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add a Pendulum example that is also used as unit test.

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Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)
This commit is contained in:
Erwin Coumans
2016-01-06 18:08:49 -08:00
parent dabccd184d
commit 6bc3f94f52
11 changed files with 2363 additions and 1 deletions
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1
examples/ExampleBrowser/CMakeLists.txt
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@@ -136,6 +136,7 @@ SET(App_ExampleBrowser_SRCS
../VoronoiFracture/btConvexConvexMprAlgorithm.h
../Vehicles/Hinge2Vehicle.cpp
../Vehicles/Hinge2Vehicle.h
../MultiBody/Pendulum.cpp
../MultiBody/TestJointTorqueSetup.cpp
../MultiBody/TestJointTorqueSetup.h
../MultiBody/InvertedPendulumPDControl.cpp

4
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -21,6 +21,8 @@
#include "../Constraints/Dof6Spring2Setup.h"
#include "../Constraints/ConstraintPhysicsSetup.h"
#include "../MultiBody/TestJointTorqueSetup.h"
#include "../MultiBody/Pendulum.h"
#include "../MultiBody/MultiBodyConstraintFeedback.h"
#include "../MultiBody/MultiDofDemo.h"
#include "../MultiBody/InvertedPendulumPDControl.h"
@@ -107,6 +109,8 @@ static ExampleEntry gDefaultExamples[]=
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,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),

1
examples/ExampleBrowser/premake4.lua
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@@ -100,6 +100,7 @@
"../Raycast/*",
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/Pendulum.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/stb_image/*",