add option to use hardware OpenGL renderer for synthetic camera

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -200,7 +200,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 	btVector3 gravity(0,0,0);
-	//gravity[upAxis]=-9.8;
+	gravity[upAxis]=-9.8;
 
 	m_dynamicsWorld->setGravity(gravity);
 
@@ -342,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=false;
+		bool createGround=true;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);