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add capsule support in urdf parser (non-standard extension), capsule.urdf

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fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
This commit is contained in:
Erwin Coumans
2017-01-23 16:45:18 -08:00
parent 73e83d6e84
commit d465e1eea5
6 changed files with 87 additions and 22 deletions
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12
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -94,9 +94,19 @@ struct TinyRendererVisualShapeConverterInternalData
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_lightDirection(btVector3(-5,200,-40)),
m_hasLightDirection(false),
m_lightColor(btVector3(1.0,1.0,1.0)),
m_hasLightColor(false),
m_hasShadow(false)
m_lightDistance(2.0),
m_hasLightDistance(false),
m_lightAmbientCoeff(0.6),
m_hasLightAmbientCoeff(false),
m_lightDiffuseCoeff(0.35),
m_hasLightDiffuseCoeff(false),
m_lightSpecularCoeff(0.05),
m_hasLightSpecularCoeff(false),
m_hasShadow(false)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_shadowBuffer.resize(m_swWidth*m_swHeight);