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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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examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
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@@ -21,8 +21,7 @@ static const char* useShadowMapInstancingFragmentShader= \
" vec3 ct,cf;\n"
" float intensity,at,af;\n"
" \n"
" intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );\n"
" \n"
" intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
" \n"
" af = 1.0;\n"
" \n"