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update bullet so it actually works

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Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
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marauder2k7 2026-06-03 15:08:51 +01:00
parent c7be48130a
commit 13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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38
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeCreator.hpp
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@ -8,28 +8,30 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Interface class for initializing a MultiBodyTree instance.
/// Data to be provided is modeled on the URDF specification.
/// The user can derive from this class in order to programmatically
/// initialize a system.
class MultiBodyTreeCreator {
class MultiBodyTreeCreator
{
public:
/// the dtor
virtual ~MultiBodyTreeCreator() {}
/// Get the number of bodies in the system
/// @param num_bodies write number of bodies here
/// @return 0 on success, -1 on error
virtual int getNumBodies(int* num_bodies) const = 0;
/// Interface for accessing link mass properties.
/// For detailed description of data, @sa MultiBodyTree::addBody
/// \copydoc MultiBodyTree::addBody
virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const {return 0x0;}
/// the dtor
virtual ~MultiBodyTreeCreator() {}
/// Get the number of bodies in the system
/// @param num_bodies write number of bodies here
/// @return 0 on success, -1 on error
virtual int getNumBodies(int* num_bodies) const = 0;
/// Interface for accessing link mass properties.
/// For detailed description of data, @sa MultiBodyTree::addBody
/// \copydoc MultiBodyTree::addBody
virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const { return 0x0; }
};
/// Create a multibody object.
@ -38,7 +40,7 @@ public:
/// @return A pointer to an allocated multibodytree instance, or
/// 0x0 if an error occured.
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
}
} // namespace btInverseDynamics
// does urdf have gravity direction ??