mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-08 08:30:16 +00:00
ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
9 lines
247 B
C++
9 lines
247 B
C++
#ifndef BULLET_CONVERSION_H
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#define BULLET_CONVERSION_H
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class btMultiBody;
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#include "MathUtil.h"
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void btExtractJointBodyFromBullet(const btMultiBody* bulletMB, Eigen::MatrixXd& bodyDefs, Eigen::MatrixXd& jointMat);
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#endif //BULLET_CONVERSION_H
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