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add pybullet.multiplyTransforms and pybullet.invertTransform

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use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
This commit is contained in:
erwincoumans
2017-05-29 21:55:58 -07:00
parent 5436b8f048
commit 4e03c36fa6
7 changed files with 218 additions and 53 deletions
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6
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -225,7 +225,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_shadowTexture(0),
m_renderFrameBuffer(0)
{
m_lightPos=b3MakeVector3(-50,50,50);
m_lightPos=b3MakeVector3(-50,30,40);
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
@@ -405,6 +405,10 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
if (pg==0)
return;
int srcIndex = pg->m_internalInstanceIndex;
b3Assert(srcIndex<m_data->m_totalNumInstances);