2.87
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
add Inverted Pendulum example with PD control
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
add example for btMultiBody constraint and joint feedback
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.
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)