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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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3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -663,6 +663,7 @@ struct CalculateInverseDynamicsArgs
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
int m_flags;
};
struct CalculateInverseDynamicsResultArgs
@@ -693,6 +694,8 @@ struct CalculateMassMatrixArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
int m_dofCountQ;
int m_flags;
};
struct CalculateMassMatrixResultArgs