add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody.

disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp

examples/InverseDynamics/InverseDynamicsExample.h

@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef INVERSE_DYNAMICS_EXAMPLE_H
+#define INVERSE_DYNAMICS_EXAMPLE_H
+
+enum btInverseDynamicsExampleOptions
+{
+	BT_ID_LOAD_URDF=1,
+	BT_ID_PROGRAMMATICALLY=2
+};
+
+class CommonExampleInterface*    InverseDynamicsExampleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //INVERSE_DYNAMICS_EXAMPLE_H