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add 'fixed' joint for btMultiBody

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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
This commit is contained in:
erwin coumans
2014-08-28 18:42:08 -07:00
parent 3c558ec995
commit 89addd438e
19 changed files with 1276 additions and 304 deletions
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95
btgui/Gwen/Controls/TreeControl.cpp
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@@ -130,20 +130,23 @@ bool TreeControl::OnKeyUp( bool bDown )
//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
}
@@ -186,20 +189,23 @@ bool TreeControl::OnKeyDown( bool bDown )
//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
//float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
}
@@ -228,20 +234,23 @@ bool TreeControl::OnKeyRight( bool bDown )
// float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
Invalidate();
@@ -273,23 +282,25 @@ bool TreeControl::OnKeyLeft( bool bDown )
// float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
Invalidate();
}
Invalidate();
}
//viewSize/contSize