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fix some btMultiBody URDF conversion issues in ImportURDFSetup

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remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h"
btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
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=
2015-02-12 09:11:55 -08:00
parent 70221aeb3e
commit 27aa959059
11 changed files with 473 additions and 142 deletions
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8
btgui/Bullet3AppSupport/CommonPhysicsSetup.h
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@@ -12,7 +12,7 @@ class btCollisionShape;
class btDiscreteDynamicsWorld;
///The GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
struct GraphicsPhysicsBridge
{
virtual ~GraphicsPhysicsBridge() {}
@@ -34,6 +34,11 @@ struct GraphicsPhysicsBridge
{
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }//, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
@@ -45,6 +50,7 @@ struct GraphicsPhysicsBridge
};
///Bullet 2 specific physics setup, that allows to share code between old and new demo frameworks
struct CommonPhysicsSetup
{
public: