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fix some warnings, disable gimpact by default in world importer,

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use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
This commit is contained in:
Erwin Coumans
2015-07-27 13:28:47 -07:00
parent ad03dba2fa
commit 26531f3fbc
27 changed files with 248 additions and 290 deletions
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18
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -224,8 +224,8 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
float camPos[4];
cam->getCameraPosition(camPos);
b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
//b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
//b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
//float dist = (cp-p).length();
//float dv = 0;//dist/1000.f;
//
@@ -545,8 +545,8 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
};
//b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
b3AlignedObjectArray<unsigned int> indices;
b3AlignedObjectArray<b3Vector3> vertices;
b3AlignedObjectArray<unsigned int> indices;
b3AlignedObjectArray<b3Vector3> vertices;
int lineIndex=0;
for(int i=-gridSize;i<=gridSize;i++)
{
@@ -564,7 +564,7 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
indices.push_back(lineIndex++);
vertices.push_back(to);
indices.push_back(lineIndex++);
m_instancingRenderer->drawLine(from,to,gridColor);
// m_instancingRenderer->drawLine(from,to,gridColor);
}
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -583,16 +583,16 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
indices.push_back(lineIndex++);
vertices.push_back(to);
indices.push_back(lineIndex++);
m_instancingRenderer->drawLine(from,to,gridColor);
// m_instancingRenderer->drawLine(from,to,gridColor);
}
}
/*m_instancingRenderer->drawLines(&vertices[0].x,
m_instancingRenderer->drawLines(&vertices[0].x,
gridColor,
vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);
*/
m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0),3);
m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,1,0),b3MakeVector3(0,1,0),3);
@@ -766,7 +766,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
m_data->m_renderTexture->init(m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),renderTextureId, RENDERTEXTURE_COLOR);
}
bool result = m_data->m_renderTexture->enable();
m_data->m_renderTexture->enable();
}