Merge pull request #1149 from erwincoumans/master

use a fixed joint instead of crashing for unsupported joint types (pl…

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -362,8 +362,14 @@ void ConvertURDF2BulletInternal(
 
             switch (jointType)
             {
+				case URDFFloatingJoint:
+				case URDFPlanarJoint:
                 case URDFFixedJoint:
                 {
+					if ((jointType==URDFFloatingJoint)||(jointType==URDFPlanarJoint))
+					{
+						printf("Warning: joint unsupported, creating a fixed joint instead.");
+					}
                     if (createMultiBody)
                     {
                         //todo: adjust the center of mass transform and pivot axis properly

examples/OpenGLWindow/SimpleCamera.cpp

@@ -421,3 +421,13 @@ float SimpleCamera::getCameraFrustumNear() const
 {
     return m_data->m_frustumZNear;
 }
+
+void SimpleCamera::setCameraFrustumFar(float far)
+{
+	m_data->m_frustumZFar = far;
+}
+
+void SimpleCamera::setCameraFrustumNear(float near)
+{
+	m_data->m_frustumZNear = near;
+}

examples/OpenGLWindow/SimpleCamera.h

@@ -54,6 +54,9 @@ struct SimpleCamera : public CommonCameraInterface
     
     virtual float getCameraFrustumFar() const;
     virtual float getCameraFrustumNear() const;
+
+	virtual void setCameraFrustumFar(float far);
+    virtual void setCameraFrustumNear(float near);
 };
 
 #endif //SIMPLE_CAMERA_H

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -726,6 +726,11 @@ 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]);