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add Bullet 2.x CPU FeatherstoneMultiBodyDemo

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This commit is contained in:
erwin coumans
2013-12-09 14:16:51 -08:00
parent 9379c7fb8c
commit ba2ba28a89
4 changed files with 784 additions and 1 deletions
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4
btgui/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -407,6 +407,8 @@ GLInstancingRenderer::~GLInstancingRenderer()
void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
{
b3Assert(srcIndex<m_data->m_totalNumInstances);
b3Assert(srcIndex>=0);
m_data->m_instance_positions_ptr[srcIndex*4+0]=position[0];
m_data->m_instance_positions_ptr[srcIndex*4+1]=position[1];
m_data->m_instance_positions_ptr[srcIndex*4+2]=position[2];
@@ -605,7 +607,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
b3Error("registerGraphicsInstance out of range, %d\n", maxElements);
return -1;
}
return gfxObj->m_numGraphicsInstances;
return index;//gfxObj->m_numGraphicsInstances;
}