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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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setup.py
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@@ -317,6 +317,7 @@ sources = ["examples/pybullet/pybullet.c"]\
+["src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp"]\
+["src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"]\
+["src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"]\
+["src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp"]\
+["src/BulletDynamics/Vehicle/btRaycastVehicle.cpp"]\
+["src/BulletDynamics/Vehicle/btWheelInfo.cpp"]\
+["src/BulletDynamics/Character/btKinematicCharacterController.cpp"]\