fix capsule to hull contact generation, add weld joint with an alternative constraint model

examples/testbed/tests/weld_test.h

@@ -0,0 +1,94 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef WELD_TEST_H
+#define WELD_TEST_H
+
+class WeldTest : public Test
+{
+public:
+	WeldTest()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape shape;
+			shape.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+
+			ground->CreateShape(sd);
+		}
+
+		b3Body* hinge, *door;
+
+		{
+			b3BodyDef bd;
+			bd.type = b3BodyType::e_dynamicBody;
+			bd.position.Set(-2.0f, 5.05f, 0.0f);
+			hinge = m_world.CreateBody(bd);
+
+			b3CapsuleShape shape;
+			shape.m_centers[0].Set(0.0f, -3.5f, 0.0f);
+			shape.m_centers[1].Set(0.0f, 3.5f, 0.0f);
+			shape.m_radius = 0.5f;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			sd.density = 1.0f;
+
+			hinge->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);
+
+			b3HullShape hull;
+			hull.m_hull = &m_doorHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hull;
+			sdef.density = 2.0f;
+
+			door->CreateShape(sdef);
+		}
+
+		{
+			b3Vec3 hingeAnchor(-2.0f, 5.0f, 0.0f);
+
+			b3WeldJointDef jd;
+			jd.Initialize(hinge, door, hingeAnchor);
+			
+			b3WeldJoint* wj = (b3WeldJoint*)m_world.CreateJoint(jd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new WeldTest();
+	}
+};
+
+#endif