Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Implement btMultiBodySphericalJointMotor, able to track a quaternion position target.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -445,7 +445,7 @@ enum EnumSimDesiredStateUpdateFlags
SIM_DESIRED_STATE_HAS_KD = 4,
SIM_DESIRED_STATE_HAS_KP = 8,
SIM_DESIRED_STATE_HAS_MAX_FORCE = 16,
SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32
SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32,
};
enum EnumSimParamUpdateFlags