Set pose_a and pose_b orientations from tr_a and tr_b

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

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Set pose_a and pose_b orientations from tr_a and tr_b #71

Closed ErikGartner closed 3 years ago

ErikGartner commented 3 years ago

Hi Erwin,

As discussed I noted that in the compute_contacts_multi_body_internal the created Pose objects passed to compute_contacts do not have their orientations (quaternions are [0, 0, 0, 0]) initialised. Reading the code I assumed that they are supposed get their orientation from the Transform objects computed above. Does this seem correct to you?

erwincoumans commented 3 years ago

Thanks for the fix! The orientation wasn't use in sphere vs plane, so the bug wasn't detected.