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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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6
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
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@@ -11,7 +11,7 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~EGLRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);
@@ -55,6 +55,10 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
virtual void setProjectiveTexture(bool useProjectiveTexture);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
virtual void mouseMoveCallback(float x, float y);
virtual void mouseButtonCallback(int button, int state, float x, float y);
};
#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H