add InverseDynamics example for example browser

add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils

src/BulletInverseDynamics/CMakeLists.txt

@@ -0,0 +1,66 @@
+INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src  )
+
+SET(BulletInverseDynamics_SRCS
+	IDMath.cpp
+	MultiBodyTree.cpp
+	details/MultiBodyTreeInitCache.cpp
+	details/MultiBodyTreeImpl.cpp
+)
+
+SET(BulletInverseDynamicsRoot_HDRS
+	IDConfig.hpp
+	IDConfigEigen.hpp
+	IDMath.hpp
+	IDConfigBuiltin.hpp
+	IDErrorMessages.hpp
+	MultiBodyTree.hpp
+)
+SET(BulletInverseDynamicsDetails_HDRS
+	details/IDEigenInterface.hpp
+	details/IDMatVec.hpp
+	details/IDLinearMathInterface.hpp
+	details/MultiBodyTreeImpl.hpp
+	details/MultiBodyTreeInitCache.hpp
+)
+
+SET(BulletInverseDynamics_HDRS
+	${BulletInverseDynamicsRoot_HDRS}
+	${BulletInverseDynamicsDetails_HDRS}
+)
+
+
+ADD_LIBRARY(BulletInverseDynamics ${BulletInverseDynamics_SRCS} ${BulletInverseDynamics_HDRS})
+SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+  TARGET_LINK_LIBRARIES(BulletInverseDynamics LinearMath)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#INSTALL of other files requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletInverseDynamics DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletInverseDynamics RUNTIME DESTINATION bin
+								LIBRARY DESTINATION lib${LIB_SUFFIX}
+								ARCHIVE DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+				INSTALL(FILES ../btBulletCollisionCommon.h
+DESTINATION ${INCLUDE_INSTALL_DIR}/BulletInverseDynamics)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+		
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES FRAMEWORK true)
+		
+			SET_TARGET_PROPERTIES(BulletInverseDynamics PROPERTIES PUBLIC_HEADER "${BulletInverseDynamicsRoot_HDRS}")
+			# Have to list out sub-directories manually:
+			SET_PROPERTY(SOURCE ${BulletInverseDynamicsDetails_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/details)
+		
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)