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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.
This commit is contained in:
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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123
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp
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@ -2,63 +2,76 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename) {
if (0x0 == tree) {
error_message("tree pointer is null\n");
return -1;
}
if (0x0 == filename) {
error_message("filename is null\n");
return -1;
}
const char* filename)
{
if (0x0 == tree)
{
bt_id_error_message("tree pointer is null\n");
return -1;
}
if (0x0 == filename)
{
bt_id_error_message("filename is null\n");
return -1;
}
FILE* fp = fopen(filename, "w");
if (NULL == fp) {
error_message("cannot open file %s for writing\n", filename);
return -1;
}
fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n",
filename, filename);
FILE* fp = fopen(filename, "w");
if (NULL == fp)
{
bt_id_error_message("cannot open file %s for writing\n", filename);
return -1;
}
fprintf(fp,
"// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n",
filename, filename);
for (int body = 0; body < tree->numBodies(); body++) {
std::string name;
if (0x0 != map) {
if (-1 == map->getBodyName(body, &name)) {
error_message("can't get name of body %d\n", body);
return -1;
}
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
}
}
for (int body = 0; body < tree->numBodies(); body++) {
int parent;
const char* joint_type;
int qi;
if (-1 == tree->getParentIndex(body, &parent)) {
error_message("indexing error\n");
return -1;
}
if (-1 == tree->getJointTypeStr(body, &joint_type)) {
error_message("indexing error\n");
return -1;
}
if (-1 == tree->getDoFOffset(body, &qi)) {
error_message("indexing error\n");
return -1;
}
if (-1 != parent) {
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi);
}
}
for (int body = 0; body < tree->numBodies(); body++)
{
std::string name;
if (0x0 != map)
{
if (-1 == map->getBodyName(body, &name))
{
bt_id_error_message("can't get name of body %d\n", body);
return -1;
}
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
}
}
for (int body = 0; body < tree->numBodies(); body++)
{
int parent;
const char* joint_type;
int qi;
if (-1 == tree->getParentIndex(body, &parent))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getJointTypeStr(body, &joint_type))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getDoFOffset(body, &qi))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 != parent)
{
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi);
}
}
fprintf(fp, "}\n");
fclose(fp);
return 0;
}
fprintf(fp, "}\n");
fclose(fp);
return 0;
}
} // namespace btInverseDynamics