Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/ExampleBrowser/CMakeLists.txt

@@ -155,6 +155,8 @@ SET(BulletExampleBrowser_SRCS
 	../BasicDemo/BasicExample.h
 	../InverseDynamics/InverseDynamicsExample.cpp
 	../InverseDynamics/InverseDynamicsExample.h
+	../InverseKinematics/InverseKinematicsExample.cpp
+	../InverseKinematics/InverseKinematicsExample.h
 	../ForkLift/ForkLiftDemo.cpp
 	../ForkLift/ForkLiftDemo.h
 	../Tutorial/Tutorial.cpp
@@ -298,6 +300,17 @@ SET(BulletExampleBrowser_SRCS
 
 	../ThirdPartyLibs/stb_image/stb_image.cpp
 	../ThirdPartyLibs/stb_image/stb_image.h
+	
+	../ThirdPartyLibs/BussIK/Jacobian.cpp
+	../ThirdPartyLibs/BussIK/Tree.cpp
+	../ThirdPartyLibs/BussIK/Node.cpp
+	../ThirdPartyLibs/BussIK/LinearR2.cpp
+	../ThirdPartyLibs/BussIK/LinearR3.cpp
+	../ThirdPartyLibs/BussIK/LinearR4.cpp
+	../ThirdPartyLibs/BussIK/MatrixRmn.cpp
+	../ThirdPartyLibs/BussIK/VectorRn.cpp
+	../ThirdPartyLibs/BussIK/Misc.cpp
+	
 
 	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 	../ThirdPartyLibs/tinyxml/tinystr.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -46,6 +46,7 @@
 #include "../MultiThreading/MultiThreadingExample.h"
 #include "../InverseDynamics/InverseDynamicsExample.h"
 #include "../RoboticsLearning/R2D2GraspExample.h"
+#include "../InverseKinematics/InverseKinematicsExample.h"
 
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -95,7 +96,6 @@ struct ExampleEntry
 static ExampleEntry gDefaultExamples[]=
 {
 
-
 	ExampleEntry(0,"API"),
 
 	ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
@@ -124,14 +124,25 @@ static ExampleEntry gDefaultExamples[]=
 	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,"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),
-	  ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
+	ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
 
 
-	 ExampleEntry(0,"Inverse Dynamics"),
-      ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
-      ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
+	ExampleEntry(0,"Inverse Dynamics"),
+    ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
+    ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
+
+	ExampleEntry(0, "Inverse Kinematics"),
+	ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
+	ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
+    ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
+
+    
+    
+	ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
+	ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),
+
 
 	ExampleEntry(0,"Tutorial"),
 	ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -802,6 +802,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
         s_app = new SimpleOpenGL2App(title,width,height);
         s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
     } 
+
 #ifndef NO_OPENGL3
 	else
     {

examples/ExampleBrowser/premake4.lua

@@ -45,9 +45,10 @@ project "App_BulletExampleBrowser"
 	defines {"INCLUDE_CLOTH_DEMOS"}
 
         files {
+        	
         "main.cpp",
         "ExampleEntries.cpp",
-        
+        "../InverseKinematics/*",
 		"../TinyRenderer/geometry.cpp",
 		"../TinyRenderer/model.cpp",
 		"../TinyRenderer/tgaimage.cpp",
@@ -116,6 +117,7 @@ project "App_BulletExampleBrowser"
 		"../ThirdPartyLibs/stb_image/*",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/tinyxml/*",
+		"../ThirdPartyLibs/BussIK/*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
         "../ThirdPartyLibs/tinyxml/tinystr.cpp",