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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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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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10
examples/testbed/tests/ray_cast.h
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@ -64,9 +64,17 @@ public:
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
static b3BoxHull boxHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
boxHull.SetTransform(xf);
}
b3HullShape hs;
hs.m_hull = &m_tallHull;
hs.m_hull = &boxHull;
b3ShapeDef sdef;
sdef.shape = &hs;