master
texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. add command-line args for PhysX (numCores=..., solver=tgs, )
Implement PyBullet.getCameraImage for PhysX backend. PhysX backend, allow arbitrary plane normal, a few other fixes.
Add preliminary PhysX 4.0 backend for PyBullet 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
implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts?
fix path issue with URDF2PhysX.cpp/h