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create URDF skeleton for a demo (only loading data, not converting it yet)

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This commit is contained in:
Erwin Coumans
2014-07-31 16:54:28 -07:00
parent af446c79b5
commit a08d4a94e3
19 changed files with 219 additions and 41 deletions
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9
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -15,6 +15,7 @@
#include "../bullet2/ChainDemo/ChainDemo.h"
#include "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h"
#include "../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h"
#include "../ImportURDFDemo/ImportUrdfSetup.h"
static BulletDemoInterface* MyCcdPhysicsDemoCreateFunc(SimpleOpenGL3App* app)
@@ -35,6 +36,11 @@ static BulletDemoInterface* MyConstraintCreateFunc(SimpleOpenGL3App* app)
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportUrdfCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new ImportUrdfDemo();
return new BasicDemo(app, physicsSetup);
}
struct BulletDemoEntry
{
@@ -54,7 +60,8 @@ static BulletDemoEntry allDemos[]=
{ 1, "CcdDemo", MyCcdPhysicsDemoCreateFunc },
{ 1, "Kinematic", MyKinematicObjectCreateFunc },
{ 1, "Constraints", MyConstraintCreateFunc },
{ 1, "URDF", MyImportUrdfCreateFunc },
/* {1,"ChainDemo",ChainDemo::MyCreateFunc},
// {0, "Stress tests", 0 },

25
Demos3/AllBullet2Demos/CMakeLists.txt
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@@ -27,7 +27,7 @@ SET(App_AllBullet2Demos_SRCS
../bullet2/BasicDemo/BasicDemo.cpp
../bullet2/BasicDemo/BasicDemo.h
# the next few demos are not converted to 'newer' structure yet
# target is to convert all Bullet 2 demos in new structure, but need to settle down on features
# target is to convert all Bullet 2 demos in new structure but need to settle down on features
# ../bullet2/BasicDemo/HingeDemo.cpp
# ../bullet2/BasicDemo/HingeDemo.h
# ../bullet2/ChainDemo/ChainDemo.cpp
@@ -38,9 +38,30 @@ SET(App_AllBullet2Demos_SRCS
# ../bullet2/LuaDemo/LuaDemo.h
../GpuDemos/gwenUserInterface.cpp
../GpuDemos/gwenUserInterface.h
../ImportURDFDemo/ImportURDFSetup.cpp
../ImportURDFDemo/ImportURDFSetup.h
../../btgui/Timing/b3Clock.cpp
../../btgui/Timing/b3Clock.h
../../btgui/urdf/urdfdom/urdf_parser/src/pose.cpp
../../btgui/urdf/urdfdom/urdf_parser/src/model.cpp
../../btgui/urdf/urdfdom/urdf_parser/src/link.cpp
../../btgui/urdf/urdfdom/urdf_parser/src/joint.cpp
../../btgui/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h
../../btgui/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h
../../btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h
../../btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
../../btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
../../btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h
../../btgui/tinyxml/tinystr.cpp
../../btgui/tinyxml/tinyxml.cpp
../../btgui/tinyxml/tinyxmlerror.cpp
../../btgui/tinyxml/tinyxmlparser.cpp
../../btgui/urdf/boost_replacement/lexical_cast.h
../../btgui/urdf/boost_replacement/shared_ptr.h
../../btgui/urdf/boost_replacement/printf_console.cpp
../../btgui/urdf/boost_replacement/printf_console.h
../../btgui/urdf/boost_replacement/string_split.cpp
../../btgui/urdf/boost_replacement/string_split.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)