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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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15
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -66,6 +66,7 @@ struct TinyRendererVisualShapeConverterInternalData
// Maps bodyUniqueId to a list of visual shapes belonging to the body.
btHashMap<btHashInt, btAlignedObjectArray<b3VisualShapeData> > m_visualShapesMap;
int m_uidGenerator;
int m_upAxis;
int m_swWidth;
int m_swHeight;
@@ -92,6 +93,7 @@ struct TinyRendererVisualShapeConverterInternalData
TinyRendererVisualShapeConverterInternalData()
: m_upAxis(2),
m_uidGenerator(1),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB),
@@ -606,12 +608,13 @@ static btVector4 sColors[4] =
//btVector4(1,1,0,1),
};
void TinyRendererVisualShapeConverter::convertVisualShapes(
int TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId,
const UrdfLink* linkPtr, const UrdfModel* model, int unused,
int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
int uniqueId = m_data->m_uidGenerator++;
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
{
@@ -699,12 +702,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[uniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(collisionObjectUniqueId, new TinyRendererObjectArray);
m_data->m_swRenderInstances.insert(uniqueId, new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
visualsPtr = m_data->m_swRenderInstances[uniqueId];
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
@@ -778,6 +781,8 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
shapes->push_back(visualShape);
}
}
return uniqueId;
}
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)

2
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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@@ -11,7 +11,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~TinyRendererVisualShapeConverter();
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);