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Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion

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Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
This commit is contained in:
erwincoumans
2018-11-16 17:29:03 -08:00
parent b13e84e43c
commit 9e99f5cdbc
9 changed files with 640 additions and 6 deletions
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2
src/LinearMath/btThreads.cpp
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@@ -241,7 +241,7 @@ struct ThreadsafeCounter
}
};
static btITaskScheduler* gBtTaskScheduler;
static btITaskScheduler* gBtTaskScheduler=0;
static int gThreadsRunningCounter = 0; // useful for detecting if we are trying to do nested parallel-for calls
static btSpinMutex gThreadsRunningCounterMutex;
static ThreadsafeCounter gThreadCounter;