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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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126
examples/ThirdPartyLibs/Eigen/src/StlSupport/StdDeque.h Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDDEQUE_H
#define EIGEN_STDDEQUE_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::deque such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef deque_base::allocator_type allocator_type; \
typedef deque_base::size_type size_type; \
typedef deque_base::iterator iterator; \
explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
template<typename InputIterator> \
deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
deque(const deque& c) : deque_base(c) {} \
explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
deque(iterator start, iterator end) : deque_base(start, end) {} \
deque& operator=(const deque& x) { \
deque_base::operator=(x); \
return *this; \
} \
}; \
}
// check whether we really need the std::deque specialization
#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
namespace std {
#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename deque_base::allocator_type allocator_type; \
typedef typename deque_base::size_type size_type; \
typedef typename deque_base::iterator iterator; \
typedef typename deque_base::const_iterator const_iterator; \
explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
template<typename InputIterator> \
deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: deque_base(first, last, a) {} \
deque(const deque& c) : deque_base(c) {} \
explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
deque(iterator start, iterator end) : deque_base(start, end) {} \
deque& operator=(const deque& x) { \
deque_base::operator=(x); \
return *this; \
}
template<typename T>
class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
EIGEN_STD_DEQUE_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
#if defined(_DEQUE_)
// workaround MSVC std::deque implementation
void resize(size_type new_size, const value_type& x)
{
if (deque_base::size() < new_size)
deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
else if (new_size < deque_base::size())
deque_base::erase(deque_base::begin() + new_size, deque_base::end());
}
void push_back(const value_type& x)
{ deque_base::push_back(x); }
void push_front(const value_type& x)
{ deque_base::push_front(x); }
using deque_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return deque_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ deque_base::insert(position, new_size, x); }
#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
// workaround GCC std::deque implementation
void resize(size_type new_size, const value_type& x)
{
if (new_size < deque_base::size())
deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
else
deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
}
#else
// either GCC 4.1 or non-GCC
// default implementation which should always work.
void resize(size_type new_size, const value_type& x)
{
if (new_size < deque_base::size())
deque_base::erase(deque_base::begin() + new_size, deque_base::end());
else if (new_size > deque_base::size())
deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
}
#endif
};
}
#endif // check whether specialization is actually required
#endif // EIGEN_STDDEQUE_H

106
examples/ThirdPartyLibs/Eigen/src/StlSupport/StdList.h Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDLIST_H
#define EIGEN_STDLIST_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::list such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class list<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef list_base::allocator_type allocator_type; \
typedef list_base::size_type size_type; \
typedef list_base::iterator iterator; \
explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
template<typename InputIterator> \
list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
list(const list& c) : list_base(c) {} \
explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
list(iterator start, iterator end) : list_base(start, end) {} \
list& operator=(const list& x) { \
list_base::operator=(x); \
return *this; \
} \
}; \
}
// check whether we really need the std::list specialization
#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_LIST) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
namespace std
{
#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename list_base::allocator_type allocator_type; \
typedef typename list_base::size_type size_type; \
typedef typename list_base::iterator iterator; \
typedef typename list_base::const_iterator const_iterator; \
explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
template<typename InputIterator> \
list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: list_base(first, last, a) {} \
list(const list& c) : list_base(c) {} \
explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
list(iterator start, iterator end) : list_base(start, end) {} \
list& operator=(const list& x) { \
list_base::operator=(x); \
return *this; \
}
template<typename T>
class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
EIGEN_STD_LIST_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
void resize(size_type new_size, const value_type& x)
{
if (list_base::size() < new_size)
list_base::insert(list_base::end(), new_size - list_base::size(), x);
else
while (new_size < list_base::size()) list_base::pop_back();
}
#if defined(_LIST_)
// workaround MSVC std::list implementation
void push_back(const value_type& x)
{ list_base::push_back(x); }
using list_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return list_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ list_base::insert(position, new_size, x); }
#endif
};
}
#endif // check whether specialization is actually required
#endif // EIGEN_STDLIST_H

131
examples/ThirdPartyLibs/Eigen/src/StlSupport/StdVector.h Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDVECTOR_H
#define EIGEN_STDVECTOR_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::vector such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef vector_base::allocator_type allocator_type; \
typedef vector_base::size_type size_type; \
typedef vector_base::iterator iterator; \
explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
template<typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
} \
}; \
}
// Don't specialize if containers are implemented according to C++11
#if !EIGEN_HAS_CXX11_CONTAINERS
namespace std {
#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename vector_base::allocator_type allocator_type; \
typedef typename vector_base::size_type size_type; \
typedef typename vector_base::iterator iterator; \
typedef typename vector_base::const_iterator const_iterator; \
explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
template<typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
}
template<typename T>
class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
#if defined(_VECTOR_)
// workaround MSVC std::vector implementation
void resize(size_type new_size, const value_type& x)
{
if (vector_base::size() < new_size)
vector_base::_Insert_n(vector_base::end(), new_size - vector_base::size(), x);
else if (new_size < vector_base::size())
vector_base::erase(vector_base::begin() + new_size, vector_base::end());
}
void push_back(const value_type& x)
{ vector_base::push_back(x); }
using vector_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return vector_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ vector_base::insert(position, new_size, x); }
#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
/* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
* However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
void resize(size_type new_size, const value_type& x)
{
vector_base::resize(new_size,x);
}
#elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
// workaround GCC std::vector implementation
void resize(size_type new_size, const value_type& x)
{
if (new_size < vector_base::size())
vector_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
else
vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
}
#else
// either GCC 4.1 or non-GCC
// default implementation which should always work.
void resize(size_type new_size, const value_type& x)
{
if (new_size < vector_base::size())
vector_base::erase(vector_base::begin() + new_size, vector_base::end());
else if (new_size > vector_base::size())
vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
}
#endif
};
}
#endif // !EIGEN_HAS_CXX11_CONTAINERS
#endif // EIGEN_STDVECTOR_H

84
examples/ThirdPartyLibs/Eigen/src/StlSupport/details.h Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STL_DETAILS_H
#define EIGEN_STL_DETAILS_H
#ifndef EIGEN_ALIGNED_ALLOCATOR
#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif
namespace Eigen {
// This one is needed to prevent reimplementing the whole std::vector.
template <class T>
class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
{
public:
typedef std::size_t size_type;
typedef std::ptrdiff_t difference_type;
typedef T* pointer;
typedef const T* const_pointer;
typedef T& reference;
typedef const T& const_reference;
typedef T value_type;
template<class U>
struct rebind
{
typedef aligned_allocator_indirection<U> other;
};
aligned_allocator_indirection() {}
aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
template<class U>
aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
template<class U>
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
~aligned_allocator_indirection() {}
};
#if EIGEN_COMP_MSVC
// sometimes, MSVC detects, at compile time, that the argument x
// in std::vector::resize(size_t s,T x) won't be aligned and generate an error
// even if this function is never called. Whence this little wrapper.
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
typename Eigen::internal::conditional< \
Eigen::internal::is_arithmetic<T>::value, \
T, \
Eigen::internal::workaround_msvc_stl_support<T> \
>::type
namespace internal {
template<typename T> struct workaround_msvc_stl_support : public T
{
inline workaround_msvc_stl_support() : T() {}
inline workaround_msvc_stl_support(const T& other) : T(other) {}
inline operator T& () { return *static_cast<T*>(this); }
inline operator const T& () const { return *static_cast<const T*>(this); }
template<typename OtherT>
inline T& operator=(const OtherT& other)
{ T::operator=(other); return *this; }
inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
{ T::operator=(other); return *this; }
};
}
#else
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
#endif
}
#endif // EIGEN_STL_DETAILS_H