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Implement btMultiBodySphericalJointMotor, able to track a quaternion position target.

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Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose  btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
This commit is contained in:
erwincoumans
2018-11-13 14:32:18 -08:00
parent a06b5de7b6
commit 7dd524075c
13 changed files with 778 additions and 68 deletions
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examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -149,6 +149,8 @@ bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b
if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size()))
{
info = bodyJoints->m_jointInfo[jointIndex];
info.m_qSize = 0;
info.m_uSize = 0;
switch (info.m_jointType)
{
case eSphericalType: