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Add kiva_shelf to prepare for picking/grasping task

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Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
This commit is contained in:
erwin coumans
2016-07-14 00:05:57 -07:00
parent 10cc6f14cb
commit 4a705d1e03
25 changed files with 399 additions and 88 deletions
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4
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -19,7 +19,7 @@ subject to the following restrictions:
bool useShadowMap=true;//false;//true;
int shadowMapWidth=4096;//8192;
int shadowMapHeight=4096;
float shadowMapWorldSize=50;
float shadowMapWorldSize=25;
#define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024
@@ -75,7 +75,7 @@ float shadowMapWorldSize=50;
static InternalDataRenderer* sData2;
GLint lineWidthRange[2]={1,1};
static b3Vector3 gLightPos=b3MakeVector3(-5,200,-40);
static b3Vector3 gLightPos=b3MakeVector3(-5,12,-4);
struct b3GraphicsInstance
{