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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-06-02 18:26:04 -07:00
parent 0a29c8d9af 518c7ec00e
commit bfcbb339cf
126 changed files with 111577 additions and 2758 deletions
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15
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -179,10 +179,10 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeOut.m_dimensions[2] = 0;
visualShapeOut.m_meshAssetFileName[0] = 0;
if (visual->m_geometry.m_hasLocalMaterial) {
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_rgbaColor[3];
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
}
GLInstanceGraphicsShape* glmesh = 0;
@@ -555,7 +555,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
for (int i=0; i<4; i++)
{
rgbaColor[i] = (*matPtr)->m_rgbaColor[i];
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
}
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
@@ -754,7 +754,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
float near = projMat[14]/(projMat[10]-1);
float far = projMat[14]/(projMat[10]+1);
m_data->m_camera.setCameraFrustumNear( near);
m_data->m_camera.setCameraFrustumFar(far);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);