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add InverseDynamics example for example browser

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add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
This commit is contained in:
Erwin Coumans
2015-11-24 11:12:02 -08:00
parent b4701613c8
commit 03cc4f0554
12 changed files with 347 additions and 99 deletions
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4
examples/ExampleBrowser/CMakeLists.txt
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@@ -36,6 +36,8 @@ SET(App_ExampleBrowser_SRCS
../SharedMemory/PhysicsServerCommandProcessor.h
../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp
../InverseDynamics/InverseDynamicsExample.h
../ForkLift/ForkLiftDemo.cpp
../ForkLift/ForkLiftDemo.h
../Tutorial/Tutorial.cpp
@@ -191,7 +193,7 @@ SET(App_ExampleBrowser_SRCS
)
LINK_LIBRARIES(
Bullet3Common BulletSoftBody BulletDynamics BulletCollision LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)

10
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -40,7 +40,7 @@
#include "../Tutorial/Tutorial.h"
#include "../Tutorial/Dof6ConstraintTutorial.h"
#include "../MultiThreading/MultiThreadingExample.h"
//#include "../InverseDynamics/InverseDynamicsExample.h"
#include "../InverseDynamics/InverseDynamicsExample.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
@@ -110,9 +110,11 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
// ExampleEntry(0,"Inverse Dynamics"),
// ExampleEntry(1,"Inverse Dynamics URDF", "write some explanation", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
// ExampleEntry(1,"Inverse Dynamics Prog", "write some explanation2", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
ExampleEntry(0,"Inverse Dynamics"),
ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),

2
examples/ExampleBrowser/premake4.lua
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@@ -29,7 +29,7 @@
end
links{"gwen", "OpenGL_Window","BulletSoftBody", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
links{"gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
initGlew()