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Improved URDF support for btMultiBody and separate graphics/collision/inertial frames and shapes

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Fix WinXP GetTickCount64 with a typedef
Expose debug drawing mode/flags in UI (hot keys A,D,L,W for now, buttons later)
GLInstancingRenderer: tweak near/far planes to allow closer approach of camera
btDiscreteDynamicsWorld: enable debug drawing for btGeneric6DofSpring2Constraint
btMultiBodyDynamicsWorld: enable basic debug drawing for btMultiBody
btMultibody: allow center-of-mass shift for prismatic and fixed constraint
This commit is contained in:
erwincoumans
2015-01-22 17:56:24 -08:00
parent 6e70f285e1
commit a159fbac69
28 changed files with 1022 additions and 674 deletions
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26
Demos3/AllBullet2Demos/main.cpp
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@@ -234,9 +234,10 @@ extern bool useShadowMap;
static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool pauseSimulation=false;//true;
int gDebugDrawFlags = 0;
static bool pauseSimulation=true;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;
//#include <float.h>
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
@@ -268,9 +269,28 @@ void MyKeyboardCallback(int key, int state)
//if (handled)
// return;
if (key=='a' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
}
if (key=='c' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
}
if (key == 'd' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
}
if (key=='l' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
}
if (key=='w' && state)
{
visualWireframe=!visualWireframe;
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
}
if (key=='v' && state)
{
@@ -792,7 +812,7 @@ int main(int argc, char* argv[])
}
{
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
sCurrentDemo->physicsDebugDraw();
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
}
}