Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -1142,6 +1142,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
     texData.m_width = width;
     texData.m_height = height;
     texData.textureData1 = texels;
+	texData.m_isCached = false;
     m_data->m_textures.push_back(texData);
     return m_data->m_textures.size()-1;
 }

setup.py

@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.6.4',
+	version='1.6.5',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
 
 ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
+///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
 ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
 {

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -136,6 +136,9 @@ btMultiBody::btMultiBody(int n_links,
 
     m_baseForce.setValue(0, 0, 0);
     m_baseTorque.setValue(0, 0, 0);
+
+	clearConstraintForces();
+	clearForcesAndTorques();
 }
 
 btMultiBody::~btMultiBody()

src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp

@@ -411,6 +411,8 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 
 	BT_PROFILE("solveConstraints");
 	
+	clearMultiBodyConstraintForces();
+
 	m_sortedConstraints.resize( m_constraints.size());
 	int i; 
 	for (i=0;i<getNumConstraints();i++)
@@ -669,7 +671,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		}
 	}
 
-	clearMultiBodyConstraintForces();
+	
 
 	m_solverMultiBodyIslandCallback->processConstraints();
 	

src/BulletDynamics/Featherstone/btMultiBodyLink.h

@@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce;    // In WORLD frame
 		m_cachedRVector.setValue(0, 0, 0);
 		m_appliedForce.setValue( 0, 0, 0);
 		m_appliedTorque.setValue(0, 0, 0);
+		m_appliedConstraintForce.setValue(0,0,0);
+		m_appliedConstraintTorque.setValue(0,0,0);
 		//		
 		m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
 		m_jointPos[3] = 1.f;			//"quat.w"