Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add kiva_shelf to prepare for picking/grasping task

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

1
examples/TinyRenderer/TinyRenderer.cpp
View File

@@ -138,6 +138,7 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
*/
}
m_model->reserveMemory(numVertices,numIndices);
for (int i=0;i<numVertices;i++)
{
m_model->addVertex(vertices[i*9],

8
examples/TinyRenderer/model.cpp
View File

@@ -76,6 +76,14 @@ void Model::loadDiffuseTexture(const char* relativeFileName)
diffusemap_.read_tga_file(relativeFileName);
}
void Model::reserveMemory(int numVertices, int numIndices)
{
verts_.reserve(numVertices);
norms_.reserve(numVertices);
uv_.reserve(numVertices);
faces_.reserve(numIndices);
}
void Model::addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v)
{
verts_.push_back(Vec3f(x,y,z));

1
examples/TinyRenderer/model.h
View File

@@ -32,6 +32,7 @@ public:
}
void loadDiffuseTexture(const char* relativeFileName);
void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
void reserveMemory(int numVertices, int numIndices);
void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
int vertexposIndex1, int normalIndex1, int uvIndex1,