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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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46
examples/testbed/tests/weld_test.h
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@@ -33,17 +33,17 @@ public:
b3ShapeDef sd;
sd.shape = &shape;
ground->CreateShape(sd);
}
b3Body* hinge, *door;
b3Body* bA, *bB;
{
b3BodyDef bd;
bd.type = b3BodyType::e_dynamicBody;
bd.position.Set(-2.0f, 5.05f, 0.0f);
hinge = m_world.CreateBody(bd);
bA = m_world.CreateBody(bd);
b3CapsuleShape shape;
shape.m_centers[0].Set(0.0f, -3.5f, 0.0f);
@@ -54,34 +54,46 @@ public:
sd.shape = &shape;
sd.density = 1.0f;
hinge->CreateShape(sd);
bA->CreateShape(sd);
}
{
b3BodyDef bd;
bd.type = b3BodyType::e_dynamicBody;
bd.orientation.Set(b3Vec3(1.0f, 0.0f, 0.0f), 0.25f * B3_PI);
bd.position.Set(1.0f, 5.05f, 0.0f);
door = m_world.CreateBody(bd);
bB = m_world.CreateBody(bd);
static b3BoxHull doorHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
doorHull.SetTransform(xf);
}
b3HullShape hull;
hull.m_hull = &m_doorHull;
hull.m_hull = &doorHull;
b3ShapeDef sdef;
sdef.shape = &hull;
sdef.density = 2.0f;
sdef.density = 1.0f;
door->CreateShape(sdef);
}
{
b3Vec3 hingeAnchor(-2.0f, 5.0f, 0.0f);
b3WeldJointDef jd;
jd.Initialize(hinge, door, hingeAnchor);
bB->CreateShape(sdef);
b3WeldJoint* wj = (b3WeldJoint*)m_world.CreateJoint(jd);
{
b3Vec3 anchor(-2.0f, 5.0f, 0.0f);
b3WeldJointDef jd;
jd.Initialize(bA, bB, anchor);
b3WeldJoint* wj = (b3WeldJoint*)m_world.CreateJoint(jd);
}
// Invalidate the orientation
b3Vec3 axis(1.0f, 0.0f, 0.0f);
float32 angle = B3_PI;
bB->SetTransform(bB->GetPosition(), axis, angle);
}
}