void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(30.f);
tr[0].setOrigin(SimdVector3(0,0,0));
tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(0.2,4,4);
SimdVector3 boxHalfExtentsB(6,6,6);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
/* BU_Simplex1to4 boxB;
boxB.AddVertex(SimdPoint3(-5,0,-5));
boxB.AddVertex(SimdPoint3(5,0,-5));
boxB.AddVertex(SimdPoint3(0,0,5));
boxB.AddVertex(SimdPoint3(0,5,0));
*/
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->SetMargin(0.01f);
shapePtr[1]->SetMargin(0.01f);
SimdTransform tr;
tr.setIdentity();
}
int main(int argc,char** argv)
{
setCameraDistance(20.f);
tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
//tr[0].setOrigin(SimdVector3(0,0,0));
//tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
BoxShape boxA(boxHalfExtentsA);
BoxShape boxB(boxHalfExtentsB);
shapePtr[0] = &boxA;
shapePtr[1] = &boxB;
SimdTransform tr;
tr.setIdentity();
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
}