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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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3
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -612,10 +612,11 @@ void FeatherstoneDemo1::renderScene()
m_glApp->m_renderer->renderScene();
}
void FeatherstoneDemo1::physicsDebugDraw()
void FeatherstoneDemo1::physicsDebugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
m_dynamicsWorld->debugDrawWorld();
}
}