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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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12
examples/testbed/tests/thin.h
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@ -49,6 +49,16 @@ public:
b3Shape* shape = body->CreateShape(sdef);
}
static b3BoxHull thinHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(4.05f, 2.0f * B3_LINEAR_SLOP, 4.05f);
thinHull.SetTransform(xf);
}
b3Vec3 stackOrigin;
stackOrigin.Set(0.0f, 4.05f, 0.0f);
@ -73,7 +83,7 @@ public:
b3Body* body = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_thinHull;
hs.m_hull = &thinHull;
b3ShapeDef sdef;
sdef.shape = &hs;