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Benjamin Ellenberger
2016-07-31 16:22:50 +02:00
parent 46af3ddc54 0c0b4be665
commit 4622ab4299
273 changed files with 47372 additions and 1771 deletions
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45
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -45,6 +45,10 @@
#include "../Tutorial/Dof6ConstraintTutorial.h"
#include "../MultiThreading/MultiThreadingExample.h"
#include "../InverseDynamics/InverseDynamicsExample.h"
#include "../RoboticsLearning/R2D2GraspExample.h"
#include "../RoboticsLearning/GripperGraspExample.h"
#include "../InverseKinematics/InverseKinematicsExample.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
#endif
@@ -66,6 +70,7 @@
#include "../ExtendedTutorials/RigidBodyFromObj.h"
#include "../ExtendedTutorials/InclinedPlane.h"
#include "../ExtendedTutorials/NewtonsCradle.h"
#include "../ExtendedTutorials/NewtonsRopeCradle.h"
#include "../ExtendedTutorials/MultiPendulum.h"
#include "../Evolution/NN3DWalkers.h"
@@ -97,7 +102,6 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
@@ -117,21 +121,30 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
ExampleEntry(0,"MultiBody"),
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
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,"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(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
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,"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, "Inverse Kinematics"),
ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),
@@ -187,7 +200,7 @@ static ExampleEntry gDefaultExamples[]=
#endif //INCLUDE_CLOTH_DEMOS
///we disable the benchmarks in debug mode, they are way too slow and benchmarking in debug mode is not recommended
#ifndef _DEBUG
//#ifndef _DEBUG
ExampleEntry(0,"Benchmarks"),
ExampleEntry(1,"3000 boxes", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ", BenchmarkCreateFunc, 1),
ExampleEntry(1,"1000 stack", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ",
@@ -197,7 +210,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Prim vs Mesh", "Benchmark the performance and stability of rigid bodies using primitive collision shapes (btSphereShape, btBoxShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 5),
ExampleEntry(1,"Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
ExampleEntry(1,"Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
#endif
//#endif
@@ -244,8 +257,13 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", GripperGraspExampleCreateFunc),
#ifdef ENABLE_LUA
@@ -279,8 +297,9 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.", ET_NewtonsCradleCreateFunc),
ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.",ET_MultiPendulumCreateFunc),
ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_NewtonsCradleCreateFunc),
ExampleEntry(1,"Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula and the number of displaced pendula and apply the displacement force.",ET_NewtonsRopeCradleCreateFunc),
ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.",ET_MultiPendulumCreateFunc),
ExampleEntry(9,"Evolution"),
ExampleEntry(1,"Neural Network 3D Walkers","A simple example of using evolution to make a creature walk.",ET_NN3DWalkersCreateFunc),