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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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2
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -143,7 +143,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,32*1024*1024);
m_instancingRenderer = new GLInstancingRenderer(128*1024,64*1024*1024);
m_renderer = m_instancingRenderer ;
m_instancingRenderer->init();
m_instancingRenderer->resize(width,height);