Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add Inverted Pendulum example with PD control

Browse Source
This commit is contained in:
erwincoumans
2015-07-16 23:58:36 -07:00
parent 26e175013d
commit 68b53feb9c
7 changed files with 499 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -102,6 +102,8 @@ SET(App_ExampleBrowser_SRCS
../Vehicles/Hinge2Vehicle.h
../MultiBody/TestJointTorqueSetup.cpp
../MultiBody/TestJointTorqueSetup.h
../MultiBody/InvertedPendulumPDControl.cpp
../MultiBody/InvertedPendulumPDControl.h
../MultiBody/MultiBodyConstraintFeedback.cpp
../MultiBody/MultiDofDemo.cpp
../MultiBody/MultiDofDemo.h

8
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -16,12 +16,14 @@
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../GyroscopicDemo/GyroscopicSetup.h"
#include "../Constraints/Dof6Spring2Setup.h"
#include "../Constraints/ConstraintPhysicsSetup.h"
#include "../MultiBody/TestJointTorqueSetup.h"
#include "../MultiBody/MultiBodyConstraintFeedback.h"
#include "../MultiBody/MultiDofDemo.h"
#include "../MultiBody/InvertedPendulumPDControl.h"
#include "../VoronoiFracture/VoronoiFractureDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "../Constraints/ConstraintDemo.h"
@@ -96,14 +98,14 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),
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,"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),
#ifdef INCLUDE_CLOTH_DEMOS
ExampleEntry(0,"Soft Body"),
ExampleEntry(1,"Cloth","Simulate a patch of cloth.", SoftDemoCreateFunc,0),

1
examples/ExampleBrowser/premake4.lua
View File

@@ -77,6 +77,7 @@
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",