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Merge pull request #2047 from erwincoumans/master

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Add humanoid stable PD control, preliminary optional PhysX 4.0 backend for Pybullet, various fixes
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erwincoumans
2019-01-23 10:16:06 -08:00
committed by GitHub
parent 02c01c0191 225db2e385
commit f90fe7ceac
367 changed files with 131884 additions and 371 deletions
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5
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
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@@ -202,15 +202,14 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::eSpherical:
link.joint_type = SPHERICAL;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
link.body_axis_of_motion(1) = 1;
link.body_axis_of_motion(2) = 0;
break;
case btMultibodyLink::ePlanar:
bt_id_error_message("planar joints not implemented\n");