2.85
show inverse dynamics demo to use floating base
add Inverted Pendulum example with PD control
Only support btMultiBody multi-dof version (remove non-multi-dof path) Use ATTRIBUTE_ALIGNED16 for btMultiBody Always disable parentCollision for btMultiBody::setupFixed
add example for btMultiBody constraint and joint feedback
export contact friction/damping through URDF and API convert from contact friction/damping to cfm/erp btCollisionObject::setContactFrictionAndDamping
Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. Added demos for rigid and multi body soft (compliant) contact. Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring. Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
Add slider constraint.
enable URDF loading throught the 'File/Open' menu set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location. no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
add a Pendulum example that is also used as unit test. Gold data is created by numerically solving a second-order non-linear differential equation. (see examples/MultiBody/pendulum_gold.h)
[Working In Progress] Suppress compiler warnings.