start of URDF parsing (extremely preliminary)

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1311,6 +1311,10 @@ void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName
 
 void GLInstancingRenderer::renderScene()
 {
+	//avoid some Intel driver on a Macbook Pro to lock-up
+	//todo: figure out what is going on on that machine
+
+	glFlush();
 
 	if (useShadowMap)
 	{

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -319,6 +319,7 @@ int	SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSpr
 	return graphicsShapeIndex;
 }
 
+
 void SimpleOpenGL3App::drawGrid(DrawGridData data)
 {
     int gridSize = data.gridSize;

btgui/OpenGLWindow/SimpleOpenGL3App.h

@@ -41,7 +41,7 @@ struct SimpleOpenGL3App
 
     void dumpNextFrameToPng(const char* pngFilename);
     void dumpFramesToVideo(const char* mp4Filename);
-
+    
 	void drawGrid(DrawGridData data=DrawGridData());
 	void swapBuffer();
 	void drawText( const char* txt, int posX, int posY);

btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h

@@ -65,7 +65,7 @@ public:
     this->clear();
     std::vector<std::string> pieces;
     std::vector<float> rgba;
-#if 0
+
     boost::split( pieces, vector_str, boost::is_any_of(" "));
     for (unsigned int i = 0; i < pieces.size(); ++i)
     {
@@ -86,7 +86,6 @@ public:
     {
       return false;
     }
-#endif
     this->r = rgba[0];
     this->g = rgba[1];
     this->b = rgba[2];