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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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102
examples/testbed/tests/quadric_shapes.h
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@ -34,35 +34,6 @@ public:
g_camera.m_zoom = 20.0f;
g_settings.drawCenterOfMasses = true;
{
b3StackArray<b3Vec3, 32> points;
ConstructCone(points);
u32 size = qhGetMemorySize(points.Count());
void* p = b3Alloc(size);
qhHull hull;
hull.Construct(p, points);
m_coneHull = ConvertHull(hull);
b3Free(p);
}
{
b3StackArray<b3Vec3, 32> points;
ConstructCylinder(points);
const u32 size = qhGetMemorySize(points.Count());
void* p = b3Alloc(size);
qhHull hull;
hull.Construct(p, points);
m_cylinderHull = ConvertHull(hull);
b3Free(p);
}
{
b3BodyDef bd;
b3Body* ground = m_world.CreateBody(bd);
@ -79,10 +50,63 @@ public:
{
b3BodyDef bdef;
bdef.type = e_dynamicBody;
bdef.position.Set(2.0f, 5.0f, 0.0f);
bdef.position.Set(-10.0f, 5.0f, 0.0f);
b3Body* body = m_world.CreateBody(bdef);
b3SphereShape sphere;
sphere.m_center.SetZero();
sphere.m_radius = 1.0f;
b3ShapeDef sdef;
sdef.density = 0.1f;
sdef.friction = 0.3f;
sdef.shape = &sphere;
body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = e_dynamicBody;
bdef.position.Set(-5.0f, 5.0f, 0.0f);
b3Body* body = m_world.CreateBody(bdef);
b3CapsuleShape capsule;
capsule.m_centers[0].Set(0.0f, 0.0f, -1.0f);
capsule.m_centers[1].Set(0.0f, 0.0f, 1.0f);
capsule.m_radius = 1.0f;
b3ShapeDef sdef;
sdef.density = 0.1f;
sdef.friction = 0.2f;
sdef.shape = &capsule;
body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = e_dynamicBody;
bdef.position.Set(0.0f, 5.0f, 0.0f);
b3Body* body = m_world.CreateBody(bdef);
{
b3StackArray<b3Vec3, 32> points;
ConstructCone(points);
u32 size = qhGetMemorySize(points.Count());
void* p = b3Alloc(size);
qhHull hull;
hull.Construct(p, points);
m_coneHull = ConvertHull(hull);
b3Free(p);
}
b3HullShape hull;
hull.m_hull = &m_coneHull;
@ -97,16 +121,30 @@ public:
{
b3BodyDef bdef;
bdef.type = e_dynamicBody;
bdef.position.Set(-2.0f, 5.0f, 0.0f);
bdef.position.Set(4.0f, 5.0f, 0.0f);
b3Body* body = m_world.CreateBody(bdef);
{
b3StackArray<b3Vec3, 32> points;
ConstructCylinder(points);
const u32 size = qhGetMemorySize(points.Count());
void* p = b3Alloc(size);
qhHull hull;
hull.Construct(p, points);
m_cylinderHull = ConvertHull(hull);
b3Free(p);
}
b3HullShape hull;
hull.m_hull = &m_cylinderHull;
b3ShapeDef sdef;
sdef.density = 0.1f;
sdef.friction = 0.3f;
sdef.friction = 0.2f;
sdef.shape = &hull;
body->CreateShape(sdef);