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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
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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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examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -15,7 +15,7 @@ struct UrdfRenderingInterface
virtual ~UrdfRenderingInterface() {}
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int collisionObjectUid) = 0;