BulletInverseDynaimcs: re-applied fix

PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)

examples/pybullet/gym/pybullet_envs/agents/configs.py

@@ -124,7 +124,7 @@ def pybullet_humanoid():
   randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
   env = 'HumanoidBulletEnv-v0'
   max_length = 1000
-  steps = 3e7  # 30M
+  steps = 3e8  # 300M
   return locals()
 
 

src/BulletInverseDynamics/details/IDLinearMathInterface.hpp

@@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
 
 class vecx : public btVectorX<idScalar> {
 public:
-	vecx(int size) : btVectorX(size) {}
+	vecx(int size) : btVectorX<idScalar>(size) {}
 	const vecx& operator=(const btVectorX<idScalar>& rhs) {
-		*static_cast<btVectorX*>(this) = rhs;
+		*static_cast<btVectorX<idScalar>*>(this) = rhs;
 		return *this;
 	}