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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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19
examples/testbed/tests/varying_friction.h
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@@ -40,15 +40,24 @@ public:
ground->CreateShape(sdef);
}
static b3BoxHull rampHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(25.0f, 0.5f, 25.0f);
rampHull.SetTransform(xf);
}
{
b3BodyDef bdef;
bdef.position.Set(-20.0f, 20.0f, 0.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), -0.1f * B3_PI);
b3Body* ramp = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_rampHull;
hs.m_hull = &rampHull;
b3ShapeDef sdef;
sdef.shape = &hs;
@@ -64,7 +73,7 @@ public:
b3Body* ramp = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_rampHull;
hs.m_hull = &rampHull;
b3ShapeDef sdef;
sdef.shape = &hs;
@@ -80,7 +89,7 @@ public:
b3Body* ramp = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_rampHull;
hs.m_hull = &rampHull;
b3ShapeDef sdef;
sdef.shape = &hs;
@@ -96,7 +105,7 @@ public:
b3Body* ramp = m_world.CreateBody(bdef);
b3HullShape hs;
hs.m_hull = &m_rampHull;
hs.m_hull = &rampHull;
b3ShapeDef sdef;
sdef.shape = &hs;