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Add preliminary PhysX 4.0 backend for PyBullet

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Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
This commit is contained in:
erwincoumans
2019-01-22 21:08:37 -08:00
parent 80684f44ea
commit ae8e83988b
366 changed files with 131855 additions and 359 deletions
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5
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
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@@ -202,15 +202,14 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::eSpherical:
link.joint_type = SPHERICAL;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
link.body_axis_of_motion(1) = 1;
link.body_axis_of_motion(2) = 0;
break;
case btMultibodyLink::ePlanar:
bt_id_error_message("planar joints not implemented\n");