6 Commits

Author	SHA1	Message	Date
erwin coumans	5d40d90bd0	add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call, ... then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.	2015-03-03 13:24:06 -08:00
=	27aa959059	fix some btMultiBody URDF conversion issues in ImportURDFSetup ... remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h" btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)	2015-02-12 09:11:55 -08:00
erwincoumans	a159fbac69	Improved URDF support for btMultiBody and separate graphics/collision/inertial frames and shapes ... 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	2015-01-22 17:56:24 -08:00
erwin coumans	548fe5b04e	fix crash in BasicDemo ... add small experiments to distribute points on a sphere prepare for coordinate frame demo (incomplete) fix/hack around gwen update of scroll bars and Focu	2014-12-16 14:27:38 -08:00
Erwin Coumans	e314f56f9d	refactor to allow various gfx backends (work-in-progress)	2014-09-23 18:27:16 -07:00
Erwin Coumans	07e2dcc749	minor cleanup of btgui/demo3 stuff, much more demo cleanup is needed ... moved some files in btgui/Bullet3AppSupport	2014-09-16 12:08:24 -07:00