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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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79
examples/testbed/tests/quickhull_test.h
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@@ -266,28 +266,26 @@ inline b3Hull ConvertHull(const qhHull& hull)
inline void ConstructCylinder(b3Array<b3Vec3>& points, float32 radius = 1.0f, float32 height = 1.0f)
{
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
b3Vec3 normal(0.0f, 1.0f, 0.0f);
b3Quat q(normal, kAngleInc);
points.Resize(4 * kEdgeCount);
u32 j = 0;
{
b3Vec3 center(0.0f, 0.0f, 0.0f);
b3Vec3 normal;
normal.Set(0.0f, 1.0f, 0.0f);
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
float32 cosInc = cos(kAngleInc);
float32 sinInc = sin(kAngleInc);
float32 tInc = 1.0f - cosInc;
b3Vec3 n1 = b3Perp(normal);
b3Vec3 n1(1.0f, 0.0f, 0.0f);
b3Vec3 v1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
{
// Rodrigues' rotation formula
b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 v2 = center + radius * n2;
points.PushBack(v1);
points.PushBack(v2);
points[j++] = v1;
points[j++] = v2;
n1 = n2;
v1 = v2;
@@ -296,26 +294,15 @@ inline void ConstructCylinder(b3Array<b3Vec3>& points, float32 radius = 1.0f, fl
{
b3Vec3 center(0.0f, height, 0.0f);
b3Vec3 normal;
normal.Set(0.0f, 1.0f, 0.0f);
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
float32 cosInc = cos(kAngleInc);
float32 sinInc = sin(kAngleInc);
float32 tInc = 1.0f - cosInc;
b3Vec3 n1 = b3Perp(normal);
b3Vec3 n1(1.0f, 0.0f, 0.0f);
b3Vec3 v1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
{
// Rodrigues' rotation formula
b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 v2 = center + radius * n2;
points.PushBack(v1);
points.PushBack(v2);
points[j++] = v1;
points[j++] = v2;
n1 = n2;
v1 = v2;
@@ -325,36 +312,34 @@ inline void ConstructCylinder(b3Array<b3Vec3>& points, float32 radius = 1.0f, fl
inline void ConstructCone(b3Array<b3Vec3>& points, float32 radius = 1.0f, float32 height = 1.0f)
{
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
b3Vec3 normal(0.0f, 1.0f, 0.0f);
b3Quat q(normal, kAngleInc);
points.Resize(2 * kEdgeCount + 1);
u32 j = 0;
{
b3Vec3 center(0.0f, 0.0f, 0.0f);
b3Vec3 normal;
normal.Set(0.0f, 1.0f, 0.0f);
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
float32 cosInc = cos(kAngleInc);
float32 sinInc = sin(kAngleInc);
float32 tInc = 1.0f - cosInc;
b3Vec3 n1 = b3Perp(normal);
b3Vec3 n1(1.0f, 0.0f, 0.0f);
b3Vec3 v1 = center + radius * n1;
for (u32 i = 0; i < kEdgeCount; ++i)
{
// Rodrigues' rotation formula
b3Vec3 n2 = cosInc * n1 + sinInc * b3Cross(normal, n1) + tInc * b3Dot(normal, n1) * normal;
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 v2 = center + radius * n2;
points.PushBack(v1);
points.PushBack(v2);
points[j++] = v1;
points[j++] = v2;
n1 = n2;
v1 = v2;
}
}
b3Vec3 c(0.0f, height, 0.0f);
points.PushBack(c);
points[j++] = c;
}
class QuickhullTest : public Test