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ping-pong back/forward in PGS solving iterations to reduce bias in constraint order

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add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
This commit is contained in:
erwin coumans
2016-09-28 11:17:11 -07:00
parent cf046093ab
commit b81eb79ef5
8 changed files with 63 additions and 21 deletions
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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -114,7 +114,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
@@ -139,6 +139,7 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
double* jointPositions);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);