From c6a350b807f7b715836f57ac115faca2559d3ba7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Tue, 16 Jan 2018 21:54:46 -0800
Subject: [PATCH] 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       | 2 +-
 src/BulletInverseDynamics/details/IDLinearMathInterface.hpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_envs/agents/configs.py b/examples/pybullet/gym/pybullet_envs/agents/configs.py
index a16fb1a62..6ac584db6 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/configs.py
+++ b/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()
 
 
diff --git a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
index 5bb4a33bd..a44f779be 100644
--- a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ b/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;
 	}