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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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18
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1813,6 +1813,13 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperRemoveAllGraphicsInstances:
{
#ifdef BT_ENABLE_VR
if (m_tinyVrGui)
{
delete m_tinyVrGui;
m_tinyVrGui=0;
}
#endif //BT_ENABLE_VR
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
@@ -2224,8 +2231,11 @@ void PhysicsServerExample::renderScene()
{
static int frameCount=0;
//static btScalar prevTime = m_clock.getTimeSeconds();
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static char line0[1024]={0};
static char line1[1024]={0};
#if 0
@@ -2233,7 +2243,8 @@ void PhysicsServerExample::renderScene()
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
@@ -2279,9 +2290,6 @@ void PhysicsServerExample::renderScene()
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
static char line0[1024];
static char line1[1024];
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);