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add deepmimic args file (for testing)

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implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
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erwincoumans
2018-11-23 18:32:23 -08:00
parent ccbd6e5fb7
commit ca36a82c62
35 changed files with 1174 additions and 85 deletions
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src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1110,7 +1110,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
///
///The user can manually override the friction directions for certain contacts using a contact callback,
///and set the cp.m_lateralFrictionInitialized to true
///and use contactPoint.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED
///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
///this will give a conveyor belt effect
///