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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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15
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true;
int shadowMapWidth= 2048;//8192;
int shadowMapWidth= 2048;
int shadowMapHeight= 2048;
float shadowMapWorldSize=5;
@@ -329,6 +329,19 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
}
void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation)
{
b3Assert(srcIndex<m_data->m_totalNumInstances);
b3Assert(srcIndex>=0);
position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
position[1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
position[2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
orientation[0] = m_data->m_instance_quaternion_ptr[srcIndex*4+0];
orientation[1] = m_data->m_instance_quaternion_ptr[srcIndex*4+1];
orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
{
m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);