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Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof,

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Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
This commit is contained in:
Erwin Coumans
2019-07-21 13:08:22 -07:00
parent dff277ad7b
commit 39a4e8dcd9
12 changed files with 1503 additions and 171 deletions
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10
examples/Utils/ChromeTraceUtil.cpp
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@@ -50,6 +50,11 @@ struct btTimings
m_firstTiming = false;
if (startTime > endTime)
{
endTime = startTime;
}
unsigned long long int startTimeDiv1000 = startTime / 1000;
unsigned long long int endTimeDiv1000 = endTime / 1000;
@@ -62,10 +67,7 @@ struct btTimings
#else
if (startTime > endTime)
{
endTime = startTime;
}
unsigned int startTimeRem1000 = startTime % 1000;
unsigned int endTimeRem1000 = endTime % 1000;