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Create project file for BussIK inverse kinematics library (premake, cmake)

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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
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42
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -146,11 +146,26 @@ struct OpenGLGuiHelperInternalData
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
bool m_vrMode;
int m_vrSkipShadowPass;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
btAlignedObjectArray<float> m_depthBuffer1;
OpenGLGuiHelperInternalData()
:m_vrMode(false),
m_vrSkipShadowPass(0)
{
}
};
void OpenGLGuiHelper::setVRMode(bool vrMode)
{
m_data->m_vrMode = vrMode;
m_data->m_vrSkipShadowPass = 0;
}
OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
@@ -269,6 +284,10 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
}
void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//in VR mode, we skip the synchronization for the second eye
if (m_data->m_vrMode && m_data->m_vrSkipShadowPass==1)
return;
int numCollisionObjects = rbWorld->getNumCollisionObjects();
for (int i = 0; i<numCollisionObjects; i++)
{
@@ -288,8 +307,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
{
m_data->m_glApp->m_renderer->renderScene();
if (m_data->m_vrMode)
{
//in VR, we skip the shadow generation for the second eye
if (m_data->m_vrSkipShadowPass>=1)
{
m_data->m_glApp->m_renderer->renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
m_data->m_vrSkipShadowPass=0;
} else
{
m_data->m_glApp->m_renderer->renderScene();
m_data->m_vrSkipShadowPass++;
}
} else
{
m_data->m_glApp->m_renderer->renderScene();
}
//backwards compatible OpenGL2 rendering
if (m_data->m_gl2ShapeDrawer && rbWorld)