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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
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add get_mb_constraint_solver method, add keep_all_points_, false by d… #100

Closed erwincoumans closed 3 years ago

erwincoumans commented 3 years ago

…efault, for performance.

quat_velocity needs quat_from_xyzw_unsafe in tiny_algebra.hpp disable normal contacts points, by multiplying normal by 'collision', same as friction directions add a few test urdf files