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[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility

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[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
This commit is contained in:
Erwin Coumans
2017-01-16 08:23:49 -08:00
parent c0c4c8ba3f
commit 8e9181f85c
8 changed files with 156 additions and 24 deletions
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6
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -672,13 +672,15 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
if ((width*height*4) == bufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_RGBA, GL_UNSIGNED_BYTE, rgbaBuffer);
int glstat = glGetError();
int glstat;
glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}
if ((width*height*sizeof(float)) == depthBufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);
int glstat = glGetError();
int glstat;
glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}