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
337
examples/testbed/tests/tumbler.h
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337
examples/testbed/tests/tumbler.h
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/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef TUMBLER_TEST_H
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#define TUMBLER_TEST_H
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#include <testbed/tests/quickhull_test.h>
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extern DebugDraw* g_debugDraw;
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extern Camera g_camera;
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extern Settings g_settings;
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class Tumbler : public Test
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{
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public:
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enum
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{
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e_count = 100
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};
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Tumbler()
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{
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g_camera.m_center.Set(0.0f, 10.0f, 0.0f);
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g_camera.m_q.SetIdentity();
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g_camera.m_zoom = 150.0f;
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{
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b3BodyDef bd;
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b3Body* ground = m_world.CreateBody(bd);
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bd.type = e_dynamicBody;
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b3Body* rotor = m_world.CreateBody(bd);
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(0.0f, -45.0f, 0.0f);
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m.rotation = b3Diagonal(50.0f, 1.0f, 200.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(0.0f, 50.0f, 0.0f);
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m.rotation = b3Diagonal(50.0f, 1.0f, 200.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(0.0f, 5.0f, -200.0f);
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m.rotation = b3Diagonal(50.0f, 50.0f, 1.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(0.0f, 5.0f, 200.0f);
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m.rotation = b3Diagonal(50.0f, 50.0f, 1.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(-50.0f, 5.0f, 0.0f);
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m.rotation = b3Diagonal(1.0f, 50.0f, 200.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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static b3BoxHull box;
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b3Transform m;
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m.position.Set(50.0f, 5.0f, 0.0f);
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m.rotation = b3Diagonal(1.0f, 50.0f, 200.0f);
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box.SetTransform(m);
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 5.0f;
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sd.shape = &hs;
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rotor->CreateShape(sd);
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}
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{
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b3RevoluteJointDef jd;
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jd.Initialize(ground, rotor, b3Vec3(0.0f, 0.0f, -1.0f), ground->GetPosition(), -B3_PI, B3_PI);
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jd.motorSpeed = 0.05f * B3_PI;
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jd.maxMotorTorque = 1000.0f * rotor->GetMass();
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jd.enableMotor = true;
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b3Joint* joint = (b3RevoluteJoint*)m_world.CreateJoint(jd);
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}
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}
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{
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b3StackArray<b3Vec3, 32> points;
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ConstructCone(points);
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u32 size = qhGetMemorySize(points.Count());
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void* p = b3Alloc(size);
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qhHull hull;
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hull.Construct(p, points);
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m_coneHull = ConvertHull(hull);
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b3Free(p);
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}
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{
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b3StackArray<b3Vec3, 32> points;
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ConstructCylinder(points);
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const u32 size = qhGetMemorySize(points.Count());
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void* p = b3Alloc(size);
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qhHull hull;
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hull.Construct(p, points);
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m_cylinderHull = ConvertHull(hull);
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b3Free(p);
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}
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m_count = 0;
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}
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~Tumbler()
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{
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{
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b3Free(m_coneHull.vertices);
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b3Free(m_coneHull.edges);
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b3Free(m_coneHull.faces);
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b3Free(m_coneHull.planes);
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}
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{
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b3Free(m_cylinderHull.vertices);
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b3Free(m_cylinderHull.edges);
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b3Free(m_cylinderHull.faces);
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b3Free(m_cylinderHull.planes);
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}
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}
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void Step()
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{
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if(m_count < e_count)
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{
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++m_count;
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(-10.0f, 5.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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b3SphereShape sphere;
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sphere.m_center.SetZero();
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sphere.m_radius = 1.0f;
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b3ShapeDef sdef;
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sdef.density = 1.0f;
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sdef.friction = 0.3f;
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sdef.shape = &sphere;
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body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(-5.0f, 5.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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b3CapsuleShape capsule;
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capsule.m_centers[0].Set(0.0f, 0.0f, -1.0f);
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capsule.m_centers[1].Set(0.0f, 0.0f, 1.0f);
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capsule.m_radius = 1.0f;
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b3ShapeDef sdef;
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sdef.density = 0.1f;
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sdef.friction = 0.2f;
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sdef.shape = &capsule;
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body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(0.0f, 0.0f, 0.0f);
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bdef.angularVelocity.Set(0.0f, 0.05f * B3_PI, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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static b3BoxHull box;
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box.SetIdentity();
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b3HullShape hs;
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hs.m_hull = &box;
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b3ShapeDef sd;
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sd.density = 0.05f;
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sd.shape = &hs;
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body->CreateShape(sd);
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}
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(0.0f, 5.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hull;
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hull.m_hull = &m_coneHull;
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b3ShapeDef sdef;
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sdef.density = 1.0f;
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sdef.friction = 0.3f;
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sdef.shape = &hull;
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body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(4.0f, 5.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hull;
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hull.m_hull = &m_cylinderHull;
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b3ShapeDef sdef;
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sdef.density = 1.0f;
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sdef.friction = 0.2f;
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sdef.shape = &hull;
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body->CreateShape(sdef);
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}
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}
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Test::Step();
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}
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static Test* Create()
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{
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return new Tumbler();
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}
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u32 m_count;
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b3Hull m_coneHull;
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b3Hull m_cylinderHull;
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};
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#endif
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