add InverseDynamics example for example browser

add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils

Extras/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( Serialize InverseDynamics ConvexDecomposition HACD GIMPACTUtils )
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 

Extras/InverseDynamics/BulletInverseDynamicsUtilsCommon.h

@@ -0,0 +1,17 @@
+#ifndef BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
+#define BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
+#include "CoilCreator.hpp"
+#include "MultiBodyTreeCreator.hpp"
+#include "btMultiBodyFromURDF.hpp"
+#include "DillCreator.hpp"
+#include "MultiBodyTreeDebugGraph.hpp"
+#include "btMultiBodyTreeCreator.hpp"
+#include "IDRandomUtil.hpp"
+#include "SimpleTreeCreator.hpp"
+#include "invdyn_bullet_comparison.hpp"
+#include "MultiBodyNameMap.hpp"
+#include "User2InternalIndex.hpp"
+
+#endif//BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
+
+

Extras/InverseDynamics/CMakeLists.txt

@@ -0,0 +1,45 @@
+INCLUDE_DIRECTORIES( 
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+ADD_LIBRARY(
+BulletInverseDynamicsUtils
+CoilCreator.cpp
+MultiBodyTreeCreator.cpp
+btMultiBodyTreeCreator.cpp
+DillCreator.cpp
+MultiBodyTreeDebugGraph.cpp
+invdyn_bullet_comparison.cpp
+IDRandomUtil.cpp
+SimpleTreeCreator.cpp
+MultiBodyNameMap.cpp
+User2InternalIndex.cpp
+)
+
+SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+        TARGET_LINK_LIBRARIES(BulletInverseDynamicsUtils LinearMath)
+ENDIF (BUILD_SHARED_LIBS)
+
+IF (INSTALL_EXTRA_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletInverseDynamicsUtils  DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
+".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils  PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES PUBLIC_HEADER "BulletInverseDynamicsUtilsCommon.h" )
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_EXTRA_LIBS)