mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-08 08:30:16 +00:00
ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
140 lines
4.2 KiB
Lua
140 lines
4.2 KiB
Lua
|
|
project "Test_InverseDynamicsKinematics"
|
|
|
|
kind "ConsoleApp"
|
|
|
|
-- defines { }
|
|
|
|
|
|
|
|
includedirs
|
|
{
|
|
".",
|
|
"../../src",
|
|
"../../examples/InverseDynamics",
|
|
"../../Extras/InverseDynamics",
|
|
"../gtest-1.7.0/include"
|
|
|
|
}
|
|
|
|
|
|
if os.is("Windows") then
|
|
--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
|
|
defines {"_VARIADIC_MAX=10"}
|
|
end
|
|
|
|
links {"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","LinearMath", "gtest"}
|
|
|
|
files {
|
|
"test_invdyn_kinematics.cpp",
|
|
}
|
|
|
|
if os.is("Linux") then
|
|
links {"pthread"}
|
|
end
|
|
|
|
|
|
|
|
|
|
|
|
project "Test_InverseDynamicsJacobian"
|
|
|
|
|
|
kind "ConsoleApp"
|
|
|
|
-- defines { }
|
|
|
|
|
|
|
|
includedirs
|
|
{
|
|
".",
|
|
"../../src",
|
|
"../../examples/InverseDynamics",
|
|
"../../Extras/InverseDynamics",
|
|
"../gtest-1.7.0/include"
|
|
|
|
}
|
|
|
|
|
|
if os.is("Windows") then
|
|
--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
|
|
defines {"_VARIADIC_MAX=10"}
|
|
end
|
|
|
|
links {"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","LinearMath", "gtest"}
|
|
|
|
files {
|
|
"test_invdyn_jacobian.cpp",
|
|
}
|
|
|
|
if os.is("Linux") then
|
|
links {"pthread"}
|
|
end
|
|
|
|
project "Test_InverseForwardDynamics"
|
|
kind "ConsoleApp"
|
|
-- defines { }
|
|
|
|
|
|
|
|
includedirs
|
|
{
|
|
".",
|
|
"../../src",
|
|
"../../examples/InverseDynamics",
|
|
"../../examples/ThirdPartyLibs",
|
|
"../../Extras/InverseDynamics",
|
|
"../gtest-1.7.0/include"
|
|
|
|
}
|
|
|
|
|
|
if os.is("Windows") then
|
|
--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
|
|
defines {"_VARIADIC_MAX=10"}
|
|
end
|
|
|
|
links {"BulletDynamics", "BulletCollision","BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","LinearMath", "gtest"}
|
|
|
|
files {
|
|
"test_invdyn_bullet.cpp",
|
|
"../../examples/Utils/b3ResourcePath.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
|
|
"../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
|
|
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h",
|
|
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
|
|
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/UrdfParser.h",
|
|
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.h",
|
|
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
|
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
|
"../../examples/Utils/b3Clock.cpp",
|
|
"../../Extras/Serialize/BulletWorldImporter/*",
|
|
"../../Extras/Serialize/BulletFileLoader/*",
|
|
"../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h",
|
|
"../../examples/Importers/ImportURDFDemo/URDFJointTypes.h",
|
|
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
|
|
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
|
|
"../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h",
|
|
"../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h",
|
|
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
|
"../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
|
|
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
|
|
"../../examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
|
|
|
|
}
|
|
|
|
if os.is("Linux") then
|
|
links {"pthread"}
|
|
end
|
|
|