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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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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),