4 Commits

Author	SHA1	Message	Date
Erwin Coumans	ba8964c4ac	[InverseDynamics] Support for Jacobians & derivatives ... This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!	2016-08-25 16:24:28 -07:00
erwincoumans	75d657ec85	change 4 spaces to tab for src/BulletInverseDynamics ... fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)	2015-11-19 12:08:04 -08:00
erwincoumans	de763a26e7	fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value)	2015-11-17 21:51:02 -08:00
Erwin Coumans	aa4d119f98	add real-time safe Inverse Dynamics library+test+utils ... an example for the example browser will follow. thanks to Thomas Buschmann	2015-11-17 08:27:38 -08:00