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Merge pull request #2030 from erwincoumans/master

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some fixes in inverse dynamics, PyBullet example comparing explicit pd, stable pd control, position control (constraint)
This commit is contained in:
erwincoumans
2018-12-22 16:17:26 -08:00
committed by GitHub
parent 4a66d6c80b d477d18ad6
commit 8bc1c8e01b
14 changed files with 204 additions and 51 deletions
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6
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -764,6 +764,12 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
btVector3 ax1A = trA.getBasis().getColumn(2);
btVector3 ax1B = trB.getBasis().getColumn(2);
btVector3 ax1 = ax1A * factA + ax1B * factB;
if (ax1.length2()<SIMD_EPSILON)
{
factA=0.f;
factB=1.f;
ax1 = ax1A * factA + ax1B * factB;
}
ax1.normalize();
// fill first 3 rows
// we want: velA + wA x relA == velB + wB x relB

9
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -134,6 +134,15 @@ public:
return m_baseCollider;
}
const btMultiBodyLinkCollider *getLinkCollider(int index) const
{
if (index >= 0 && index < getNumLinks())
{
return getLink(index).m_collider;
}
return 0;
}
btMultiBodyLinkCollider *getLinkCollider(int index)
{
if (index >= 0 && index < getNumLinks())