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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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8
examples/TinyRenderer/model.cpp
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@@ -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));