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Merge remote-tracking branch 'bp/master' into master

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This commit is contained in:
Erwin Coumans 2020-10-06 13:56:06 -07:00
commit 7a6c90409f
2 changed files with 22 additions and 2 deletions
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20
examples/pybullet/gym/pybullet_data/a1/a1.urdf
View File

@ -111,6 +111,11 @@
</joint> </joint>
<!-- this link is only for collision --> <!-- this link is only for collision -->
<link name="FR_upper_shoulder"> <link name="FR_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision> <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/> <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@ -263,6 +268,11 @@
</joint> </joint>
<!-- this link is only for collision --> <!-- this link is only for collision -->
<link name="FL_upper_shoulder"> <link name="FL_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision> <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/> <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@ -415,6 +425,11 @@
</joint> </joint>
<!-- this link is only for collision --> <!-- this link is only for collision -->
<link name="RR_upper_shoulder"> <link name="RR_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision> <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/> <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry> <geometry>
@ -567,6 +582,11 @@
</joint> </joint>
<!-- this link is only for collision --> <!-- this link is only for collision -->
<link name="RL_upper_shoulder"> <link name="RL_upper_shoulder">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision> <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/> <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry> <geometry>

4
src/LinearMath/btConvexHullComputer.cpp
View File

@ -105,7 +105,7 @@ public:
Point64 cross(const Point32& b) const Point64 cross(const Point32& b) const
{ {
return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); return Point64(((int64_t)y) * b.z - ((int64_t)z) * b.y, ((int64_t)z) * b.x - ((int64_t)x) * b.z, ((int64_t)x) * b.y - ((int64_t)y) * b.x);
} }
Point64 cross(const Point64& b) const Point64 cross(const Point64& b) const
@ -115,7 +115,7 @@ public:
int64_t dot(const Point32& b) const int64_t dot(const Point32& b) const
{ {
return x * b.x + y * b.y + z * b.z; return ((int64_t)x) * b.x + ((int64_t)y) * b.y + ((int64_t)z) * b.z;
} }
int64_t dot(const Point64& b) const int64_t dot(const Point64& b) const