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X11OpenGLWindow: create stencil buffer for shadows in OpenGL2 mode (OpenGL3 uses shadow maps)

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Add 'createCollisionObjectGraphicsObject' API for CommonPhysicsSetup
Add 'pthread' dependency as workaround for NVIDIA graphics driver issue
(see //See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
)
This commit is contained in:
Erwin Coumans
2014-08-26 11:28:44 -07:00
parent 1e956c8002
commit 2b35911f2a
19 changed files with 702 additions and 53 deletions
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38
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -364,21 +364,40 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
int argc=0;
const char* filename="somefile.urdf";
//int argc=0;
const char* someFileName="r2d2.urdf";
std::string xml_string;
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
FILE* f=0;
bool fileFound = false;
int result = 0;
for (int i=0;!f && i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],someFileName);
f = fopen(relativeFileName,"rb");
if (f)
{
fileFound = true;
break;
}
}
if (f)
{
fclose(f);
}
if (argc < 2){
std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
if (!fileFound){
std::cerr << "URDF file not found, using a dummy test URDF" << std::endl;
xml_string = std::string(urdf_char);
} else
{
std::fstream xml_file(filename, std::fstream::in);
std::fstream xml_file(relativeFileName, std::fstream::in);
while ( xml_file.good() )
{
std::string line;
@@ -407,7 +426,8 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
printTree(root_link);
btTransform worldTrans;
worldTrans.setIdentity();
if (1)
{
URDF2BulletMappings mappings;
URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings);