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Add joint limit example.

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The demo artifically exceeds joint limit due to numerical errors caused
by large ratio.
This commit is contained in:
Chuyuan Fu
2019-03-04 17:00:09 -08:00
parent 5d60c274c4
commit 9141caf67e
4 changed files with 138 additions and 2 deletions
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6
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -3,7 +3,9 @@
#include "../BlockSolver/BlockSolverExample.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../BulletRobotics/BoxStack.h"
#include "../BulletRobotics/FixJointBoxes.h"
#include "../BulletRobotics/JointLimit.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
@@ -131,8 +133,8 @@ 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, "Bullet Robotics"),
ExampleEntry(1, "Box Stack", "Create a stack of boxes using C API", BoxStackExampleCreateFunc),
ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
ExampleEntry(0, "MultiBody"),
ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),