boxHull;
b3ShapeDef sd;
sd.shape = &hs;
sd.density = 0.1f;
sd.friction = 0.1f;
sd.friction = 0.3f;
body->CreateShape(sd);
}
@ -91,7 +98,7 @@ public:
b3Body* body = m_world.CreateBody(bd);
b3HullShape hs;
hs.m_hull = &m_plankHull;
hs.m_hull = &boxHull;
b3ShapeDef sd;
sd.shape = &hs;
@ -111,4 +118,4 @@ public:
}
};
#endif
#endif